Robot emergency stop control method, device and storage medium based on proximity perception

Abstract

The present invention discloses a robot emergency stop control method based on proximity perception, and the robot emergency stop control method includes: receiving data sent by proximity electronic skin, and calculating the distance between the robot and the grounded conductor according to the data; when the distance between the robot and the grounded conductor reaches a preset threshold, generating a corresponding trigger signal; outputting a control signal according to the trigger signal to control the robot to decelerate. The robot emergency stop control method based on proximity perception proposed in the present invention can predict the speed of the robot when it collides with the grounded conductor according to the proximity electronic skin, and then combine the mass information of the robot and the grounded conductor to obtain the collision force generated when the collision occurs, and finally realize collision buffering and stopping according to the collision force and the set impedance control model. In addition, the present invention also proposes a robot emergency stop control device and storage medium based on proximity perception.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a robot emergency stop control method, device and storage medium based on proximity perception. Background Art

[0002] Robots are the product of the integration of cybernetics, mechatronics, computers, materials and bionics. They can accept human commands, run pre-programmed computer programs, and act according to principles formulated using artificial intelligence technology to assist or replace human work.

[0003] In actual use, humans and robots may need to work together to complete a task. When humans and robots work together, the robots must be sufficiently safe to avoid collisions with humans, thereby threatening human life.

[0004] To this end, existing robots use contact collision detection based on current loops to trigger the robot to stop. However, the traditional collision detection method relies on the current change caused by the contact between the human and the robot to trigger the robot to stop. When the robot is triggered to stop, the human and the robot have already collided. In some scenarios, this collision has already caused harm to the human body. Summary of the invention

[0005] The main purpose of the present invention is to propose a robot emergency stop control method based on proximity perception to solve the safety problems existing in existing robots.

[0006] To achieve the above object, the present invention proposes a robot emergency stop control method based on proximity perception, comprising:

[0007] Receive data sent by the proximity-sensing electronic skin, and calculate the distance between the robot and the grounded conductor based on the data; generate a corresponding trigger signal when the distance between the robot and the grounded conductor reaches a preset threshold; output a control signal based on the trigger signal to control the robot to decelerate.

[0008] Preferably, the step of outputting a control signal according to a trigger signal to control the robot to perform a deceleration movement includes: during the deceleration movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounded conductor to obtain an estimated collision speed when the robot collides with the grounded conductor; obtaining the mass information of the robot and the mass information of the grounded conductor, and calculating the estimated collision speed, the mass information of the robot and the mass information of the grounded conductor to obtain a transient collision force when the robot collides with the grounded conductor; obtaining a transient allowable force when the grounded conductor and the robot are in transient contact, and controlling the robot to decelerate or stop urgently according to the transient collision force and the transient allowable force of the grounded conductor.

[0009] Preferably, the calculation of the estimated collision speed and the preset robot mass information and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor includes: calculating the robot mass information and the mass information of the grounded conductor to obtain the reduced mass of the robot and the grounded conductor; calculating the reduced mass and the estimated collision speed to obtain the transient collision force when the collision occurs.

[0010] Preferably, the equivalent mass is calculated according to the following formula:

[0011] Where: μ is the reduced mass; m H is the effective mass of the grounded conductor; m R is the effective mass of the robot; the transient collision force is calculated according to the following formula: Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transmitted when the robot collides with the grounded conductor. The calculation formula is: Among them, v ref is the initial movement speed of the robot.

[0012] Preferably, the step of controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounded conductor includes: establishing an impedance model of the grounded conductor according to the following formula, and controlling the robot to move according to the impedance model: F=K*X+B*X'+M*X"; wherein F is the transient collision force; X, X', X" are respectively the target position, movement speed, and deceleration of the robot movement planned by the impedance model; K, B, and M are respectively the stiffness, damping, and mass matrix of the grounded conductor; the deceleration value is calculated according to the following formula: X"=(FK*X+B*X') / M.

[0013] The present invention further provides a robot emergency stop control device based on proximity perception, which includes: a receiving module, used to receive data sent by the proximity electronic skin, and calculate the distance between the robot and the grounded conductor based on the data; a trigger output module, used to generate a corresponding trigger signal when the distance between the robot and the grounded conductor reaches a preset threshold; a control module, used to output a control signal according to the trigger signal to control the robot to decelerate.

[0014] Preferably, the control module includes: a speed calculation unit, which is used to calculate the initial movement speed of the robot and the distance between the robot and the grounded conductor during the deceleration movement of the robot, so as to obtain the estimated collision speed when the robot collides with the grounded conductor; a collision force calculation unit, which is used to obtain the mass information of the robot and the mass information of the grounded conductor, and calculate the estimated collision speed, the mass information of the robot and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor; a control unit, which is used to obtain the transient allowable force when the grounded conductor and the robot are in transient contact, and control the robot to decelerate or stop urgently according to the transient collision force and the transient allowable force of the grounded conductor.

[0015] Preferably, the collision force calculation unit includes: a first operator unit, used to calculate the mass information of the robot and the mass information of the grounded conductor to obtain the reduced mass of the robot and the grounded conductor; a second operator unit, used to calculate the reduced mass and the estimated collision speed to obtain the transient collision force when the collision occurs.

[0016] Preferably, the first operator unit calculates the equivalent mass according to the following formula:

[0017]

[0018] Where: μ is the reduced mass; m H is the effective mass of the grounded conductor; m R is the effective mass of the robot; the second operator unit calculates the transient collision force according to the following formula: Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transmitted when the robot collides with the grounded conductor. The calculation formula is:

[0019]

[0020] Among them, v ref is the initial movement speed of the robot.

[0021] The present invention also proposes a storage medium storing a computer program. When a processor executes the computer program, the robot emergency stop control method based on proximity perception described in the aforementioned embodiments is implemented.

[0022] The present invention receives data detected in real time by the proximity-sensing electronic skin and monitors the data. When the distance between the robot and the grounded conductor reaches a preset threshold, a trigger signal and a control signal are output, so that the robot decelerates according to the control signal and stops suddenly. Emergency stop control before collision can be achieved to avoid damage to the grounded conductor caused by robot collision, and also improve the safety of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a flow chart of the first embodiment of the robot emergency stop control method based on proximity perception of the present invention;

[0024] Figure 2 This is a schematic diagram of the working principle of the proximity-sensing electronic skin proposed in the present invention;

[0025] Figure 3 This is a flow chart of a second embodiment of a robot emergency stop control method based on proximity perception according to the present invention;

[0026] Figure 4 It is a flow chart of a third embodiment of a robot emergency stop control method based on proximity perception of the present invention;

[0027] Figure 5 This is a functional module diagram of the robot emergency stop control device based on proximity perception of the present invention. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0029] The present invention proposes a robot emergency stop control method based on proximity perception. In one embodiment, see Figure 1 , the robot emergency stop control method includes:

[0030] Step S10, receiving data sent by the proximity-sensing electronic skin, and calculating the distance between the robot and the grounded conductor according to the data;

[0031] In this embodiment, the robot is an industrial robot as an example, and the grounded conductor is a human body as an example, so as to illustrate the robot emergency stop control method based on proximity perception proposed by the present invention. It should be noted that the robot is an industrial robot as an example, and the grounded conductor is a human body as an example, which is only exemplary and not restrictive.

[0032] The proximity-sensing electronic skin involved in this embodiment adopts the self-capacitance distance detection principle to measure the distance between the grounded conductor and the proximity-sensing electronic skin. The working principle of the proximity-sensing electronic skin is described in detail below (see Figure 2 ):

[0033] The proximity-sensing electronic skin includes a distributed array of sensor units. When a human body part or other grounded conductor approaches the sensor, the capacitance value at Cx will change due to the capacitance effect. More specifically, according to the capacitance calculation formula C=εS / 4πkd, the distance d between the grounded conductor (human hand) and the detection electrode can be calculated based on the known capacitance value C, dielectric constant ε, facing area S of the two capacitor plates, and electrostatic force constant k.

[0034] Step S20, when the distance between the robot and the grounded conductor reaches a preset threshold, a corresponding trigger signal is generated;

[0035] Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.

[0036] The proximity-sensing electronic skin detects the distance between the human body and the robot in real time. When the distance between the human body and the robot reaches the preset distance value, it indicates that the human body has entered the robot's movement area, and the robot needs to be controlled to slow down or stop suddenly to avoid collision between the robot and the human body, thereby causing harm to the human body. To this end, the robot will generate a trigger signal when it detects that the distance between it and the human body reaches the preset value, and send this trigger signal to the robot's controller, so that the controller can control the robot to take deceleration or emergency stop measures according to this trigger signal.

[0037] In one embodiment, see Figure 3 The step of outputting a control signal according to the trigger signal to control the robot to perform a deceleration motion includes:

[0038] Step S31, during the deceleration movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounded conductor to obtain an estimated collision speed when the robot collides with the grounded conductor;

[0039] Step S32, obtaining the mass information of the robot and the mass information of the grounded conductor, and calculating the estimated collision speed, the mass information of the robot and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor;

[0040] Step S33, obtaining the transient allowable force when the grounded conductor and the robot are in transient contact, and controlling the robot to slow down or stop urgently according to the transient collision force and the transient allowable force of the grounded conductor.

[0041] Formula V t 2 -V0 2 =2as, where V t is the final velocity of the robot, that is, the velocity when the robot collides with the human body, V0 is the initial velocity of the robot, a is the deceleration of the robot, s is the distance between the robot and the human body, and s is obtained by integrating a twice. Therefore, when the initial motion velocity of the robot and the distance between the robot and the human body are known, according to the formula V t 2 -V0 2 = 2as, and the estimated collision speed when the robot collides with the human body can be obtained.

[0042] It should be noted that the robot mass information and the grounded conductor mass information are preset in the robot's database. When it is necessary to execute the transient collision force calculation program, the robot's processor will retrieve this information from the database so that the processor can calculate the transient collision force when the robot collides with the grounded conductor.

[0043] After obtaining the estimated collision speed when the robot collides with the human body, calculation is performed according to the estimated collision speed and the preset robot mass information and human body mass information to obtain the transient collision force when the robot collides with the human body. It can be understood that according to the principle of energy conservation, the energy generated when the robot collides with the human body will be completely converted into the transient collision force of the robot on the human body. The transient collision force mentioned here refers to the force exerted by the robot on the human body at the moment of collision between the robot and the human body.

[0044] After obtaining the transient collision force when the robot collides with the human body, the robot is controlled to slow down or stop suddenly in combination with the maximum transient allowable force that the human body can withstand. Specifically, if the transient collision force when the robot collides with the human body is much greater than the transient allowable force that the human body can withstand, the robot is controlled to stop suddenly to prevent the robot from causing harm to the human body. If the transient collision force when the robot collides with the human body is less than or equal to the transient allowable force that the human body can withstand, the robot is controlled to slow down.

[0045] The transient allowable force involved here is the maximum impact force that each part of the human body can withstand. If the impact force is greater than the set transient allowable force, it will cause serious damage to the human body. The transient allowable force that each part of the human body can withstand is pre-stored in the robot, so that different transient allowable force data can be called for calculation according to actual conditions.

[0046] It should be noted that, for the human body, the maximum transient allowable force of each part of the human body is different. The maximum transient allowable force of each part of the human body can be found in the following table:

[0047]

[0048] In another embodiment, see Figure 4 , the estimated collision speed and the preset robot mass information and the mass information of the grounded conductor are calculated to obtain the transient collision force when the robot collides with the grounded conductor, including:

[0049] Step S321, calculating the preset mass information of the robot and the mass information of the grounded conductor to obtain the reduced mass of the robot and the grounded conductor;

[0050] Step S322, calculating the reduced mass and the estimated collision speed to obtain a transient collision force when the collision occurs.

[0051] In Newtonian mechanics, the reduced mass is also called the reduced mass, which is the "effective" inertial mass that appears in the two-body problem. This is a physical quantity with the dimension of mass, which enables the two-body problem to be transformed into a one-body problem. In this embodiment, the reduced mass is to reduce the effective mass of the robot and the effective mass of the human body, so that the two-body problem based on the effective mass of the robot and the effective mass of the human body is transformed into a one-body problem with the reduced mass.

[0052] It should be noted that for the human body, the effective mass of different parts of the human body will be different, see the following table for details:

[0053] Body Area Effective elastic coefficient k(N / mm) <![CDATA[Effective mass m H (kg)]]> Brain and forehead 150 4.4 Face 75 4.4 neck 50 1.2 Back and shoulders 35 40 Chest 25 40 abdomen 10 40 Pelvic area 25 40 Upper arm and elbow joint 30 3 Forearm and wrist 40 2 Hands and fingers 75 0.6

[0054] In this embodiment, the equivalent mass is calculated according to the following formula:

[0055]

[0056] Where: μ is the reduced mass; m H is the effective mass of the grounded conductor; m R is the effective mass of the robot.

[0057] It should be noted that the effective mass does not represent the real mass, but represents a proportional coefficient between the external force and the acceleration of the electrons in the energy band when they are subjected to external force (in the quasi-classical approximation, the crystal electrons have an acceleration a* under the action of the external force F*, so m*=F* / a* defined by Newton's second law is called inertial mass). Its definition can be: negative effective mass indicates that the lattice does negative work on the electrons, that is, the electrons have to supply energy to the lattice, and the energy supplied by the electrons to the lattice is greater than the work done by the external field on the electrons. The effective mass summarizes the role of the internal potential field of the semiconductor, so that when solving the motion law of electrons in the semiconductor under the action of external forces, the role of the internal potential field can be ignored. Concept: The acceleration of electrons in the crystal is linked to the external force, and the effect of the internal force in the crystal is included. The formula is: Ft=MV′-MV0. It is generally believed that V′ is approximately zero at the moment of action, so the above formula can be simplified to Ft=-MV0 (the negative sign indicates that F and V0 are reversed).

[0058] In this embodiment, the effective mass of the robot is calculated according to the following formula:

[0059] m R =M / 2+m L

[0060] Among them, m L The payload of the robot system including tools and workpieces; m R is the effective mass of the robot, and M is the total mass of the robot's moving parts.

[0061] After calculating the reduced mass, the energy transferred when the robot collides with the human body is calculated using the following formula:

[0062]

[0063] Among them, v ref is the initial movement speed of the robot.

[0064] Finally, the transient collision force is calculated according to the following formula:

[0065]

[0066] Where F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transmitted when the robot collides with the grounded conductor.

[0067] It can be understood that, under the premise of knowing the estimated collision speed, according to the formula: The energy E can be calculated. Because the effective mass of the human body involved in the reduced mass can be obtained through Table 1, and the effective mass of the robot involved in the reduced mass is based on the existing robot mass information and according to the formula: m R =M / 2+mL It can be calculated, so, under the premise of knowing the estimated collision speed, combined with the reduced mass, the energy E can be calculated.

[0068] On the premise of calculating the energy E, look up the effective elastic coefficient of the corresponding human body part in Table 1, according to the formula: The transient collision force generated when the robot collides with the human body can be calculated.

[0069] After calculating the transient collision force generated when the robot collides with the human body, the calculated transient collision force is compared with the maximum transient allowable force that the human body can withstand to determine whether the transient collision force generated by the pre-collision is greater than the maximum transient allowable force that the human body can withstand. Among them, the maximum transient allowable force of the human body can be queried through Table 2, for example, the maximum transient allowable force of the neck is 150×2=300N, the maximum transient allowable force of the back and shoulders is 210×2=420N, the maximum transient allowable force of the chest is 140×2=280N, and the maximum transient allowable force of the abdomen is 110×2=220N.

[0070] In another embodiment, the step of controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounded conductor includes:

[0071] The impedance model of the grounded conductor is established according to the following formula, and the robot is controlled to move according to the impedance model:

[0072] F = K*X+B*X'+M*X";

[0073] Where, F is the collision force;

[0074] X, X', X" are the preset position, preset speed, and preset deceleration of the robot respectively;

[0075] K, B, and M are the stiffness parameter, damping parameter, and mass matrix parameter of the obstacle, respectively;

[0076] The deceleration is calculated according to the following formula:

[0077] X' = ​​(FK*X+B*X') / M;

[0078] The deceleration is integrated to obtain the preset position of the robot.

[0079] It should be noted that the preset speed is obtained by integrating the preset deceleration, and the preset position is obtained by integrating the preset speed. The three variables are interrelated.

[0080] Based on the aforementioned robot emergency stop control method based on proximity perception, the present invention also proposes a robot emergency stop control device based on proximity perception, see Figure 5 , the robot emergency stop control device includes:

[0081] The receiving module 10 is used to receive data sent by the proximity-sensing electronic skin and calculate the distance between the robot and the grounded conductor according to the data;

[0082] A trigger output module 20, used to generate a corresponding trigger signal when the distance between the robot and the grounded conductor reaches a preset threshold;

[0083] The control module 30 is used to output a control signal according to the trigger signal to control the robot to perform deceleration movement.

[0084] In one embodiment, the control module 30 proposed by the present invention includes:

[0085] The speed calculation unit 31 is used to calculate the initial movement speed of the robot and the distance between the robot and the grounded conductor during the deceleration movement of the robot, so as to obtain an estimated collision speed when the robot collides with the grounded conductor;

[0086] A collision force calculation unit 32 is used to obtain the mass information of the robot and the mass information of the grounded conductor, and to calculate the estimated collision speed, the mass information of the robot and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor;

[0087] The control unit 33 is used to obtain the transient allowable force when the grounded conductor and the robot are in transient contact, and control the robot to slow down or stop urgently according to the transient collision force and the transient allowable force of the grounded conductor.

[0088] In another embodiment, the collision force calculation unit 32 provided by the present invention includes:

[0089] The first operation subunit 321 is used to operate the preset robot mass information and the ground conductor mass information to obtain the reduced mass of the robot and the ground conductor;

[0090] The second operation subunit 322 is used to operate on the reduced mass and the estimated collision speed to obtain the transient collision force when the collision occurs.

[0091] In another embodiment, the first operator unit 321 calculates the equivalent mass according to the following formula:

[0092]

[0093] Where: μ is the reduced mass;

[0094] m H is the effective mass of the grounded conductor;

[0095] m R is the effective mass of the robot;

[0096] The second operator unit 322 calculates the transient collision force according to the following formula:

[0097]

[0098] Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transmitted when the robot collides with the grounded conductor. The calculation formula is:

[0099]

[0100] Among them, v ref is the initial movement speed of the robot.

[0101] In yet another embodiment, the control module 30 further includes an impedance model building unit 34, which is used to build an impedance model of the grounded conductor according to the following formula, and control the robot to move according to the impedance model:

[0102] F = K*X+B*X'+M*X";

[0103] Where, F is the transient collision force;

[0104] X, X', X" are the target position, motion speed, and deceleration of the robot motion planned by the impedance model, respectively;

[0105] K, B, and M are the stiffness, damping, and mass matrices of the grounded conductor, respectively;

[0106] The deceleration value is calculated according to the following formula:

[0107] X" = (FK*X+B*X') / M.

[0108] Based on the aforementioned robot emergency stop control method based on proximity perception, the present invention further proposes a robot emergency stop control system based on proximity perception, the robot emergency stop control system comprising:

[0109] Memory for storing computer programs;

[0110] A processor is used to implement the steps of the robot emergency stop control method based on proximity perception in the above-mentioned various embodiments when processing the computer program, and the robot emergency stop control method at least includes the following steps:

[0111] Step S10, receiving data sent by the proximity-sensing electronic skin, and calculating the distance between the robot and the grounded conductor according to the data;

[0112] Step S20, when the distance between the robot and the grounded conductor reaches a preset threshold, a corresponding trigger signal is generated;

[0113] Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.

[0114] Based on the aforementioned robot emergency stop control method based on proximity perception, the present invention further proposes a storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the robot emergency stop control method based on proximity perception in the above-mentioned embodiments are implemented. The robot emergency stop control method includes at least the following steps:

[0115] Step S10, receiving data sent by the proximity-sensing electronic skin, and calculating the distance between the robot and the grounded conductor according to the data;

[0116] Step S20, when the distance between the robot and the grounded conductor reaches a preset threshold, a corresponding trigger signal is generated;

[0117] Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration movement.

[0118] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0119] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0121] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or 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, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0122] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A robot emergency stop control method based on proximity perception, characterized in that: include: receiving data sent by the proximity-sensing electronic skin, and calculating the distance between the robot and a part of the human body based on the data; When the distance between the robot and the part reaches a preset threshold, a corresponding trigger signal is generated; Outputting a control signal according to the trigger signal to control the robot to perform deceleration movement; The step of outputting a control signal according to the trigger signal to control the robot to perform deceleration motion comprises: During the deceleration of the robot, the initial movement speed of the robot and the distance between the robot and the part are calculated to obtain the estimated collision speed when the robot collides with the part; Obtaining preset robot mass information and preset part mass information, calculating the robot mass information and the part mass information to obtain the reduced mass of the robot and the part; calculating the reduced mass and the estimated collision speed to obtain the transient collision force when the collision occurs; The transient allowable force when the part is in transient contact with the robot is obtained. The transient allowable force refers to the maximum impact force that each part of the human body can withstand. The robot is controlled to slow down or stop urgently according to the transient collision force and the transient allowable force.

2. The robot emergency stop control method according to claim 1, characterized in that: The equivalent mass is calculated according to the following formula: Where: μ is the reduced mass; m H is the effective mass of the part; m R is the effective mass of the robot; The transient collision force is calculated according to the following formula: Among them, F is the transient collision force, k is the effective elastic coefficient of the part, and E is the energy transmitted when the robot collides with the part. The calculation formula is: Among them, v ref is the initial movement speed of the robot.

3. The robot emergency stop control method according to claim 2, characterized in that: The step of controlling the robot to slow down or stop urgently according to the transient collision force and the transient allowable force comprises: The impedance model of the part is established according to the following formula, and the robot is controlled to move according to the impedance model: F = K*X+B*X'+M*X"; Where, F is the transient collision force; X, X', X" are the target position, motion speed, and deceleration of the robot motion planned by the impedance model, respectively; K, B, and M are the stiffness, damping, and mass matrices of the part, respectively; The deceleration value is calculated according to the following formula: X" = (FK*X+B*X') / M.

4. A robot emergency stop control device based on proximity perception, characterized in that: include: A receiving module, used to receive data sent by the proximity-sensing electronic skin, and calculate the distance between the robot and a part of the human body based on the data; A trigger output module is used to generate a corresponding trigger signal when the distance between the robot and the part reaches a preset threshold; A control module, used to output a control signal according to the trigger signal to control the robot to perform deceleration movement; The control module comprises: The speed calculation unit is used to calculate the initial movement speed of the robot and the distance between the robot and the part during the deceleration movement of the robot, so as to obtain the estimated collision speed when the robot collides with the part; A collision force calculation unit is used to obtain preset robot mass information and preset part mass information, and calculate the estimated collision speed, the preset robot mass information and the preset part mass information to obtain a transient collision force when the robot collides with the part; the collision force calculation unit includes: a first calculation subunit, which calculates the robot mass information and the part mass information to obtain a reduced mass of the robot and the part; a second calculation subunit, which calculates the reduced mass and the estimated collision speed to obtain a transient collision force when a collision occurs; The control unit is used to obtain the transient allowable force when the part is in transient contact with the robot. The transient allowable force refers to the maximum impact force that each part of the human body can withstand. The robot is controlled to slow down or stop urgently according to the transient collision force and the transient allowable force.

5. The robot emergency stop control device according to claim 4, characterized in that: The first operator unit calculates the equivalent mass according to the following formula: Where: μ is the reduced mass; m H is the effective mass of the part; m R is the effective mass of the robot; The second operator unit calculates the transient collision force according to the following formula: Among them, F is the transient collision force, k is the effective elastic coefficient of the part, and E is the energy transmitted when the robot collides with the part. The calculation formula is: Among them, v ref is the initial movement speed of the robot.

6. A storage medium, characterized in that: The storage medium stores a computer program, and when the processor executes the computer program, the robot emergency stop control method based on proximity perception described in any one of claims 1 to 3 is implemented.

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