A robot collision control method, control device, computer equipment and medium

Abstract

The embodiment of the present invention discloses a robot collision control method, control device, computer equipment and medium. The control method first obtains state detection information, and then when the state detection information indicates a collision, obtains the collision output torque limit of the joint motor of the robot, the collision output torque limit is less than the output torque limit of the joint motor before the collision, and finally outputs the collision output torque limit. Using the above method, during the deceleration and shutdown process after the robot detects a collision, the damage to the joint motor and reducer of the robot body can be reduced, and the damage to the reducer caused by the excessive output torque of the joint motor can be avoided, thereby increasing the life of the robot. At the same time, the normal shutdown of the robot can ensure the safety of peripheral equipment and personnel.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot collision control method, a control device, a computer device and a medium. Background Art

[0002] Due to the current limitations of automation development, many production lines are still unable to achieve full process automation, and the presence of manual work will introduce various abnormal risks. For example, after long hours of physical work, workers are prone to misoperation when they are tired, causing collisions with downstream robots, and multiple collisions will inevitably cause damage to the robots until they are completely scrapped. Summary of the invention

[0003] The embodiments of the present invention provide a robot collision control method, a control device, a computer device and a medium, which can reduce the damage to the joint motors and reducers of the robot body during the deceleration and shutdown process after the robot detects a collision, and ensure the safety of the robot body and peripheral equipment.

[0004] In a first aspect, an embodiment of the present invention provides a robot collision control method, comprising:

[0005] Get status detection information;

[0006] When the state detection information indicates that a collision occurs, a collision output torque limit value of a joint motor of the robot is obtained, wherein the collision output torque limit value is less than an output torque limit value of the joint motor before the collision occurs;

[0007] The collision output torque limit value is output.

[0008] Optionally, obtaining the collision output torque limit of the joint motor of the robot includes:

[0009] The collision output torque limit is obtained according to the current robot state.

[0010] Optionally, the collision output torque limit T k Satisfaction: T k =M*A k +C*V k +G*f(P k )+T band ;

[0011] Among them, M is the inertia parameter, A k is the acceleration, C is the damping parameter, V k is the actual speed, G is the static load parameter, f(P k ) is P k The nonlinear function, T band is the torque limit bandwidth, P k is the actual location.

[0012] Optionally, after obtaining the status detection information, the method further includes:

[0013] Decelerate and stop according to the current command speed, and obtain the position command value;

[0014] The position command value is output.

[0015] Optionally, the position command value P cmd satisfy:

[0016] P cmd =P0+V0*t-0.5*A cc *t*t;

[0017] Among them, P0 is the position command when the collision occurs, V0 is the joint command speed, t is the time, A cc For deceleration.

[0018] Optionally, after outputting the collision output torque limit value, the method further includes:

[0019] Get driver information;

[0020] When the drive information is not a drive error, determining whether the shutdown is completed;

[0021] When the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, wherein the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs;

[0022] The updated collision output torque limit value is output.

[0023] Optionally, when the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, and the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs, and further includes:

[0024] When the shutdown is not completed, the machine is decelerated and stopped again according to the current command speed, and the position command value is obtained;

[0025] The updated position instruction value is output.

[0026] In a second aspect, an embodiment of the present invention further provides a robot collision control device, comprising:

[0027] A status detection information acquisition module is used to obtain status detection information;

[0028] An output torque limit value acquisition module, used for acquiring a collision output torque limit value of a joint motor of the robot when the state detection information indicates that a collision has occurred, wherein the collision output torque limit value is less than an output torque limit value of the joint motor before the collision occurs;

[0029] The collision output torque limit output module is used to output the collision output torque limit.

[0030] In a third aspect, an embodiment of the present invention further provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method described in any one of the first aspects is implemented.

[0031] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any control method described in the first aspect.

[0032] The embodiment of the present invention provides a robot collision control method, control device, computer equipment and medium. The control method first obtains state detection information, and then when the state detection information indicates a collision, obtains the collision output torque limit of the joint motor of the robot, the collision output torque limit is less than the output torque limit of the joint motor before the collision, and finally outputs the collision output torque limit. Using the above method, during the deceleration and shutdown process after the robot detects a collision, the damage to the joint motor and reducer of the robot body can be reduced, and the damage to the reducer caused by the excessive output torque of the joint motor can be avoided, thereby increasing the life of the robot. At the same time, the normal shutdown of the robot can ensure the safety of peripheral equipment and personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 is a flow chart of a robot collision control method provided by an embodiment of the present invention;

[0035] Figure 2 Schematic diagram of the generation principle of primary damage and secondary damage of a robot provided by an embodiment of the present invention;

[0036] Figure 3 is a flow chart of another robot collision control method provided by an embodiment of the present invention;

[0037] Figure 4 is a schematic diagram of a robot state transition process provided by an embodiment of the present invention;

[0038] Figure 5is a curve diagram showing a change in the output torque value of a joint motor when a robot collides with another robot according to an embodiment of the present invention;

[0039] Figure 6 is a flow chart of another robot collision control method provided by an embodiment of the present invention;

[0040] Figure 7 is a flow chart of another robot collision control method provided by an embodiment of the present invention;

[0041] Figure 8 is a flow chart of another robot collision control method provided by an embodiment of the present invention;

[0042] Fig. 9 is a schematic structural diagram of a robot collision control device provided by an embodiment of the present invention;

[0043] Fig.10 It is a structural schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0045] Figure 1 is a flow chart of a robot collision control method provided by an embodiment of the present invention. This embodiment is applicable to situations where a robot collides with peripheral equipment or peripheral personnel. The control method can be executed by a robot collision control device, which can be implemented in the form of hardware and / or software and can be configured in a control panel. Figure 1 As shown, the control method includes:

[0046] S110: Acquire status detection information.

[0047] Specifically, when the robot collides with peripheral equipment or personnel, the output current of the joint motors of the robot will change. By detecting the change in the output current of the joint motors, it can be determined whether the robot has collided.

[0048] S120. When the state detection information indicates that a collision has occurred, a collision output torque limit of the joint motor of the robot is obtained, and the collision output torque limit is smaller than the output torque limit of the joint motor before the collision occurs.

[0049] Specifically, the output torque limit is a driver parameter of the robot, which is used to limit the maximum output torque of the robot joint motor, and the collision output torque limit is the maximum output torque of the joint motor after the robot collides. According to the change of the output current of the robot joint motor, the state detection information of the robot is obtained when a collision occurs, and then the collision output torque limit of the robot joint motor is obtained. By adjusting the collision output torque limit of the robot joint motor, the damage to the joint motor and reducer of the robot body during the deceleration and shutdown process of the robot is reduced. The collision output torque limit should be less than the output torque limit of the joint motor before the collision, which can avoid the damage to the reducer caused by the excessive output torque of the joint motor, protect the robot body, and increase the life of the robot.

[0050] The reducer is connected to the joint motor to convert the torque of the joint motor into the torque of the reducer as output to drive subsequent devices (such as mechanism rods). Generally, the torque of the joint motor and the torque of the reducer have a fixed or variable ratio.

[0051] S130, output collision output torque limit.

[0052] Specifically, Figure 2 FIG. 1 is a schematic diagram of the principle of generation of primary damage and secondary damage of a robot provided by an embodiment of the present invention, such as Figure 2 As shown in the figure, the damage to the joint motor and reducer immediately after the robot collides with peripheral equipment or peripheral personnel is inevitable, which is called primary damage. However, after the robot collides, the output torque limit of the joint motor of the robot does not decrease. The damage to the joint motor and reducer caused by the excessive output torque of the joint motor can be avoided, which is called secondary damage. When the state detection information is a collision, when the robot is blocked by an obstacle during the deceleration and shutdown process, in order to overcome the obstruction of the obstacle, the robot will increase the output torque value of the joint motor. If the output torque of the joint motor is too large, it will damage the reducer. At this time, it is necessary to constrain the output torque value of the joint motor of the robot in real time, obtain the collision output torque limit of the joint motor of the robot, and according to the output collision output torque limit, the numerical value of the collision output torque limit should be reasonably adjusted to avoid the damage to the reducer caused by the excessive output torque of the joint motor of the robot to the greatest extent, protect the joint motor and reducer of the robot body, and at the same time, reduce the collision output torque limit of the joint motor of the robot to ensure that the robot can be shut down normally, and also ensure the safety of peripheral equipment and peripheral personnel.

[0053] The technical solution in the embodiment of the present invention first obtains the state detection information, and then when the state detection information indicates a collision, obtains the collision output torque limit of the joint motor of the robot, the collision output torque limit is less than the output torque limit of the joint motor before the collision, and finally outputs the collision output torque limit. Using the above method, during the deceleration and shutdown process after the robot detects a collision, the damage to the joint motor and reducer of the robot body can be reduced, and the damage to the reducer caused by the excessive output torque of the joint motor can be avoided, thereby increasing the life of the robot. At the same time, the normal shutdown of the robot can ensure the safety of peripheral equipment and personnel.

[0054] Figure 3 1 is a flow chart of another robot collision control method provided by an embodiment of the present invention. This embodiment is optimized on the basis of the above embodiment, and specifically refines the content of obtaining the collision output torque limit of the robot's joint motor in S120. Please refer to the above embodiment for the content that is not yet detailed in this embodiment. Figure 3 As shown, the control method includes:

[0055] S210: Acquire status detection information.

[0056] S220. When the state detection information indicates that a collision has occurred, a collision output torque limit is obtained according to the current robot state, and the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs.

[0057] Specifically, Figure 4 FIG. 1 is a flow chart of a robot state transition provided by an embodiment of the present invention, such as Figure 4 As shown, in manual mode, the staff controls the robot to run at a low speed through a handle, and the robot works in a debugging state at this time; the automatic mode is that the automation controller (such as PLC) directly controls the robot to run at a high speed through a signal, and the robot works in a production state at this time; the protection mode belongs to the automatic mode. When the robot is in the automatic mode, after a collision, the robot will automatically enter the protection mode. In manual mode, the robot will reduce the output torque limit of the joint motor to ensure that the robot runs safely at a low speed. In automatic mode, the robot will increase the output torque limit of the joint motor to ensure that the robot runs efficiently at a high speed. In protection mode, the robot can update the output torque limit of the joint motor in real time according to the state detection information. After the robot collides, the robot will reduce the output torque limit of the joint motor to reduce the damage to the joint motor and reducer of the robot. After the robot is freed from the collision, the robot will increase the output torque limit of the joint motor and continue to run at a high speed.

[0058] Optionally, the collision output torque limit T k Satisfaction: T k =M*Ak +C*V k +G*f(P k )+T band ;

[0059] Among them, M is the inertia parameter, A k is the acceleration, C is the damping parameter, V k is the actual speed, G is the static load parameter, f(P k ) is P k The nonlinear function, T band is the torque limit bandwidth, P k is the actual location.

[0060] Specifically, when the state detection information indicates that a collision has occurred, the collision output torque limit is obtained according to the current robot state. For the robot, M is related to the robot's mass and inertia parameters, C is related to mechanical friction and Coriolis force, and G is related to the robot's mass parameters and current posture. The above three mechanical parameters can be obtained through the robot's dynamic parameter identification. band is the torque limit bandwidth, T band The smaller it is, the better the protection effect on the robot body. In addition, T band It can make up for the error of the robot theoretical model, and is generally taken as 20%-40% of the rated output torque limit of the joint motor.

[0061] S230, output collision output torque limit.

[0062] The technical solution in the embodiment of the present invention first obtains state detection information, and then when the state detection information indicates a collision, obtains the collision output torque limit according to the current robot state, wherein the robot state includes a manual mode, an automatic mode, and a protection mode, and finally outputs the collision output torque limit. Using the above method, when a collision is detected in the robot, the output torque limit of the joint motor is reasonably reduced to avoid damage to the reducer due to excessive output torque of the joint motor, ensure normal deceleration and shutdown of the robot, and protect the safety of peripheral equipment and peripheral personnel.

[0063] In addition, continue to refer to Figure 4 , S1 refers to when the robot is switched from automatic mode to manual mode, and the robot is controlled by the staff through the handle. In order to ensure the safety of peripheral equipment and personnel, the output torque limit of the robot's joint motor needs to be reduced. At this time, the output torque limit of the robot's joint motor is T motor Satisfaction: T motor =T reducer / Gear; where T reduceris the maximum allowable output torque limit of the robot's joint reducer, and Gear is the reduction ratio of the robot's joints. When the robot's state is switched from automatic mode to manual mode, the output torque limit of the robot's joint motors only needs to be updated once. S2 refers to when the robot's state is switched from manual mode to automatic mode, or the robot is already in protection mode and the collision is released, and the robot is controlled by an automation controller. In order to ensure high-speed operation efficiency, it is necessary to increase the output torque limit of the robot's joint motors. At this time, the output torque limit of the robot's joint motors T motor Satisfaction: T motor =T max =3*T rated ; Among them, T max is the maximum allowable output torque limit of the robot's joint motor, T rated is the rated output torque limit of the robot's joint motor. S3 means that the robot is already in protection mode and a collision occurs. The robot enters protection mode and can update the output torque limit of the joint motor in real time based on the status detection information. At this time, the collision output torque limit of the robot's joint motor is T k Satisfaction: T k =M*A k +C*V k +G*f(P k )+T band .

[0064] During the robot state transition of S3, Figure 5 is a curve diagram of the change of the output torque value of the joint motor when a robot collides with another robot according to an embodiment of the present invention. Figure 5 As shown, when the robot collides with peripheral equipment or personnel, whether the robot turns on the protection mode will produce different effects. It should be noted that after the robot collides, the output torque limit of the robot's joint motor does not decrease. The damage to the joint motor and reducer caused by the excessive output torque of the joint motor can be avoided. When the robot turns on the protection mode and detects that the robot has a collision, the robot can update the output torque limit of the joint motor in real time according to the status detection information to prevent the output torque of the joint motor from continuing to increase after the robot is blocked by an obstacle, thereby protecting the robot's joint motor and reducer. When the robot turns on the protection mode and detects that the robot has a collision, T k is the collision output torque limit of the robot's joint motor. Compared with the robot without collision, the output torque value of the joint motor is higher. When the robot is not in protection mode, after the robot is detected to have a collision, T maxis the maximum allowable output torque limit of the robot's joint motor, which is three times the rated output torque limit of the robot's joint motor. Compared with the robot without collision, the output torque value of the joint motor is increased. The protection mode can reduce the collision output torque limit of the robot's joint motor to a certain extent, which can well protect the joint motor and reducer, and the following relationship can be obtained, T k <T max .

[0065] Figure 6 1 is a flow chart of another robot collision control method provided by an embodiment of the present invention. This embodiment is optimized on the basis of the above embodiment, and specifically adds the content after obtaining the state detection information in S110. Please refer to the above embodiment for the content that is not detailed in this embodiment. Figure 6 As shown, the control method includes:

[0066] S310: Obtain status detection information.

[0067] S320, decelerate and stop according to the current command speed, and obtain the position command value.

[0068] Specifically, when the robot is in automatic mode and running at high speed, after the robot is detected to have collided through state detection information, the robot will automatically enter protection mode and reduce the output torque limit of the joint motor. The joint command speed at the time of the collision can be obtained, and the position command value after the collision can be calculated through the relationship between the joint command speed and the position command value. The collision output torque limit can be calculated through the actual joint speed and position value at the time of the collision. At any time after the collision, the collision output torque limit of the joint motor can be updated in real time through the actual joint speed and position value, and the output torque limit of the joint motor can be reasonably reduced, thereby reducing the damage to the joint motor and reducer of the robot's body.

[0069] Optionally, the position command value P cmd Satisfaction: P cmd =P0+V0*t-0.5*A cc *t*t;

[0070] Among them, P0 is the position command when the collision occurs, V0 is the joint command speed, t is the time, A cc For deceleration.

[0071] Specifically, when the robot collides, t = 0. According to the value of a joint command speed in the above formula, a corresponding value of a position command can be obtained.

[0072] S330. Output position command value.

[0073] Specifically, the robot's processor can detect the joint command speed in real time and the calculated position command value, and reasonably adjust the output torque limit of the joint motor.

[0074] S340. When the state detection information indicates that a collision has occurred, a collision output torque limit of the joint motor of the robot is obtained, and the collision output torque limit is smaller than the output torque limit of the joint motor before the collision occurs.

[0075] S350, output collision output torque limit.

[0076] The technical solution in the embodiment of the present invention, before obtaining the collision output torque limit of the robot's joint motor, details the relationship between the two parameters of actual joint speed and position value and the collision output torque limit. Using the above method, the collision output torque limit of the robot's joint motor can be updated in real time according to the real-time joint speed and position value of the robot during the deceleration and shutdown process after a collision, thereby reducing the damage to the robot's joint motor and reducer and improving the life of the robot.

[0077] Figure 7 1 is a flow chart of another robot collision control method provided by an embodiment of the present invention. This embodiment is optimized on the basis of the above embodiment, and specifically adds the content after outputting the collision output torque limit value in S130. Please refer to the above embodiment for the content that is not yet detailed in this embodiment. Figure 7 As shown, the control method includes:

[0078] S410: Acquire status detection information.

[0079] S420. When the state detection information indicates that a collision has occurred, a collision output torque limit of the joint motor of the robot is obtained, and the collision output torque limit is smaller than the output torque limit of the joint motor before the collision occurs.

[0080] S430, output collision output torque limit.

[0081] S440: Obtain drive information.

[0082] Specifically, the robot's processor can obtain the driver's information in real time. If the robot operates normally, the driver will not report an error. However, if the robot collides with peripheral equipment or personnel, the driver will report an error.

[0083] S450: When the drive information does not indicate a drive error, determine whether the shutdown is completed.

[0084] Specifically, after the robot collides with an external device or a person, the driver should report an error and stop the robot immediately, or the robot should stop normally after completing the deceleration process. If the driver information of the driver does not report a drive error after the robot collides with an external device or a person, it should be determined whether the robot is in the deceleration process or has already stopped.

[0085] S460: When the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, and the collision output torque limit is smaller than the output torque limit of the joint motor before the collision occurs.

[0086] Specifically, when the robot has not completed shutdown, the robot is in the deceleration process. The collision output torque limit of the robot's joint motor should be obtained in real time, and the collision output torque limit of the robot's joint motor should be appropriately adjusted to reduce the collision output torque limit of the robot's joint motor to avoid damage to the reducer due to excessive output torque of the joint motor, protect the robot body, and increase the life of the robot.

[0087] S470: Output the updated collision output torque limit value.

[0088] Specifically, the output torque limit of the robot's joint motor is constrained in real time, and the collision output torque limit of the robot's joint motor is obtained. According to the output collision output torque limit, the numerical value of the collision output torque limit should be reasonably adjusted to avoid damage to the reducer caused by excessive output torque of the robot's joint motor to the greatest extent, protect the robot's main body joint motor and reducer, and at the same time, reduce the collision output torque limit of the robot's joint motor to ensure that the robot can shut down normally and ensure the safety of peripheral equipment and peripheral personnel.

[0089] The technical solution in the embodiment of the present invention determines whether the robot has completed deceleration and shutdown when the driver does not send out driving information of driving error. When the robot has not completed shutdown, the collision output torque limit of the joint motor of the robot is obtained again, and the updated collision output torque limit is output. By using the above method, after the robot collides with peripheral equipment or peripheral personnel, the problem that the robot cannot decelerate and stop normally due to the driving information of the driver not reporting an error is avoided, the collision output torque limit of the joint motor of the robot is constrained in real time, and the damage to the reducer caused by the excessive output torque of the joint motor of the robot is avoided to the greatest extent, and the joint motor and reducer of the robot body are protected.

[0090] Optionally, when the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, and before the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs, the method further includes:

[0091] S480: When the shutdown is not completed, the machine is decelerated and stopped again according to the current command speed, and the position command value is obtained.

[0092] Specifically, when the robot is in the deceleration process but has not completed the shutdown, the joint command speed at the time of the collision can be obtained, and the position command value after the collision can be calculated through the relationship between the joint command speed and the position command value. The collision output torque limit can be calculated through the actual joint speed and position value at the time of the collision. At any time after the collision, the collision output torque limit of the joint motor can be updated in real time through the actual joint speed and position value, and the output torque limit of the joint motor can be reasonably reduced, reducing the damage to the joint motor and reducer of the robot's body.

[0093] S490. Output the updated position command value.

[0094] Specifically, according to the formula satisfied by the position command value and the joint command speed, a value of a joint command speed can correspond to a value of a position command value. The robot's processor can detect the joint command speed in real time and calculate the corresponding position command value to control the robot to decelerate and stop.

[0095] For example, in a robot system, the actual position and actual speed are acquired through sensors, while the command position and command speed are calculated by the robot controller itself. The former is the state, and the latter is the command.

[0096] Figure 8 is a flow chart of another robot collision control method provided by an embodiment of the present invention, such as Figure 8 As shown in the figure, after the robot collides with peripheral equipment or personnel, the robot in automatic mode will automatically enter the protection mode, and the robot will decelerate and stop at the joint command speed at the time of the collision. According to the joint command speed at this time, the corresponding position command value can be calculated, and then the collision output torque limit T is calculated according to the actual motion data (including the actual joint speed and position value). k In order to reduce the damage to the robot's joint motors and reducers, it is necessary to appropriately reduce the collision output torque limit T k The value of continues to obtain the new position command value and collision output torque limit value T k The actual motion data in the driver is updated with the value of . In this process, if the driving information of the robot's driver is a driving error, the robot can decelerate and stop normally, and the process ends. If the driving information of the robot's driver is not a driving error, it is necessary to determine whether the robot has completed the stop. If the robot has completed the deceleration and stop normally, the process ends. If the robot is still in the deceleration process and has not completed the stop, continue to reduce the collision output torque limit T kThe value of the new position command value and the collision output torque limit value T k The value is updated to the driver until the driver information shows a drive error, or the robot completes the normal deceleration and shutdown process, and the process ends.

[0097] Fig. 9 is a schematic diagram of the structure of a robot collision control device provided by an embodiment of the present invention. The control device can be applied to the situation where a robot collides with peripheral equipment or peripheral personnel. The control device can be implemented in the form of software and / or hardware and is generally configured in a control panel. Fig. 9 As shown, the control device includes:

[0098] The state detection information acquisition module 61 is used to obtain the state detection information; the output torque limit acquisition module 62 is used to obtain the collision output torque limit of the joint motor of the robot when the state detection information is a collision, and the collision output torque limit is less than the output torque limit of the joint motor before the collision; the collision output torque limit output module 63 is used to output the collision output torque limit.

[0099] The technical solution in the embodiment of the present invention first obtains the state detection information, and then when the state detection information indicates a collision, obtains the collision output torque limit of the joint motor of the robot, the collision output torque limit is less than the output torque limit of the joint motor before the collision, and finally outputs the collision output torque limit. Using the above method, during the deceleration and shutdown process after the robot detects a collision, the damage to the joint motor and reducer of the robot body can be reduced, and the damage to the reducer caused by the excessive output torque of the joint motor can be avoided, thereby increasing the life of the robot. At the same time, the normal shutdown of the robot can ensure the safety of peripheral equipment and personnel.

[0100] Optionally, the output torque limit acquisition module 62 can be specifically used to acquire the collision output torque limit according to the current robot state.

[0101] Optionally, the control device further includes a position instruction value acquisition module and a position instruction value output module, the position instruction value acquisition module is used to decelerate and stop according to the current instruction speed and acquire the position instruction value, and the position instruction value output module is used to output the position instruction value.

[0102] Optionally, the control device further includes a drive information acquisition module and a shutdown judgment module, the drive information acquisition module is used to acquire drive information, and the shutdown judgment module is used to determine whether the shutdown is completed when the drive information is not a drive error. The output torque limit acquisition module 62 can also be used to obtain the collision output torque limit of the joint motor of the robot again when the shutdown is not completed, and the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs. The collision output torque limit output module 63 can also be used to output the updated collision output torque limit.

[0103] Optionally, the position command value acquisition module can also be used to decelerate and stop again according to the current command speed when the shutdown is not completed, and obtain the position command value, and the position command value output module can also be used to output the updated position command value.

[0104] The robot collision control device provided in the embodiment of the present invention can execute the robot collision control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Fig.10 It is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention. The terminal device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The terminal device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0106] like Fig.10 As shown, the terminal device 10 includes one or more processors 11, and a storage device, which is communicatively connected to the processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the storage device stores a computer program that can be executed by one or more processors, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the terminal device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0107] A number of components in the terminal device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0108] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a robot collision control method.

[0109] In some embodiments, the robot collision control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the terminal device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot collision control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the robot collision control method in any other appropriate manner (e.g., by means of firmware).

[0110] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0111] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0112] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0113] To provide interaction with a user, the systems and techniques described herein may be implemented on a terminal device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball), through which the user can provide input to the terminal device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0114] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0115] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0116] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0117] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot collision control method, characterized in that: include: Get status detection information; When the state detection information indicates that a collision occurs, a collision output torque limit value of a joint motor of the robot is obtained, wherein the collision output torque limit value is less than an output torque limit value of the joint motor before the collision occurs; outputting the collision output torque limit value; The collision output torque limit T k Satisfaction: T k =M*A k + C*V k + G*f(P k )+T band ; Among them, M is the inertia parameter, A k is the acceleration, C is the damping parameter, V k is the actual speed, G is the static load parameter, f(P k ) is P k The nonlinear function, T band is the torque limit bandwidth, P k is the actual location.

2. The control method according to claim 1, characterized in that: Get the collision output torque limit of the robot's joint motors, including: The collision output torque limit is obtained according to the current robot state.

3. The control method according to claim 1, characterized in that: After obtaining the status detection information, it also includes: Decelerate and stop according to the current command speed, and obtain the position command value; The position command value is output.

4. The control method according to claim 3, characterized in that: The position command value P cmd satisfy: P cmd = P 0+ V 0* t - 0.5* A cc * t * t ； in, P 0 is the position instruction when the collision occurs. V 0 is the joint command speed, t For time, A cc For deceleration.

5. The control method according to claim 1, characterized in that: After outputting the collision output torque limit value, the method further includes: Get driver information; When the drive information is not a drive error, determining whether the shutdown is completed; When the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, wherein the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs; The updated collision output torque limit value is output.

6. The control method according to claim 3, characterized in that: When the shutdown is not completed, the collision output torque limit of the joint motor of the robot is obtained again, and the collision output torque limit is less than the output torque limit of the joint motor before the collision occurs, and further includes: When the shutdown is not completed, the machine is decelerated and stopped again according to the current command speed, and the position command value is obtained; The updated position instruction value is output.

7. A robot collision control device, characterized in that: include: A status detection information acquisition module is used to obtain status detection information; An output torque limit value acquisition module, used for acquiring a collision output torque limit value of a joint motor of the robot when the state detection information indicates that a collision has occurred, wherein the collision output torque limit value is less than an output torque limit value of the joint motor before the collision occurs; A collision output torque limit output module, used for outputting the collision output torque limit; The collision output torque limit T k Satisfaction: T k =M*A k + C*V k + G*f(P k )+T band ; Among them, M is the inertia parameter, A k is the acceleration, C is the damping parameter, V k is the actual speed, G is the static load parameter, f(P k ) is P k The nonlinear function, T band is the torque limit bandwidth, P k is the actual location.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method as described in any one of claims 1 to 6 is implemented.

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