Control method and device of door frame type transfer robot and electronic equipment

Abstract

The invention provides a control method and device for a door frame type transfer robot and electronic equipment, and the control method for the door frame type transfer robot comprises the steps: building a component coordinate system according to the structure of the robot, and determining the combined mass center position of the robot when the robot does not carry out the transfer work; the robot is controlled to execute the carrying action, and feature data of the robot in the carrying work are extracted; based on the feature data, obtaining offset compensation of the combined mass center position of the robot in a load state; constructing a kinetic model of the robot, and designing a linear quadratic regulation controller and an active disturbance rejection controller based on the kinetic model; and generating a hybrid control signal for the robot in combination with the linear secondary regulation controller and the active disturbance rejection controller. According to the invention, the robot can keep stable and realize better speed tracking under the condition of load, and the self-adaptive performance of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and particularly to a control method, device and electronic device for a doorframe type handling robot. Background Art

[0002] With the rapid development of science and technology, handling robots are more and more widely used in various industries. The use of handling robots can not only efficiently transfer and handle workpieces, but also greatly reduce the labor of workers, effectively reducing production costs.

[0003] Bipedal wheeled robots have become an important research direction in the field of robotics due to their excellent flexibility and motion ability. With the continuous progress of technology, the applications of bipedal wheeled robots in multiple fields such as service, rescue, and military reconnaissance are constantly expanding. Therefore, in-depth research on their structural design and modeling methods has important theoretical value and practical significance. At present, although some research has made certain progress, existing bipedal wheeled robots still face challenges in aspects such as motion stability, maneuverability, and working efficiency.

[0004] Regarding the problem of poor adaptive performance of robot control in the existing technology, no effective solution has been proposed yet. Summary of the Invention

[0005] The present invention provides a control method, device and electronic device for a doorframe type handling robot to solve the defect of poor adaptive performance of robot control in the existing technology.

[0006] In a first aspect, the present invention provides a control method for a doorframe type handling robot, including: Establish a component coordinate system according to the structure of the robot, and determine the combined centroid position of the robot when it is not performing handling work; Control the robot to perform a handling action, and extract the characteristic data of the robot during the handling work; Based on the characteristic data, obtain the offset compensation of the combined centroid position of the robot in the loaded state; Construct a dynamic model of the robot, and design a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model; Combine the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot.

[0007] According to the control method for a doorframe type handling robot provided by the present invention, the robot includes: A vehicle body, the vehicle body has a symmetric inverted U-shaped structure, and a handling area is formed in the middle of the vehicle body; A driving mechanism, which is arranged on both sides of the vehicle body; A swing arm mechanism, which is arranged in the handling area of the vehicle body; A clamping arm mechanism, which is arranged on the side of the swing arm mechanism and is located in the handling area of the vehicle body.

[0008] According to a control method of a door-frame type handling robot provided by the present invention, based on the structure of the robot, a component coordinate system is established, including: Based on the structure of the robot, a link model corresponding to the robot is designed; Based on the link model, the component coordinate system is established.

[0009] According to a control method of a door-frame type handling robot provided by the present invention, determining the combined center of mass position of the robot when no handling work is carried out, including: Obtaining the component sizes and mass parameters of each component of the robot; Based on the component sizes and mass parameters of each component of the robot, determining the combined center of mass position of the robot in the component coordinate system.

[0010] According to a control method of a door-frame type handling robot provided by the present invention, controlling the robot to perform a handling action and extracting the characteristic data of the robot during the handling work, Obtaining the feedback state quantity of the robot during the handling work; Based on the feedback state quantity of the robot and a preset state quantity reference value, extracting the characteristic data of the robot.

[0011] According to a control method of a door-frame type handling robot provided by the present invention, based on the characteristic data, obtaining the offset compensation of the combined center of mass position of the robot under the load state, including: Determining the combined center of mass position of the robot during the handling work; Based on the combined center of mass position of the robot during the handling work and the characteristic data of the robot, determining the combined center of mass pitch angle state quantity for the robot control feedback.

[0012] According to a control method of a door-frame type handling robot provided by the present invention, constructing the dynamic model of the robot, including: Obtaining the vehicle body mass and operation data of the robot; the operation data includes the moment of inertia of the robot about the combined center of mass and the driving torque of the wheels of the robot; Based on the vehicle body mass and operation data of the robot, determining the dynamic model of the robot.

[0013] A control method for a doorframe type handling robot provided by the present invention, which combines the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot, includes: Obtaining the speed loop output and the position loop output of the robot through the linear quadratic regulator; Obtaining the output of the robot affected by external disturbances and loads through the active disturbance rejection controller; Combining the speed loop output, the position loop output and the influence output to generate the hybrid control signal.

[0014] In a second aspect, the present invention further provides a control device for a doorframe type handling robot, including: A construction module for establishing a component coordinate system according to the structure of the robot and determining the combined center of mass position of the robot when it is not performing handling work; An extraction module for controlling the robot to perform a handling action and extracting characteristic data of the robot during the handling work; A processing module for obtaining an offset compensation of the combined center of mass position of the robot in a loaded state based on the characteristic data; A design module for constructing a dynamic model of the robot and designing a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model; A generation module for combining the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot.

[0015] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the control method for the doorframe type handling robot as described in the first aspect above.

[0016] In a fourth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the control method for the doorframe type handling robot as described in the first aspect above.

[0017] In a fifth aspect, the present invention further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the control method for the doorframe type handling robot as described in the first aspect above.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The control method of the doorframe-type handling robot provided by the present invention uses the linear quadratic regulator to calculate the control torque required to keep the vehicle body balanced when the robot wheels are going straight, turning, etc. by using the optimal control theory. The active disturbance rejection controller is configured with an extended state observer, which can calculate the influence of external disturbances and loads on the vehicle body and perform corresponding compensation in the input of the controlled system, so that the vehicle body can quickly return to a stable state under external disturbances and loads. Finally, according to the outputs of the linear quadratic regulator and the active disturbance rejection controller, a hybrid control signal is generated to achieve stable control of the doorframe-type handling robot. Through the above process, the robot can maintain stability and achieve good speed tracking even under load, improving the adaptability of the robot; moreover, it can realize actions such as translation and turning of the robot, improving the mobility of the robot, and having a broader market prospect and application prospect. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 is a flowchart of the control method of the doorframe-type handling robot provided by the present invention; Figure 2 is a schematic structural diagram of the robot in the embodiment of the present invention; Figure 3 is a schematic diagram of the simplified planar three-bar model of the robot and the force analysis of the wheels in the embodiment of the present invention; Figure 4 is a schematic diagram of the combined center of mass position of the robot and the force analysis of the wheels in the embodiment of the present invention; Figure 5 is a schematic diagram of controlling the robot in the embodiment of the present invention; Figure 6 is a schematic diagram of the results of the simulation experiment of the doorframe-type handling robot in the embodiment of the present invention; Figure 7 is a block diagram of the structure of the control device of the doorframe-type handling robot provided by the present invention; Figure 8 is a schematic structural diagram of the electronic device provided by the present invention.

[0021] Reference Signs: 1: drive mechanism; 2: vehicle body; 3: swing arm mechanism; 4: clamping arm mechanism. Detailed Embodiments

[0022] To make the objectives, technical solutions and advantages of the present invention more clear, the following will clearly and completely describe the technical solutions in the present invention with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0023] The present invention provides a control method for a doorframe type handling robot, which is applied to the doorframe type handling robot. Figure 1 It is a flowchart of the control method for the doorframe type handling robot provided by the present invention, as Figure 1 shown. The method includes the following steps: Step S101: Establish a component coordinate system according to the structure of the robot and determine the combined center of mass position of the robot when it is not performing handling work. Step S102: Control the robot to perform a handling action and extract the characteristic data of the robot during the handling work. Step S103: Based on the characteristic data, obtain the offset compensation of the combined center of mass position of the robot in the loaded state. Step S104: Construct a dynamic model of the robot and design a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model. Step S105: Combine the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot.

[0024] For a gantry-type handling robot, due to its symmetric structure design concept on the left and right and the fact that each joint has only one degree of freedom in the pitching direction, the robot can be regarded as the movement of each connecting rod only within a sagittal plane. In this method, first, according to the structure of the robot, a component coordinate system is established, which can characterize the position relationship between the combined center of mass and each component of the robot. Based on the component coordinate system, the position of the combined center of mass of the robot when it is not performing handling work can be determined. When the robot is performing handling work, characteristic data of the robot are extracted to facilitate the analysis of the position and working state of the robot. Then, a dynamic model for the robot is constructed. The dynamic model provides a basis for the design of the controller by considering the translational and rotational motions of the wheels and the pitching motion of the vehicle body and the rotational motion around the combined center of mass of the vehicle body under the conditions of whether there is a load or not. Based on the above dynamic model, a linear quadratic regulator (LQR) and an active disturbance rejection control (ADRC) are designed. The linear quadratic regulator uses the optimal control theory to calculate the control torque required for the vehicle body to maintain balance when the robot wheels are going straight, turning, etc. The active disturbance rejection controller is equipped with an extended state observer (ESO), which can calculate the influence of external disturbances and loads on the vehicle body and make corresponding compensations in the input of the controlled system, so that the vehicle body can quickly return to a stable state under the conditions of external disturbances and loads. Finally, according to the outputs of the linear quadratic regulator and the active disturbance rejection controller, a hybrid control signal is generated to achieve the stable control of the gantry-type handling robot. Through the above process, the robot can maintain stability and achieve good speed tracking even under load, improving the adaptive performance of the robot; moreover, it can realize actions such as translation and turning of the robot, improving the mobility of the robot, and having a broader market and application prospect.

[0025] Figure 2 is a schematic structural diagram of the robot in an embodiment of the present invention, as Figure 2 shown. In some of these embodiments, the robot includes: a vehicle body 2, the vehicle body 2 has a symmetric inverted U-shaped structure, and a handling area is formed in the middle of the vehicle body 2. A driving mechanism 1, the driving mechanism is arranged on both sides of the vehicle body 2. A swing arm mechanism 3, the swing arm mechanism is arranged in the handling area of the vehicle body 2. A clamping arm mechanism 4, the clamping arm mechanism is arranged on the side of the swing arm mechanism 3 and is located in the handling area of the vehicle body 2.

[0026] In this embodiment, the driving mechanism 1 can drive the vehicle body 2 to move, driving the robot to move to the target location. The clamping arm mechanism 4 is used to clamp the item to be transported, and the swing arm mechanism 3 is used to adjust the position or angle of the clamping arm mechanism 4. On the one hand, it can help to achieve the handling function. On the other hand, it can adaptively adjust the position of the item during the handling process, with stronger flexibility.

[0027] In some of these embodiments, in step S101, according to the structure of the robot, a component coordinate system is established, including: based on the structure of the robot, designing a link model corresponding to the robot; based on the link model, establishing a component coordinate system.

[0028] Exemplarily, since the door-frame type handling robot adopts a completely symmetrical structural design idea on the left and right, and each joint has only one degree of freedom in the pitching direction, the robot can be regarded as the movement of each link only in one sagittal plane. Therefore, the door-frame type handling robot can be simplified into a planar 3-link model, as Figure 3 shown, Figure 3 is the schematic diagram of the simplified planar three-link model of the robot and the force analysis of the wheels in the embodiment of the present invention. Then, a spatial rectangular coordinate system of each link is established, and the position relationship between the combined center of mass and each component is established as Figure 4 shown, Figure 4 is the schematic diagram of the combined center of mass position of the robot and the force analysis of the wheels in the embodiment of the present invention. It is stipulated that the base coordinate system {0} of the robot is the midpoint of the common axis of the two wheels, which is shown as the rotation center of the wheels in the simplified 3-link model.

[0029] On this basis, determining the combined center of mass position of the robot when it is not performing handling work includes: obtaining the component dimensions and mass parameters of each component of the robot; based on the component dimensions and mass parameters of each component of the robot, determining the combined center of mass position of the robot in the component coordinate system.

[0030] Exemplarily, the component mass parameter table of the robot is shown in Table 1: Table 1 Component Mass Parameter Table

[0031] In Table 1, represents the angle of rotation of component around axis; it is stipulated that the direction from the axis to the axis is the positive direction; are the mass parameters of each rod; represents the axial distance between two joints; represents the distance between the center of mass of the link and the previous rotation axis.

[0032] On this basis, when the robot is unloaded, the solution formula for the combined center of mass position is as follows:

[0033]

[0034]

[0035] Among them, X represents the position of the combined center of mass in the {0} coordinate system x in the direction of, Y represents the position of the combined center of mass in the {0} coordinate system y in the direction of, represents the angle between the line connecting the combined center of mass and the origin of the {0} coordinate system and the vertical direction.

[0036] In some of these embodiments, in step S102, control the robot to perform a handling action, extract the characteristic data of the robot during the handling operation, and obtain the feedback state quantity of the robot during the handling operation; based on the feedback state quantity of the robot and the preset state quantity reference value, extract the characteristic data of the robot.

[0037] Exemplarily, the formula for extracting the characteristic data of the robot when handling an object is as follows:

[0038]

[0039] Among them, represents the relative error, represents the feedback state quantity, represents the state quantity reference value, represents the extracted characteristic data, and respectively represent the derivative of the combined center of mass i.e., the angular velocity of the pitch angle of the combined center of mass, and the speed of the robot.

[0040] Furthermore, in step S103, based on the characteristic data, obtain the offset compensation of the combined center of mass position of the robot under the loaded state, including: determining the combined center of mass position of the robot during the handling operation; based on the combined center of mass position of the robot during the handling operation and the characteristic data of the robot, determining the pitch angle state quantity of the combined center of mass for the robot control feedback.

[0041] Exemplarily, when the robot is loaded, the solution formula for the combined center of mass position is as follows:

[0042]

[0043] Combining the above formulas, we can obtain:

[0044] Among them, represents the combined centroid position in the {0} coordinate system when there is a load, x in the direction, y represents the combined centroid position in the {0} coordinate system when there is a load, in the direction,

[0045] In some of these embodiments, in step S104, constructing the dynamic model of the robot includes: Obtaining the vehicle body mass and operation data of the robot; the operation data includes the moment of inertia of the robot about the combined centroid and the driving torque of the wheels of the robot; based on the vehicle body mass and operation data of the robot, determining the dynamic model of the robot.

[0046] Exemplarily, establishing the dynamic model and dynamic system model of the robot, by considering the translation and rotation of the wheels and the forward movement and rotation about the combined centroid of the vehicle body of the robot under the conditions of having and not having a load respectively, provides a basis for the design of the controller. The formulas of the model are as follows:

[0047] Among them, represents the vehicle body mass, represents the moment of inertia about the combined centroid, and respectively represent the driving torques of the left and right wheels, represents the acceleration of the vehicle body, represents the angular acceleration of the vehicle body, represents the non - linear term therein. Converting the above model, we can obtain:

[0048]

[0049] Among them, represents the acceleration of the robot, represents the angular acceleration of the combined centroid, and respectively represent the determined disturbance parts of the position loop and the angle loop, and represent the unknown disturbance parts, represents the input torque of the wheel, and Represents a constant determined by the structural parameters.

[0050] Based on the above embodiments, in step S105, a hybrid control signal for the robot is generated by combining a linear quadratic regulator and an active disturbance rejection controller, including: obtaining the speed loop output and the position loop output of the robot through the linear quadratic regulator; obtaining the output affected by external disturbances and loads on the robot through the active disturbance rejection controller; and generating a hybrid control signal by combining the speed loop output, the position loop output, and the affected output.

[0051] Exemplarily, Figure 5 is a schematic diagram of controlling the robot in the embodiments of the present invention. As Figure 5 shown, the formula of the linear quadratic regulator is as follows:

[0052]

[0053] Among them, and respectively , and are constants determined by the structural parameters respectively. Combining the formula of the above dynamic model, we can obtain:

[0054]

[0055] Through the linear quadratic regulator, the control torque required to keep the vehicle body balanced when the wheels are going straight, turning, etc. is calculated using the optimal control theory.

[0056] For the active disturbance rejection controller, through the extended state observer therein, the influence of external disturbances and loads on the vehicle body (i.e., and ) is calculated, and corresponding compensation is made in the input of the controlled system, so that the vehicle body can quickly return to a stable state under external disturbances and loads.

[0057] Finally, the outputs of the linear quadratic regulator and the active disturbance rejection controller are combined to achieve stable control of the gantry-type handling robot. The specific expression is as follows:

[0058]

[0059] Among them, represents the input gain matrix obtained from the output of the linear quadratic regulator, Represents the state value feedback by the controlled system. Apply the above method to the gantry handling robot for simulation experiments, and the experimental results are as Figure 6 shown, Figure 6 It is a schematic diagram of the result of the gantry handling robot simulation experiment in the embodiment of the present invention.

[0060] The present invention also provides a control device for a gantry handling robot. The control device for the gantry handling robot provided by the present invention will be described below. The control device for the gantry handling robot described below can be correspondingly referred to the control method for the gantry handling robot described above. Figure 7 It is a structural block diagram of the control device for the gantry handling robot provided by the present invention. As Figure 7 shown, the device includes: A construction module 701, configured to establish a component coordinate system according to the structure of the robot and determine the combined center of mass position of the robot when it is not performing handling work; An extraction module 702, configured to control the robot to perform a handling action and extract the characteristic data of the robot during the handling work; A processing module 703, configured to obtain the offset compensation of the combined center of mass position of the robot under the load state based on the characteristic data; A design module 704, configured to construct a dynamic model of the robot and design a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model; A generation module 705, configured to generate a hybrid control signal for the robot by combining the linear quadratic regulator and the active disturbance rejection controller.

[0061] When this device is in use, first, the construction module 701 establishes a component coordinate system according to the structure of the robot. The component coordinate system can characterize the position relationship between the combined center of mass position and each component of the robot. Based on the component coordinate system, the combined center of mass position of the robot when it is not performing the handling work can be determined. The extraction module 702 extracts the characteristic data of the robot when the robot performs the handling work, which is convenient for analyzing the position and working state of the robot, and obtains the offset compensation of the combined center of mass position of the robot under the load state through the processing module 703. Then, the design module 704 constructs a dynamic model for the robot. By considering the translational and rotational motions of the wheels and the pitching motion of the vehicle body and the rotational motion around the combined center of mass of the robot under the conditions of with and without load respectively, the dynamic model provides a basis for the design of the controller. Based on the above dynamic model, a linear quadratic regulator controller and an active disturbance rejection controller are designed. The linear quadratic regulator controller uses the optimal control theory to calculate the control torque required to keep the vehicle body balanced when the robot wheels are going straight, turning, etc. The active disturbance rejection controller is equipped with an extended state observer, which can calculate the influence of external disturbances and loads on the vehicle body and perform corresponding compensation in the input of the controlled system, so that the vehicle body can quickly return to the stable state under the conditions of external disturbances and loads. Finally, the generation module 705 generates a hybrid control signal according to the outputs of the linear quadratic regulator controller and the active disturbance rejection controller to achieve the stable control of the gantry handling robot. Through the above process, the robot can maintain stability and achieve better speed tracking under the condition of having a load, improving the adaptive performance of the robot; moreover, it can realize actions such as translation and turning of the robot, improving the mobility of the robot, and having a broader market prospect and application prospect Figure 8 An example of the physical structure diagram of an electronic device is shown as Figure 8 shown. The electronic device may include: a processor 801, a communications interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communications interface 802, and the memory 803 communicate with each other through the communication bus 804. The processor 801 can call the logical instructions in the memory 803 to execute the control method of the gantry handling robot, and the method includes: Establish a component coordinate system according to the structure of the robot and determine the combined center of mass position of the robot when it is not performing the handling work; Control the robot to perform the handling action and extract the characteristic data of the robot during the handling work; Based on the characteristic data, obtain the offset compensation of the combined center of mass position of the robot under the load state; Construct a dynamic model of the robot and design a linear quadratic regulator controller and an active disturbance rejection controller based on the dynamic model; A combined linear quadratic regulator and active disturbance rejection controller are used to generate a hybrid control signal for the robot.

[0062] In addition, when the logic instructions in the above-mentioned memory 803 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods according to the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0063] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method of the gantry-type handling robot provided by the above-mentioned various methods. The method includes: According to the structure of the robot, a component coordinate system is established, and the combined center-of-mass position of the robot when it is not performing handling work is determined; Control the robot to perform a handling action, and extract the characteristic data of the robot during the handling work; Based on the characteristic data, obtain the offset compensation of the combined center-of-mass position of the robot under the load state; Construct a dynamic model of the robot, and design a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model; A combined linear quadratic regulator and active disturbance rejection controller are used to generate a hybrid control signal for the robot.

[0064] On yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to execute the control method of the gantry-type handling robot provided by the above-mentioned various methods. The method includes: According to the structure of the robot, a component coordinate system is established, and the combined center-of-mass position of the robot when it is not performing handling work is determined; Control the robot to perform a handling action, and extract the characteristic data of the robot during the handling work; Based on the characteristic data, obtain the offset compensation of the combined center-of-mass position of the robot under the load state; Build the dynamic model of the robot, and design a linear quadratic regulator (LQR) controller and an active disturbance rejection controller (ADRC) based on the dynamic model; Combine the LQR controller and the ADRC to generate a hybrid control signal for the robot.

[0065] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0066] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution, in essence, or the part that makes a contribution to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a doorframe type handling robot, which is applied to a doorframe type handling robot, characterized in that, including: Establish a component coordinate system according to the structure of the robot, and determine the combined center of mass position of the robot when it is not performing handling work; Control the robot to perform a handling action, and extract the characteristic data of the robot during the handling work; Based on the characteristic data, obtain the offset compensation of the combined center of mass position of the robot in the loaded state; Construct the dynamic model of the robot, and design a linear quadratic regulator and an active disturbance rejection controller based on the dynamic model; Combine the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot.

2. The control method of the doorframe type handling robot according to claim 1, characterized in that The robot includes: A vehicle body (2), the vehicle body (2) has a symmetric inverted U-shaped structure, and a handling area is formed in the middle of the vehicle body (2); A driving mechanism (1), the driving mechanism is arranged on both sides of the vehicle body (2); A swing arm mechanism (3), the swing arm mechanism is arranged in the handling area of the vehicle body (2); A clamping arm mechanism (4), the clamping arm mechanism is arranged on the side of the swing arm mechanism (3) and is located in the handling area of the vehicle body (2).

3. The control method of the doorframe type handling robot according to claim 1, characterized in that, Establish a component coordinate system according to the structure of the robot, including: Based on the structure of the robot, design a corresponding linkage model for the robot; Based on the linkage model, establish the component coordinate system.

4. The control method of the doorframe type handling robot according to claim 1, characterized in that, Determine the combined center of mass position of the robot when it is not performing handling work, including: Obtain the component dimensions and mass parameters of each component of the robot; Based on the component dimensions and mass parameters of each component of the robot, determine the combined center of mass position of the robot in the component coordinate system.

5. The control method of the doorframe type handling robot according to claim 1, characterized in that Control the robot to perform a handling action, and extract the characteristic data of the robot during the handling work, Obtain the feedback state quantity of the robot during the handling work; Based on the feedback state quantity of the robot and a preset state quantity reference value, extract the characteristic data of the robot.

6. The control method of the doorframe type handling robot according to claim 1, characterized in that, Based on the characteristic data, obtain the offset compensation of the combined center of mass position of the robot in the loaded state, including: Determine the combined center of mass position of the robot during the handling work; Based on the combined center of mass position of the robot during the handling work and the characteristic data of the robot, determine the combined center of mass pitch angle state quantity of the robot's control feedback.

7. The control method of the doorframe type handling robot according to claim 1, characterized in that, Construct the dynamic model of the robot, including: Obtain the vehicle body mass and operation data of the robot; the operation data includes the moment of inertia of the robot around the combined center of mass and the driving torque of the wheels of the robot; Based on the vehicle body mass and operation data of the robot, determine the dynamic model of the robot.

8. The control method of the doorframe type handling robot according to claim 1, characterized in that, Combine the linear quadratic regulator and the active disturbance rejection controller to generate a hybrid control signal for the robot, including: Through the linear quadratic regulator, obtain the speed loop output and the position loop output of the robot; Through the active disturbance rejection controller, obtain the output of the robot affected by external disturbances and loads; Combine the speed loop output, the position loop output and the influence output to generate the hybrid control signal.

9. A control device for a doorframe-type handling robot, characterized in that, including: A construction module, configured to establish a component coordinate system according to the structure of the robot and determine the combined center-of-mass position of the robot when no handling work is being performed; An extraction module, configured to control the robot to perform a handling action and extract characteristic data of the robot during the handling work; A processing module, configured to obtain an offset compensation of the combined center-of-mass position of the robot in a loaded state based on the characteristic data; A design module, configured to construct a dynamic model of the robot and design a linear quadratic regulator controller and an active disturbance rejection controller based on the dynamic model; A generation module, configured to generate a hybrid control signal for the robot by combining the linear quadratic regulator controller and the active disturbance rejection controller.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the program, it implements the control method of the doorframe-type handling robot according to any one of claims 1 to 8.

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