Signal processing method and apparatus, electronic device, and storage medium

Abstract

The application provides a signal processing method and device, electronic equipment and a storage medium. The signal processing method comprises the following steps: acquiring a speed feedback signal used for indicating the running speed of a mechanical arm; calculating a filtering duration according to the speed feedback signal; performing filtering processing on a position feedback signal used for indicating the position of the mechanical arm and acquired within the filtering duration, to acquire a filtered feedback signal used for indicating the target position of the mechanical arm. The present scheme can avoid the situation of alarm due to the excessive tracking error of the mechanical arm.

Description

Technical Field

[0001] This application relates to the field of filtering technology, and in particular to signal processing methods, apparatus, electronic devices and storage media. Background Technology

[0002] With the development of automation technology, robotic arms (also known as manipulators) have been applied in various fields such as machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy. During operation, the position of the robotic arm needs to be detected by external sensors. However, the detected position contains a certain systematic error. The robotic arm's control system operates based on this detected position, and this systematic error can cause the robotic arm to vibrate.

[0003] Currently, to address system errors from external sensors, a fixed system filter value is typically used to eliminate disturbances and obtain a filtered feedback signal. This signal is then sent to the control system, which adjusts the robot's position based on the filtered feedback signal. However, when the robot operates at high speeds, eliminating disturbances with a fixed system filter value can cause a lag in the filtered feedback signal. This lag leads to increased tracking errors in the robot, which in turn triggers an alarm. Summary of the Invention

[0004] The signal processing method, apparatus, electronic device, and storage medium provided in this application to solve the above problems can prevent alarms caused by excessive tracking errors of the robotic arm.

[0005] In a first aspect, embodiments of this application provide a signal processing method, including:

[0006] Acquire a speed feedback signal to indicate the operating speed of the robotic arm;

[0007] Calculate the filtering time based on the speed feedback signal;

[0008] The position feedback signal used to indicate the position of the robot arm, which is obtained within the filtering time, is filtered to obtain a filtered feedback signal used to indicate the target position of the robot arm.

[0009] In a first possible implementation, in conjunction with the first aspect described above, the step of calculating the filtering duration based on the speed feedback signal includes:

[0010] A target linear formula matching the robotic arm is determined, wherein the dependent variable of the target linear formula is the duration of the filtering process, and the independent variable of the target linear formula is the operating speed of the robotic arm;

[0011] The running speed indicated by the speed feedback signal is substituted into the target linear formula as the independent variable to calculate the filtering time, which is the dependent variable of the target linear formula.

[0012] In the second possible implementation, combined with the first possible implementation described above, determining the target linear formula matching the robotic arm includes:

[0013] Determine the maximum and minimum operating speeds of the robotic arm during operation;

[0014] Find a target linear formula that matches the robot from at least one pre-created linear formula, wherein the independent variable of the target linear formula is greater than or equal to the minimum operating speed of the robot and less than or equal to the maximum operating speed of the robot.

[0015] In the third possible implementation, combined with the first possible implementation, the target linear formula includes:

[0016]

[0017] in, V is the dependent variable of the target linear formula, used to characterize the duration of the filtering process; act T is the independent variable of the target linear formula, used to characterize the operating speed of the robotic arm; min Used to characterize the shortest duration of the preset filtering process; T max Used to characterize the maximum duration of the preset filtering process; V max V is used to characterize the maximum operating speed of the robotic arm during operation. min Used to characterize the minimum operating speed of the robotic arm during operation.

[0018] In a fourth possible implementation, combined with the second possible implementation described above, the signal processing method further includes:

[0019] If a stop signal is received to control the robot arm to stop moving, then the maximum value that the dependent variable of the target linear formula can take is determined;

[0020] The maximum value that the dependent variable of the target linear formula can take is used as the filtering time, and the position feedback signal obtained within the filtering time, which is used to indicate the position of the robot, is filtered to obtain a filtered feedback signal used to indicate the target position of the robot.

[0021] In a fifth possible implementation, in conjunction with the first aspect or any possible implementation of the first aspect described above, the signal processing method further includes:

[0022] If a tracking error signal is received, it is determined whether the tracking error indicated by the tracking error signal is within a preset error range, wherein the tracking error is used to indicate the distance between the actual position of the robot and the position indicated by the filtered feedback signal;

[0023] If the tracking error is within the error range, then the process of obtaining a speed feedback signal to indicate the operating speed of the robot arm is performed.

[0024] If the tracking error is not within the error range, then the filtering process on the acquired position feedback signal is stopped.

[0025] Secondly, embodiments of this application also provide a signal processing apparatus, including:

[0026] The signal acquisition module is used to acquire speed feedback signals that indicate the operating speed of the robotic arm;

[0027] The duration calculation module is used to calculate the filtering duration based on the speed feedback signal obtained by the signal acquisition module;

[0028] The filtering module is used to filter the position feedback signal used to indicate the position of the robot arm obtained within the filtering time calculated by the duration calculation module, and obtain a filtered feedback signal used to indicate the target position of the robot arm.

[0029] In a first possible implementation, in conjunction with the second aspect described above, the duration calculation module includes:

[0030] The selection submodule is used to determine the target linear formula that matches the robot arm, wherein the dependent variable of the target linear formula is the duration of the filtering process, and the independent variable of the target linear formula is the running speed of the robot arm;

[0031] The calculation submodule is used to substitute the running speed indicated by the speed feedback signal as the independent variable into the target linear formula determined by the selection submodule, and calculate the filtering time as the dependent variable of the target linear formula.

[0032] In the second possible implementation, combined with the first possible implementation, the selection submodule is used to determine the maximum and minimum operating speeds of the robot arm, and to find a target linear formula that matches the robot arm from at least one pre-created linear formula, wherein the independent variable of the target linear formula is greater than or equal to the minimum operating speed of the robot arm, and less than or equal to the maximum operating speed of the robot arm.

[0033] In the third possible implementation, combined with the first possible implementation, the target linear formula includes:

[0034]

[0035] in, V is the dependent variable in the target linear formula, used to characterize the duration of the filtering process; act T is the independent variable of the target linear formula, used to characterize the operating speed of the robotic arm; min Used to characterize the shortest duration of the preset filtering process; T max Used to characterize the maximum duration of the preset filtering process; V max V is used to characterize the maximum operating speed of the robotic arm during operation. min Used to characterize the minimum operating speed of the robotic arm during operation.

[0036] In the fourth possible implementation, combined with the second possible implementation, the duration calculation module is further configured to, upon receiving a stop signal for controlling the robot to stop moving, determine the maximum value that the dependent variable of the target linear formula can take, use the maximum value that the dependent variable of the target linear formula can take as the filtering duration, and trigger the filtering processing module to perform filtering processing on the position feedback signal obtained within the filtering duration for indicating the position of the robot, thereby obtaining a filtered feedback signal for indicating the target position of the robot.

[0037] In a fifth possible implementation, in conjunction with the second aspect or any possible implementation of the second aspect, the signal acquisition module is further configured to, upon receiving a tracking error signal, determine whether the tracking error indicated by the tracking error signal is within a preset error range; if the tracking error is within the error range, then execute the acquisition of a speed feedback signal used to indicate the operating speed of the robot arm; if the tracking error is not within the error range, then trigger the filtering processing module to stop filtering the acquired position feedback signal, wherein the tracking error is used to indicate the distance between the actual position of the robot arm and the position indicated by the filtered feedback signal.

[0038] Thirdly, embodiments of this application also provide an electronic device, including: at least one processor, a memory, a communication bus, a communication interface, and at least one program, wherein...

[0039] The at least one processor, the communication interface, and the memory communicate with each other through the communication bus;

[0040] The at least one program is stored in the memory and configured to be executed by the at least one processor of the signal processing method provided by the first aspect or any possible implementation thereof.

[0041] Fourthly, embodiments of this application also provide a computer storage medium, comprising: the computer storage medium storing a computer program, which, when executed by a processor, implements the signal processing method provided in the first aspect or any possible implementation thereof.

[0042] As can be seen from the above technical solution, by acquiring the speed feedback signal used to indicate the robot's operating speed, a corresponding filtering time can be calculated based on this speed feedback signal. Since the robot's operating speed is not fixed, the calculated filtering time is also not constant. After filtering the position feedback signal indicating the robot's position based on the calculated filtering time, interference signals in the position feedback signal can be eliminated, thus obtaining a filtered feedback signal suitable for the robot's current operating speed. Since the filtering time changes with the robot's operating speed, filtering based on the filtering time can avoid lag in the filtered feedback signal. Therefore, when adjusting the robot's position using the filtered feedback signal, alarms due to excessive tracking errors in the robot can be avoided. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of a signal processing method provided in an embodiment of this application;

[0045] Figure 2 This is a flowchart of a method for determining the filtering duration provided in an embodiment of this application;

[0046] Figure 3 This is a flowchart of a method for determining a target linear formula provided in an embodiment of this application;

[0047] Figure 4 This is a flowchart of another signal processing method provided in an embodiment of this application;

[0048] Figure 5 This is a flowchart of another signal processing method provided in the embodiments of this application;

[0049] Figure 6 This is a schematic diagram of a signal processing device provided in an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of another signal processing device provided in an embodiment of this application;

[0051] Figure 8 This is a schematic diagram of an electronic device provided in an embodiment of this application.

[0052] List of reference numerals in the attached diagram:

[0053] 101: Obtain speed feedback signal

[0054] 102: Calculate the filtering time based on the speed feedback signal

[0055] 103: Filter the position feedback signal acquired within the filtering time period to obtain the filtered feedback signal.

[0056] 201: Determine the target linear formula that matches the robotic arm

[0057] 202: Substitute the running speed indicated by the speed feedback signal into the target linear formula to calculate the filtering time.

[0058] 301: Determine the maximum and minimum operating speeds of the robotic arm.

[0059] 302: Find the target linear formula based on the maximum and minimum operating speeds.

[0060] 401: If a stop signal is received, determine the maximum value that the dependent variable of the target linear formula can take.

[0061] 402: Use the maximum value that the dependent variable of the objective linear formula can take as the filtering duration.

[0062] 403: Filter the position feedback signal acquired within the filtering time period to obtain the filtered feedback signal.

[0063] 501: Determine if the tracking error is within the error range.

[0064] 502: If the tracking error is within the error range, then execute the acquisition of the speed feedback signal.

[0065] 503: If the tracking error is not within the error range, stop the filtering process.

[0066] 1: Signal acquisition module; 2: Duration calculation module; 3: Filtering module.

[0067] 21: Selection Submodule 22: Computation Submodule 802: Processor

[0068] 804: Memory; 806: Communication bus; 808: Communication interface

[0069] 810: Program 80: Electronic Equipment Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0071] As mentioned earlier, when a robotic arm operates over long distances and spans, its operating surfaces experience wear, leading to a decrease in the accuracy of its movement. To mitigate this wear-induced accuracy reduction, existing technologies typically employ external sensors to detect the robotic arm's position. However, in actual operation, the position detected by these external sensors fluctuates within an accuracy range of ±1mm due to system errors caused by inherent sensor variations. When the distance measurement results from the external sensors are directly used as the robotic arm's position feedback, the control system calculates the speed for adjusting the arm's position based on this result. Given the short computation cycle of the control system, which calculates speed by using the derivative of distance with respect to time, even small position fluctuations can cause significant fluctuations in the robotic arm's speed. This results in position loop fluctuations within the control system when stationary, leading to repeated adjustments and oscillations in the speed loop. Furthermore, during operation, these fluctuations can cause speed value disturbances, resulting in false alarms.

[0072] In this embodiment, a suitable filtering time is calculated based on the operating speed of the robotic arm to eliminate system oscillations caused by the system error of the external sensor. This also avoids the positioning overshoot problem caused by the lag of the robotic arm during high-speed operation and prevents alarms from occurring due to excessive tracking error of the robotic arm.

[0073] The signal processing method and apparatus provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0074] Figure 1 This is a flowchart of a signal processing method provided in an embodiment of this application, such as... Figure 1 As shown, the signal processing method includes the following steps:

[0075] Step 101: Obtain the speed feedback signal used to indicate the operating speed of the robotic arm;

[0076] Step 102: Calculate the filtering time based on the speed feedback signal;

[0077] Step 103: Filter the position feedback signal used to indicate the position of the robot arm obtained within the filtering time to obtain the filtered feedback signal used to indicate the target position of the robot arm.

[0078] In this embodiment, by acquiring the speed feedback signal indicating the robot's operating speed, a corresponding filtering time can be calculated based on this speed feedback signal. Since the robot's operating speed is not fixed, the calculated filtering time is also not constant. After filtering the position feedback signal indicating the robot's position based on the calculated filtering time, interference signals in the position feedback signal can be eliminated, thereby obtaining a filtered feedback signal suitable for the robot's current operating speed. Since the filtering time changes with the robot's operating speed, filtering based on the filtering time can avoid lag in the filtered feedback signal. Therefore, when adjusting the robot's position using the filtered feedback signal, alarms due to excessive tracking errors of the robot can be avoided.

[0079] In one possible implementation, Figure 1 Based on the signal processing method shown, when calculating the filtering time according to the speed feedback signal, the filtering time can be calculated using a linear formula that matches the robot arm. Figure 2 This is a flowchart of a method for determining the filtering duration provided in an embodiment of this application, as shown below. Figure 2 As shown, the method for determining the filtering duration includes the following steps:

[0080] Step 201: Determine the target linear formula that matches the robot arm, where the dependent variable of the target linear formula is the duration of the filtering process, and the independent variable of the target linear formula is the running speed of the robot arm;

[0081] Step 202: Substitute the running speed indicated by the speed feedback signal as the independent variable into the target linear formula, and calculate the filtering time as the dependent variable of the target linear formula.

[0082] In this embodiment of the application, under the premise that the position fluctuation of the robot arm is fixed, the greater the fluctuation of the robot arm's running speed, the longer the filtering time. Therefore, the running speed of the robot arm and the filtering time satisfy a linear relationship. After obtaining the running speed of the robot arm, the filtering time can be calculated by a linear formula. Thus, the filtering time can be quickly determined based on the running speed of the robot arm, thereby shortening the time to obtain the filtering feedback signal and improving the accuracy of controlling the robot arm.

[0083] Because different robotic arms vary in parameters such as operating speed, weight, volume, filtering time, and functions, the linear formulas matched to different robotic arms may differ. If a filtering time calculated using a uniform linear formula is applied to a particular robotic arm, the filtering feedback signal may cause tracking errors due to lag, or the distance between the position indicated by the filtering feedback signal and the current position of the robotic arm may differ significantly, leading to abnormal operation of the robotic arm. To avoid these situations, when determining the filtering time, it is necessary to first determine the target linear formula matched to the robotic arm. The filtering time applicable to the robotic arm is then determined based on the determined target linear formula, thus avoiding lag in the filtering feedback signal.

[0084] Optionally, in Figure 2 Based on the method for determining the filtering time shown, the target linear formula that matches the robot can be determined by the maximum and minimum operating speeds of the robot. Figure 3 This is a flowchart of a method for determining a target linear formula provided in an embodiment of this application, such as... Figure 3 As shown, the method for determining the target linear formula includes the following steps:

[0085] Step 301: Determine the maximum and minimum operating speeds of the robotic arm;

[0086] Step 302: Find the target linear formula from at least one pre-created linear formula, wherein the independent variable of the target linear formula is greater than or equal to the minimum operating speed of the robot and less than or equal to the maximum operating speed of the robot.

[0087] In this embodiment of the application, different models of robotic arms have different performance, so the maximum and minimum operating speeds of different models of robotic arms may be different. In order to find a target linear formula suitable for the robotic arm, a target linear formula matching the robotic arm can be found from at least one pre-created linear formula based on the maximum and minimum operating speeds of the robotic arm. This ensures that the lower limit of the range of independent variables in the determined target linear formula is greater than or equal to the minimum operating speed of the robotic arm, and the upper limit of the range of independent variables in the target linear formula is less than or equal to the maximum operating speed of the robotic arm.

[0088] For example, the minimum operating speed of the robotic arm is 1 m / s, and the maximum operating speed is 5 m / s. The independent variable of a pre-created linear formula has a value range of 2-5 m / s. That is, the lower limit of the value range of the independent variable of the linear formula is 2 m / s, and the upper limit of the value range of the independent variable of the linear formula is 5 m / s. Since the lower limit of the value range of the independent variable of the linear formula is greater than the minimum operating speed of the robotic arm, and the upper limit of the value range of the independent variable of the linear formula is equal to the maximum operating speed of the robotic arm, this linear formula can be determined as the target linear formula that matches the robotic arm.

[0089] In one possible implementation, the objective linear formula includes:

[0090]

[0091] in, V is the dependent variable in the objective linear formula, used to characterize the duration of the filtering process; act T is the independent variable in the objective linear formula, used to characterize the operating speed of the robotic arm; min Used to characterize the shortest duration of the preset filtering process; T max Used to characterize the maximum duration of the preset filtering process; V max Used to characterize the maximum operating speed of a robotic arm; V min Used to characterize the minimum operating speed of a robotic arm.

[0092] The longest duration T of filtering processing max Based on the jitter frequency of the external sensor itself, the position fluctuations reported by the external sensor when the robot arm is stationary are filtered out. This avoids position loop fluctuations caused by the jitter of the external sensor itself, which in turn lead to system oscillations, thus improving the stability of the robot arm. The minimum filtering time T is determined. min Based on the acceleration and maximum operating speed of the robotic arm, the tracking error alarm and positioning overshoot problems caused by feedback lag during the acceleration, deceleration and high-speed operation of the robotic arm are eliminated.

[0093] Specifically, in the motion control of gantry or gantry robots, in order to prevent external sensors from being affected by external disturbances and thus affecting position feedback signals such as laser ranging, which could lead to oscillations in the servo system of the control system, it is necessary to select an appropriate filtering duration to filter the position feedback signals of the external sensors.

[0094] Based on the characteristics of the control system controlling the robot's operation, when the robot is stationary, fluctuations in the position feedback signal can be considered entirely disturbances, having the greatest impact on the control system. However, during high-speed operation, the position feedback signal fluctuations are affected by the following error of the servo system within the control system, thus reducing their impact on the control system. Therefore, a first-order linear function based on the robot's actual operating speed can be established to calculate the system's filtering time, for example, using the aforementioned target linear formula. To calculate the filtering duration.

[0095] In one possible implementation, Figure 3 Based on the method for determining the target linear formula, if the robot stops moving, the maximum value that the dependent variable of the target linear formula can take can be used as the filtering time for filtering. Figure 4 This is a flowchart of another signal processing method provided in an embodiment of this application, such as... Figure 4 As shown, the signal processing method includes the following steps:

[0096] Step 401: If a stop signal is received to control the robot arm to stop moving, determine the maximum value that the dependent variable of the target linear formula can take;

[0097] Step 402: Use the maximum value that the dependent variable of the target linear formula can take as the filtering duration;

[0098] Step 403: Filter the position feedback signal used to indicate the position of the robot arm obtained within the filtering time to obtain a filtered feedback signal used to indicate the target position of the robot arm.

[0099] In this embodiment, stopping the robot's movement includes the robot being in operation but its position remaining unchanged for a certain period of time, i.e., the robot staying at a certain position. Stopping also includes the robot being in a stopped state for a short period of time (e.g., 0.5 min, 1 min, or 2 min). When the robot needs to stop, the control system issues a stop signal, after which the robot stops moving. Since the robot does not move, there is no tracking error, and therefore, there is no need to focus on the accuracy of the tracking error. In this case, the longer the filtering time, the smoother the filtered feedback signal, which can better prevent disturbances from interference signals. Therefore, when the robot stops running, using the maximum value that the dependent variable of the target linear formula can take as the filtering time, and then filtering the position feedback signal obtained within this filtering time, can better eliminate disturbances in the filtered feedback signal.

[0100] For example, the independent variable of the target linear formula has a range of values ​​[0, 8], and the corresponding dependent variable of the target linear formula has a range of values ​​[3, 9]. When a stop signal is received, the maximum value of 9 that the dependent variable of the target linear formula can take is used as the filtering duration.

[0101] In one possible implementation, Figure 1 Based on the signal processing method shown, if a tracking error is received, the tracking error needs to be compared with a preset error range to determine whether to continue the filtering operation or stop the filtering operation immediately. Figure 5 This is a flowchart of another signal processing method provided in the embodiments of this application, such as... Figure 5 As shown, the signal processing method includes the following steps:

[0102] Step 501: If a tracking error signal is received, determine whether the tracking error indicated by the tracking error signal is within the preset error range. If yes, proceed to step 502; otherwise, proceed to step 503.

[0103] Among them, the tracking error is used to indicate the distance between the actual position of the robot and the position indicated by the filtered feedback signal;

[0104] Step 502: Obtain the speed feedback signal used to indicate the operating speed of the robotic arm.

[0105] After determining whether the tracking error is within the preset error range, the step of obtaining the speed feedback signal used to indicate the running speed of the robot arm and subsequent steps are executed. That is, after determining whether the tracking error is within the preset error range, steps 101-103 are executed.

[0106] Step 503: Stop filtering the acquired position feedback signal.

[0107] In this embodiment, when the robot's operating speed exceeds a preset speed threshold, or when the robot's acceleration exceeds a preset acceleration threshold, the control system sends a tracking error signal. By comparing the tracking error indicated by the tracking error signal with a preset error range, it can be determined whether the distance between the robot's actual position and the position indicated by the filtered feedback signal is too large. If the tracking error is too large, when the control system controls the robot to move according to the filtered feedback signal, the robot will experience severe shaking due to the excessive distance to be moved in a short period of time.

[0108] For example, the actual position of the robotic arm is A1, while the position indicated by the filtered feedback signal is A2. The distance between A1 and A2 is 100cm, and 100cm represents the tracking error of the robotic arm. When the preset error range is -10cm to 10cm, 100cm is outside this range. Therefore, filtering the position feedback signal needs to be stopped to prioritize the real-time performance of the robotic arm. If the tracking error is within the preset range, it indicates that the error value is acceptable, and filtering the position feedback signal can continue to make the robotic arm operate more stably.

[0109] In summary, the signal processing method provided in this application automatically calculates an appropriate filtering duration by determining the robot's operating speed. The filtered feedback signal obtained based on this filtering duration can eliminate system oscillations caused by external feedback and avoid tracking error alarms and positioning overshoot problems caused by the robot's lag during high-speed operation. Therefore, the signal processing method provided in this application has good adaptability and excellent filtering effect.

[0110] By linearizing the robot's operating speed and filtering time, the longest filtering time can be output when the robot is stationary, and the shortest filtering time can be output when the robot is at its maximum operating speed. Simultaneously, an error range is set to determine the following error when the robot is running at high speed. This allows the filtering operation to stop if the following error is outside this range, thus preventing alarms caused by excessive following error.

[0111] Figure 6 This is a schematic diagram of a signal processing device provided in an embodiment of this application, such as... Figure 6 As shown, the signal processing device includes:

[0112] Signal acquisition module 1 is used to acquire speed feedback signals that indicate the operating speed of the robotic arm;

[0113] Duration calculation module 2 is used to calculate the filtering duration based on the speed feedback signal obtained by signal acquisition module 1;

[0114] The filtering module 3 is used to filter the position feedback signal used to indicate the position of the robot arm obtained within the filtering time calculated by the time calculation module 2, and obtain the filtered feedback signal used to indicate the target position of the robot arm.

[0115] In this embodiment, the signal acquisition module 1 can be used to execute step 101 in the above method embodiment, the duration calculation module 2 can be used to execute step 102 in the above method embodiment, and the filtering module 3 can be used to execute step 103 in the above method embodiment.

[0116] Figure 7 This is a schematic diagram of another signal processing device provided in the embodiments of this application, such as... Figure 7 As shown, in Figure 6 Based on the signal processing device shown, the duration calculation module 2 includes:

[0117] Select submodule 21 to determine the target linear formula that matches the robot arm, where the dependent variable of the target linear formula is the duration of the filtering process, and the independent variable of the target linear formula is the running speed of the robot arm.

[0118] The calculation submodule 22 is used to substitute the running speed indicated by the speed feedback signal as the independent variable into the target linear formula determined by the selection submodule 21, and calculate the filtering time as the dependent variable of the target linear formula.

[0119] In this embodiment of the application, the selection submodule 21 can be used to execute step 201 in the above method embodiment, and the calculation submodule 22 can be used to execute step 202 in the above method embodiment.

[0120] In one possible implementation, such as Figure 7 As shown, the selection submodule 21 is used to determine the maximum and minimum operating speeds of the robot arm during operation, and to find a target linear formula that matches the robot arm from at least one pre-created linear formula, wherein the independent variable of the target linear formula is greater than or equal to the minimum operating speed of the robot arm and less than or equal to the maximum operating speed of the robot arm.

[0121] In this embodiment of the application, the selection submodule 21 can be used to execute steps 301 and 302 in the above method embodiments.

[0122] In one possible implementation, the objective linear formula is:

[0123]

[0124] in, V is the dependent variable in the target linear formula, used to characterize the duration of the filtering process; act T is the independent variable of the target linear formula, used to characterize the operating speed of the robotic arm; min Used to characterize the shortest duration of the preset filtering process; T max Used to characterize the maximum duration of the preset filtering process; V max V is used to characterize the maximum operating speed of the robotic arm during operation. min Used to characterize the minimum operating speed of the robotic arm during operation.

[0125] In one possible implementation, such as Figure 7As shown, the duration calculation module 2 is also used to determine the maximum value that the dependent variable of the target linear formula can take when the signal acquisition module 1 receives the stop signal used to control the robot to stop moving, take the maximum value that the dependent variable of the target linear formula can take as the filtering duration, and trigger the category processing module 3 to perform filtering processing on the position feedback signal used to indicate the position of the robot obtained within the filtering duration, so as to obtain the filtered feedback signal used to indicate the target position of the robot.

[0126] In this embodiment of the application, the duration calculation module 2 can be used to execute steps 401-403 in the above method embodiment.

[0127] In one possible implementation, the signal acquisition module 1 is further configured to determine whether the tracking error indicated by the tracking error signal is within a preset error range when the tracking error signal is received. If the tracking error is within the error range, the module acquires a speed feedback signal used to indicate the running speed of the robot. If the tracking error is not within the error range, the module 3 is triggered to stop filtering the acquired position feedback signal. The tracking error is used to indicate the distance between the actual position of the robot and the position indicated by the filtered feedback signal.

[0128] In this embodiment of the application, the signal processing module 1 can be used to execute steps 501-502 in the above method embodiment.

[0129] It should be noted that the information interaction and execution process between the modules and sub-modules in the above-mentioned signal processing device are based on the same concept as the aforementioned signal processing method embodiments. For details, please refer to the description in the aforementioned signal processing method embodiments, and will not be repeated here.

[0130] This application also provides an electronic device for performing the signal processing method provided in any of the above embodiments. Figure 8 This is a schematic diagram of an electronic device provided in an embodiment of this application. See also... Figure 8 The electronic device 80 provided in this application includes: at least one processor 802, memory 804, communication bus 806, communication interface 808, and at least one program 810. Among them,

[0131] Each processor 802, communication interface 808, and memory 804 communicate with each other through communication bus 806.

[0132] Communication interface 808 is used for communication with other devices.

[0133] At least one program is stored in memory and configured to be executed by various processors: the relevant steps in the methods described in any of the above embodiments.

[0134] Specifically, program 810 may include program code that includes computer operation instructions.

[0135] The processor 802 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0136] Memory 804 is used to store program 810. Memory 804 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0137] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform the signal processing methods described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling a computer (or GPU, CPU, or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0138] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.

[0139] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0140] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0141] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the GPU, CPU, etc. installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0142] The signal processing methods, apparatuses, electronic devices, and storage media provided in the embodiments of this application have at least the following beneficial effects:

[0143] 1. It can eliminate the shaking of the robot arm caused by interference signals in the position feedback signal when the robot arm is stationary, thereby improving the stability of the robot arm.

[0144] 2. When the robotic arm is running at high speed, it can effectively suppress fluctuations in the actual speed of the robotic arm.

[0145] 3. By monitoring the tracking error, the filtering process is cut off when the tracking error is large, so as to avoid the tracking error alarm problem caused by the filtering time.

[0146] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0147] Finally, it should be noted that the above description is merely a preferred embodiment of this application and is only used to illustrate the technical solution of this application, and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A signal processing method, characterized by, The method comprises: acquiring a speed feedback signal for indicating a running speed of a manipulator; calculating a filtering duration according to the speed feedback signal; filtering a position feedback signal for indicating a position of the manipulator acquired within the filtering duration to acquire a filtered feedback signal for indicating a target position of the manipulator; the calculating of the filtering duration according to the speed feedback signal comprises: determining a target linear formula matched with the manipulator, wherein a dependent variable of the target linear formula is the filtering duration, and an independent variable of the target linear formula is the running speed of the manipulator; substituting the running speed indicated by the speed feedback signal into the target linear formula as the independent variable to calculate the filtering duration as the dependent variable of the target linear formula.

2. The method of claim 1, wherein, The determining of the target linear formula matched with the manipulator comprises: determining a maximum running speed and a minimum running speed of the manipulator when the manipulator runs; searching for the target linear formula matched with the manipulator from at least one linear formula created in advance, wherein the independent variable of the target linear formula is greater than or equal to the minimum running speed of the manipulator and less than or equal to the maximum running speed of the manipulator.

3. The method of claim 1, wherein, The target linear formula comprises: wherein, V is a dependent variable of the target linear formula, used to represent the time length of the filtering processing; act T is an independent variable of the target linear formula, used to represent the running speed of the robot; min T is used to represent the preset shortest time length of the filtering processing; max V is used to represent the preset longest time length of the filtering processing; max V is used to represent the maximum running speed of the robot; min V is used to represent the minimum running speed of the robot.

4. The method of claim 2, wherein, The method further comprises: if a stop signal for controlling the manipulator to stop moving is received, determining a maximum value of the dependent variable of the target linear formula that can be taken; taking the maximum value of the dependent variable of the target linear formula that can be taken as the filtering duration, and performing the filtering of the position feedback signal for indicating the position of the manipulator acquired within the filtering duration to acquire the filtered feedback signal for indicating the target position of the manipulator.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: if a tracking error signal is received, judging whether a tracking error indicated by the tracking error signal is within a preset error range, wherein the tracking error is for indicating a distance between an actual position of the manipulator and a position indicated by the filtered feedback signal; if the tracking error is within the error range, performing the acquiring of the speed feedback signal for indicating the running speed of the manipulator; if the tracking error is not within the error range, stopping the filtering of the acquired position feedback signal.

6. A signal processing device, characterized by The system comprises: a signal acquiring module (1) for acquiring a speed feedback signal for indicating a running speed of a manipulator; a duration calculating module (2) for calculating a filtering duration according to the speed feedback signal acquired by the signal acquiring module (1); a filtering processing module (3) for filtering a position feedback signal for indicating a position of the manipulator acquired within the filtering duration calculated by the duration calculating module (2) to acquire a filtered feedback signal for indicating a target position of the manipulator; The duration calculating module (2) comprises: a selection sub-module (21) for determining a target linear formula matched with the manipulator, wherein a dependent variable of the target linear formula is the filtering duration, and an independent variable of the target linear formula is the running speed of the manipulator; The calculating sub-module (22) is configured to calculate the filtering time length as the dependent variable of the target linear formula by substituting the running speed indicated by the speed feedback signal as the independent variable into the target linear formula determined by the selecting sub-module (21).

7. The apparatus of claim 6, wherein, The selecting sub-module (21) is configured to determine the maximum running speed and the minimum running speed of the robot during running, and to search for a target linear formula matching the robot from at least one linear formula created in advance, wherein the independent variable of the target linear formula is greater than or equal to the minimum running speed of the robot and less than or equal to the maximum running speed of the robot.

8. The apparatus of claim 6, wherein, The target linear formula includes: wherein, V is a dependent variable of the target linear formula, used to represent the time length of the filtering processing; act V is an independent variable of the target linear formula, used to represent the running speed of the mechanical arm; min T is used to represent the preset shortest time length of the filtering processing; max V is used to represent the preset longest time length of the filtering processing; max V is used to represent the maximum running speed when the mechanical arm runs; min V is used to represent the minimum running speed when the mechanical arm runs.

9. The apparatus of claim 7, wherein, The time length calculating module (2) is further configured to determine the maximum value of the dependent variable of the target linear formula when receiving a stop signal for controlling the robot to stop moving, to take the maximum value of the dependent variable of the target linear formula as the filtering time length, and to trigger the filtering processing module (3) to perform filtering processing on the position feedback signal for indicating the position of the robot acquired within the filtering time length to acquire the filtered feedback signal for indicating the target position of the robot.

10. The apparatus of any one of claims 6 to 9, wherein, The signal acquiring module (1) is further configured to determine whether a tracking error indicated by a tracking error signal is within a preset error range when receiving the tracking error signal, to perform the acquiring of the speed feedback signal for indicating the running speed of the robot if the tracking error is within the error range, and to trigger the filtering processing module (3) to stop filtering processing on the acquired position feedback signal if the tracking error is not within the error range, wherein the tracking error is used to indicate the distance between the actual position of the robot and the position indicated by the filtered feedback signal.

11. An electronic device (80), characterized by including: at least one processor (802), a memory (804), a communication bus (806), a communication interface (808), and at least one program (810), wherein, The at least one processor (802), the communication interface (808), and the memory (804) complete mutual communication through the communication bus (806); The at least one program (810) is stored in the memory (804) and is configured to be executed by the at least one processor (802) to implement the signal processing method of any one of claims 1 to 5.

12. A computer storage medium, characterized in that including: The computer storage medium stores a computer program, and when the processor executes the computer program, the signal processing method of any one of claims 1 to 5 is implemented.

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