Load Balancing Method, Device, Load Robot and Medium of Robot

Abstract

The present invention relates to the field of robots, and discloses a load balancing method for a robot, including obtaining the joint currents of the respective joint motors of the robot; calculating the torques of the respective joint motors according to the joint currents; calculating the load coordinates of the load on the robot based on the torques of the respective joint motors, and analyzing the stress state of the load plane on the robot according to the load coordinates; adjusting the load plane according to the stress state to maintain the load from falling out of the load plane. The present invention also provides a load balancing device, equipment and storage medium for a robot. The present invention can improve the balance state of the load on the robot.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular, to a load balancing method, device, equipment and medium for a robot. Background Art

[0002] The existing algorithms for current regulation of robot motors generally obtain balance data through gyroscopes and gravity sensors, thereby determining the balance state of the robot, and then adjusting the current according to these data according to the existing algorithms to maintain balance.

[0003] However, in the technology of using gyroscopes or gravity sensors to help robots maintain balance, generally only the balance state of a single robot can be obtained. When a load is carried on the robot and the load position is not at the center, or even when the load position rolls and moves during movement, it is a particularly difficult problem to keep the load stably placed on the load plane. Therefore, in order to keep the load stable on the robot by adjusting the load position, there is an urgent need for a load balancing method for robots. Summary of the Invention

[0004] The present invention provides a load balancing method, device, equipment and medium for a robot, and its main purpose is to improve the balance state of the load on the robot.

[0005] To achieve the above object, a load balancing method for a robot provided by the present invention includes:

[0006] Obtain the joint currents of the respective joint motors of the robot;

[0007] Calculate the torques of the respective joint motors according to the joint currents;

[0008] Calculate the load coordinates of the load on the robot based on the torques of the respective joint motors, and analyze the force state of the load plane on the robot according to the load coordinates;

[0009] Adjust the load plane according to the force state to maintain the load from falling out of the load plane.

[0010] Optionally, the calculating the load coordinates of the load on the robot based on the torques of the respective joint motors includes:

[0011] Obtain the left hip motor torque, right hip motor torque, left knee motor torque and right knee motor torque according to the torques of the respective joint motors;

[0012] Obtain the angles of the joint motors and the angles of the inertial measurement unit, and measure the pitch angle and roll angle of the robot according to the angles of the joint motors and the angles of the inertial measurement unit;

[0013] Obtain the Jacobian matrix based on the angles of the joint motors and the lengths of the connecting rods between the joint motors, and calculate the left hip support force and the right hip support force of the robot according to the Jacobian matrix, the left knee motor torque, and the right knee motor torque;

[0014] Calculate the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot;

[0015] Calculate the x - coordinate and y - coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtain the load coordinates of the load located on the robot.

[0016] Optionally, the calculating the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot includes:

[0017] Calculate the mass of the load by using the following formula:

[0018]

[0019] where m is the mass of the load, M is the mass of the robot, F LKnee and F RKnee are the left hip support force and the right hip support force respectively, and γ is the roll angle of the robot.

[0020] Optionally, the calculating the x - coordinate and y - coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtaining the load coordinates of the load located on the robot includes:

[0021] Obtain the body width of the robot main body according to the basic parameters of the robot;

[0022] Calculate the x - coordinate of the load according to the mass of the load, the pitch angle, the left hip motor torque, the right hip motor torque, and a preset x - coordinate calculation formula;

[0023] Calculate the y - coordinate of the load according to the body width, the left hip support force, the right hip support force, and a preset y - coordinate calculation formula, and obtain the load coordinates according to the x - coordinate and y - coordinate of the load.

[0024] Optionally, the x - coordinate calculation formula and the y - coordinate calculation formula are respectively:

[0025]

[0026]

[0027] Among them, L y is the width of the main body, m is the mass of the load, T Lhip and T Rhip are the left hip motor torque and the right hip motor torque respectively, θ is the pitch angle, F LKnee and F RKnee are the left hip support force and the right hip support force respectively.

[0028] Optionally, analyzing the force state of the load plane on the robot according to the load coordinates includes:

[0029] Obtaining the load pressure received by the load plane according to the mass of the load and the load coordinates;

[0030] Obtaining the motor support force received by the load plane according to the left hip support force and the right hip support force calculated by the torque of each joint motor, and obtaining the force state of the load plane according to the load pressure and the motor support force.

[0031] Optionally, adjusting the load plane according to the force state to maintain the load from falling out of the load plane includes:

[0032] Adjusting the electrical angle of the joint motor according to the force state, changing the load coordinates of the load on the robot, and maintaining the load from falling out of the load plane.

[0033] Optionally, before calculating the load coordinates of the load on the robot based on the torque of each joint motor, the method further includes:

[0034] When it is detected that a preset current change occurs in the joint motor due to an external force, it is determined that there is a load applying pressure on the robot.

[0035] To solve the above problems, the present invention also provides a load balancing device for a robot, and the device includes:

[0036] A joint current acquisition module, configured to acquire the joint currents of each joint motor of the robot;

[0037] A motor torque calculation module, configured to calculate the torques of each joint motor according to the joint currents;

[0038] A load coordinate acquisition module, configured to calculate the load coordinates of the load on the robot based on the torques of each joint motor, and analyze the force state of the load plane on the robot according to the load coordinates;

[0039] A robot balance module, which is used to adjust the load plane according to the force state to keep the load from falling out of the load plane.

[0040] To solve the above problems, the present invention also provides a load robot, which includes:

[0041] At least one processor; and,

[0042] A memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor can execute the load balancing method of the robot as described above.

[0044] To solve the above problems, the present invention also provides a computer-readable storage medium, which includes a storage data area and a storage program area. The storage data area stores created data, and the storage program area stores a computer program; wherein, when the computer program is executed by a processor, the load balancing method of the robot as described above is implemented.

[0045] In an embodiment of the present invention, first, the torque of the joint motor is calculated according to the joint current to achieve the purpose of obtaining the torque of the joint motor, then the load coordinates of the load on the robot are calculated based on the torques of the respective joint motors, the force state of the load plane on the robot is analyzed according to the load coordinates, and finally the load plane is adjusted according to the force state to keep the load from falling out of the load plane. Therefore, the load balancing method, device, electronic device, and computer-readable storage medium of the robot proposed by the present invention can achieve the purpose of improving the balance state of the load on the robot. Description of the Drawings

[0046] Figure 1 It is a schematic flowchart of a load balancing method of a robot provided by an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of a load balancing device of a robot provided by an embodiment of the present invention;

[0048] Figure 3 It is a detailed schematic flowchart of a step in a load balancing method of a robot provided by an embodiment of the present invention;

[0049] Figure 4 It is a detailed schematic flowchart of a step in a load balancing method of a robot provided by an embodiment of the present invention;

[0050] Figure 5Schematic diagram of the module of the load balancing device of the robot provided by an embodiment of the present invention;

[0051] Figure 6 Internal structure schematic diagram of the load robot for implementing the load balancing method of the robot provided by an embodiment of the present invention.

[0052] The realization, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] Referring to Figure 1 As shown, it is a schematic flow chart of a load balancing method of a robot provided by an embodiment of the present invention. In this embodiment, the load balancing method of the robot includes the following steps:

[0055] S1. Obtain the joint currents of each joint motor of the robot.

[0056] The robot is a robot driven and working by joint motors, and can be used in many fields such as industrial manufacturing and service industries. Among them, the robot has at least 4 joint motors for work, namely the left and right hip motors located on both sides of the robot body and the left and right knee motors connected to the left and right hip motors through connecting rods.

[0057] In another embodiment of the present invention, the left and right hip motors can be directly physically adhered to the left and right knee motors. At this time, the connecting rod is a rigid material rod connecting the left and right knee motors and the supporting device, where the supporting device can be a supporting foot or a wheel.

[0058] Furthermore, the main body of the robot can be a cuboid structure with uniform texture, and there are differential components on it to support the robot to perform specific work, such as camera devices, sensor devices, speakers, etc. Among them, various mechanical operating devices can also be externally connected to the main body of the robot to help the robot complete specific work, such as devices like mechanical joysticks.

[0059] In the embodiment of the present invention, the robot carries a load, and the load is an object block that can be placed on the main body of the robot and can maintain balance. This object block can be a sphere. Furthermore, the specific nature of the load will be related to the specific work involved by the robot.

[0060] Specifically, the obtaining of the joint currents of each joint motor of the robot includes:

[0061] Query the currents of the respective joint motors in the robot from the current control unit in the controller of the servo system in the robot.

[0062] In the embodiments of the present invention, the servo system (servomechanism), also known as the follow-up system, is a feedback control system used to accurately follow or reproduce a certain process, making the torque, speed, and position control of the driving device flexible and convenient. The controller is a device in the servo system for controlling current and signals.

[0063] In the embodiments of the present invention, the joint motor is a motor that serves as a joint part in the robot, and the joint current is the current passing through the corresponding joint motor. The joint part in the robot is a structure where relative movement occurs between various parts of the robot. Among them, the joint motors can be roughly divided into AC servo motors, DC servo motors, micro motors, and stepper motors, etc.

[0064] Furthermore, by obtaining the joint currents of the respective joint motors in the robot in this solution, it is convenient to subsequently obtain the torques of the respective joint motors.

[0065] S2. Calculate the torques of the respective joint motors according to the joint currents.

[0066] In the embodiments of the present invention, the torque is the force provided by the joint motor for the robot to assist the robot in moving and maintaining balance.

[0067] Further, in the embodiments of the present invention, the work can be calculated through the motor power of the joint motor and the joint current to obtain the torque of the joint motor.

[0068] S3. Calculate the load coordinates of the load located on the robot based on the torques of the respective joint motors, and analyze the stress state of the load plane on the robot according to the load coordinates.

[0069] In the embodiments of the present invention, the stress state of the load plane is the stress state of the load plane on the robot under the pressure of the load and the supporting force of the joint motor, and the load coordinates are the coordinates of the center point of the load in the plane rectangular coordinate system constructed by the robot.

[0070] In the embodiments of the present invention, the supporting force provided by the joint motor for the load plane can be calculated based on the torques of the respective joint motors.

[0071] Refer to Figure 3 As shown, in the embodiments of the present invention, the calculating the load coordinates of the load located on the robot based on the torques of the respective joint motors includes:

[0072] S301. Obtain the left hip motor torque, right hip motor torque, left knee motor torque, and right knee motor torque based on the torques of each of the joint motors;

[0073] S302. Obtain the angles of the joint motors and the angles of the inertial measurement unit, and measure the pitch angle and roll angle of the robot based on the angles of the joint motors and the angles of the inertial measurement unit;

[0074] S303. Obtain the Jacobian matrix based on the angles of the joint motors and the link lengths between the joint motors, and calculate the left hip support force and right hip support force of the robot according to the Jacobian matrix, the left knee motor torque, and the right knee motor torque;

[0075] S304. Calculate the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot;

[0076] S305. Calculate the x coordinate and y coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtain the load coordinates of the load located on the robot.

[0077] In the embodiment of the present invention, the inertial measurement unit (IMU) is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object.

[0078] In the embodiment of the present invention, the link length is the length of the link between the left hip motor and the left knee motor. Similarly, it can also be referred to as the length of the link between the right hip motor and the right knee motor. Since the robot has a left-right symmetric structure, no distinction is made here.

[0079] Further, the obtaining the Jacobian matrix based on the angles of the joint motors and the link lengths between the joint motors, and calculating the left hip support force and right hip support force of the robot according to the Jacobian matrix, the left knee motor torque, and the right knee motor torque includes:

[0080] Calculate the left hip support force F LKnee and the right hip support force F RKnee :

[0081] F LKnee =(J T ) -1 T Lknee

[0082] F RKnee =(JT ) -1 T Rknee

[0083] Among them, F LKnee and F RKnee are the left hip support force and the right hip support force respectively, T Lknee and T Rknee are the left knee motor torque and the right knee motor torque respectively, J is the Jacobian matrix, J T is the transpose of the Jacobian matrix.

[0084] Furthermore, the mathematical calculation formula for calculating the mass of the load according to the left hip support force, the right hip support force, the roll angle and the mass of the robot is:

[0085]

[0086] Among them, m is the mass of the load, M is the mass of the robot, F LKnee and F RKnee are the left hip support force and the right hip support force respectively, and γ is the roll angle of the robot.

[0087] Specifically, calculating the x coordinate and y coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque and the right hip motor torque includes:

[0088] Obtaining the body width of the robot body according to the basic parameters of the robot;

[0089] Calculating the x coordinate of the load according to the mass of the load, the pitch angle, the left hip motor torque, the right hip motor torque and a preset x coordinate calculation formula;

[0090] Calculating the y coordinate of the load according to the body width, the left hip support force, the right hip support force and a preset y coordinate calculation formula.

[0091] Furthermore, the x coordinate calculation formula and the y coordinate calculation formula are respectively:

[0092]

[0093]

[0094] Among them, L y is the body width, m is the mass of the load, T Lhip and T Rhipare the left hip motor torque and the right hip motor torque respectively, θ is the pitch angle, and F LKnee and F RKnee are the left hip support force and the right hip support force respectively.

[0095] In the embodiment of the present invention, when obtaining the left hip motor torque and the right hip motor torque, the body length of the robot body is included. Therefore, the body length of the robot is no longer included in the x - coordinate calculation formula.

[0096] Refer to Figure 4 As shown, further, before calculating the load coordinates of the load on the robot based on the torques of each joint motor, the method further includes:

[0097] S311. Query the relative position between the robot and the load plane of the robot;

[0098] S312. Connect the mid - lines of the left hip motor and the right hip motor in the joint motors, and use the mapping of the connected mid - line on the load plane as the X - axis;

[0099] S313. Obtain the rotation axes of the left hip motor and the right hip motor, and use the mapping of the rotation axes on the load plane as the Y - axis;

[0100] S314. Construct a plane rectangular coordinate system according to the X - axis and the Y - axis.

[0101] In the embodiment of the present invention, the load plane of the robot is the upper plane of the robot where the load is placed, and the load plane is generally a horizontal plane without grooves and protrusions.

[0102] In the embodiment of the present invention, analyzing the force state of the load plane on the robot based on the load coordinates includes:

[0103] Obtain the load pressure received by the load plane according to the mass of the load and the load coordinates;

[0104] Obtain the motor support force received by the load plane according to the left hip support force and the right hip support force calculated based on the torques of each joint motor, and obtain the force state of the load plane according to the load pressure and the motor support force.

[0105] In the embodiments of the present invention, the left hip support force and the right hip support force calculated based on the torques of the respective joint motors can be obtained through the step of calculating the load coordinates of the load on the robot based on the torques of the respective joint motors. Further, the left hip support force and the right hip support force are the resultant forces of the torques of the joint motors in various directions. When the robot is stationary, the support force is a vertically upward force, and when the robot is moving, it is not limited to a vertically upward force and will be specifically determined according to the motion state of the robot.

[0106] Further, before calculating the load coordinates of the load on the robot based on the torques of the respective joint motors, the method further includes:

[0107] When it is detected that a preset current change occurs in the joint motor due to an external force, it is determined that there is a load applying pressure to the robot.

[0108] Specifically, in order to maintain its own state, the joint motors of the robot are constantly adjusted slightly within a certain range. When there is an external object applying pressure, the robot controls the power of the joint motors through its own regulation system to provide power for the robot. At this time, the current change of the robot will exceed the range interval of the slight adjustment.

[0109] In the embodiments of the present invention, by obtaining the load coordinates of the load on the robot, the stress state of the load plane can be analyzed, and then the balance of carrying the load on the robot can be adjusted to prevent the load from falling out of the load plane on the robot and affecting the normal operation of the robot equipment.

[0110] S4. Adjust the load plane according to the stress state to maintain the load from falling out of the load plane.

[0111] In the embodiments of the present invention, adjusting the load plane according to the stress state to maintain the load from falling out of the load plane includes:

[0112] Adjust the electrical angle of the joint motor according to the stress state, change the load coordinates of the load on the robot, and maintain the load from falling out of the load plane.

[0113] In the embodiments of the present invention, the state where the load does not fall out of the load plane can be a balanced state in which the load coordinates of the load continuously approach the center of the load plane and fluctuate within a certain range.

[0114] Further, the load coordinates of the load can be adjusted by changing the electrical angles of the left hip motor, left knee motor, right hip motor, and right knee motor of the robot, so that different heights are presented on both sides of the main body of the machine, thereby changing the load coordinates to keep the load from falling out of the load plane.

[0115] In the embodiments of the present invention, first, the torque of the joint motor is calculated according to the joint current to achieve the purpose of obtaining the torque of the joint motor. Then, based on the torque of each joint motor, the load coordinates of the load located on the robot are calculated, and the force state of the load plane on the robot is analyzed according to the load coordinates. Finally, the load plane is adjusted according to the force state to maintain the load from falling out of the load plane. Therefore, the load balancing method, device, electronic device, and computer-readable storage medium of the robot proposed by the present invention can achieve the purpose of improving the balance state of the load on the robot.

[0116] As Figure 5 shown, it is a schematic diagram of the modules of the load balancing device of the robot of the present invention.

[0117] The load balancing device 100 of the robot according to the present invention can be installed in the load robot. According to the functions achieved, the load balancing device of the robot can include a joint current acquisition module 101, a motor torque calculation module 102, a load coordinate acquisition module 103, and a robot balance module 104. The modules of the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by a processor and can complete fixed functions, and are stored in the memory of the load robot.

[0118] In this embodiment, the functions of each module / unit are as follows:

[0119] The joint current acquisition module 101 is used to acquire the joint currents of the respective joint motors of the robot;

[0120] The motor torque calculation module 102 is used to calculate the torques of the respective joint motors according to the joint currents;

[0121] The load coordinate acquisition module 103 is used to calculate the load coordinates of the load located on the robot based on the torques of the respective joint motors, and analyze the force state of the load plane on the robot according to the load coordinates;

[0122] The robot balance module 104 is used to adjust the load plane according to the force state to maintain the load from falling out of the load plane.

[0123] Specifically, in the load balancing device 100 of the robot in the embodiments of the present invention, each of the above-mentioned modules Figure 1 , Figure 3 andFigure 4 The technical means are the same as those of the load balancing method of the robot described above and can produce the same technical effects, which will not be elaborated here.

[0124] As Figure 6 shown, it is a schematic structural diagram of the load robot for implementing the load balancing method of the robot according to the present invention.

[0125] The load robot may include a processor 10, a memory 11, a communication bus 12, and a communication interface 13, and may further include a computer program stored in the memory 11 and operable on the processor 10, such as a load balancing program for the robot.

[0126] Among them, the processor 10 may be composed of integrated circuits in some embodiments. For example, it may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same or different functions, including a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and lines, and by running or executing programs or modules stored in the memory 11 (such as executing the load balancing program for the robot, etc.), and calling the data stored in the memory 11, to perform various functions of the electronic device and process data.

[0127] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disks, multimedia cards, card-type memories (such as SD or DX memories, etc.), magnetic memories, magnetic disks, optical disks, etc. The memory 11 may be an internal storage unit of the electronic device in some embodiments, such as the mobile hard disk of the electronic device. The memory 11 may also be an external storage device of the electronic device in other embodiments, such as a plug-in mobile hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device. The memory 11 can be used not only to store application software installed on the electronic device and various types of data, such as the code of the load balancing program for the robot, etc., but also to temporarily store data that has been output or will be output.

[0128] The communication bus 12 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. This bus can be divided into an address bus, a data bus, a control bus, etc. The bus is configured to enable connection communication between the memory 11 and at least one processor 10, etc.

[0129] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), and is generally used to establish a communication connection between this electronic device and other electronic devices. The user interface may be a display, an input unit (such as a keyboard), and optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, and is used to display the information processed in the electronic device and to display a visual user interface.

[0130] Figure 6 Only a load robot with components is shown. Those skilled in the art can understand that Figure 6 the shown structure does not constitute a limitation on the load robot, and it may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0131] For example, although not shown, the load robot may further include a power source (such as a battery) for powering each component. Preferably, the power source can be logically connected to the at least one processor 10 through a power management device, so as to implement functions such as charge management, discharge management, and power consumption management through the power management device. The power source may also include any components such as one or more DC or AC power sources, a recharge device, a power failure detection circuit, a power converter or an inverter, and a power status indicator. The load robot may also include various sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0132] It should be understood that the above embodiments are only for illustration purposes and are not limited by this structure in the scope of the patent application.

[0133] The load balancing program of the robot stored in the memory 11 in the load robot is a combination of multiple computer programs. When running in the processor 10, it can achieve:

[0134] Obtain the joint currents of the respective joint motors of the robot;

[0135] Calculate the torques of the respective joint motors according to the joint currents;

[0136] Calculate the load coordinates of the load on the robot based on the torques of the respective joint motors, and analyze the force state of the load plane on the robot according to the load coordinates;

[0137] Adjust the load plane according to the force state to maintain that the load does not fall out of the load plane.

[0138] Specifically, for the specific implementation method of the above computer program by the processor 10, reference can be made to Figure 1 the description of the relevant steps in the corresponding embodiment, which will not be elaborated here.

[0139] Further, if the module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only Memory).

[0140] The present invention also provides a computer-readable storage medium. The readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, it can achieve:

[0141] Obtain the joint currents of the respective joint motors of the robot;

[0142] Calculate the torques of the respective joint motors according to the joint currents;

[0143] Calculate the load coordinates of the load on the robot based on the torques of the respective joint motors, and analyze the force state of the load plane on the robot according to the load coordinates;

[0144] Adjust the load plane according to the force state to maintain that the load does not fall out of the load plane.

[0145] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0146] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, the functional modules in each embodiment of the present invention can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a hardware plus software functional module.

[0148] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0149] Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced by the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0150] The blockchain referred to in the present invention is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm. Blockchain, essentially a decentralized database, is a string of data blocks generated by using cryptographic methods. Each data block contains information about a batch of network transactions, which is used to verify the validity (anti-counterfeiting) of the information and generate the next block. The blockchain can include a blockchain underlying platform, a platform product service layer, and an application service layer, etc.

[0151] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Among them, Artificial Intelligence (AI) is to use a digital computer or a machine controlled by a digital computer to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use the knowledge to obtain the best results of theory, method, technology, and application system.

[0152] In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices stated in the system claims can also be implemented by one unit or device through software or hardware. The terms such as "second" are used to denote names and do not denote any particular order.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A load balancing method for a robot, characterized in that, The method includes: Obtaining the joint currents of the respective joint motors of the robot; Calculating the torques of the respective joint motors according to the joint currents; Calculating the load coordinates of the load on the robot based on the torques of the respective joint motors, and analyzing the force state of the load plane on the robot according to the load coordinates; Adjusting the load plane according to the force state to maintain the load from falling out of the load plane; Wherein, the calculating the load coordinates of the load on the robot based on the torques of the respective joint motors includes: Obtaining the left hip motor torque, the right hip motor torque, the left knee motor torque, and the right knee motor torque according to the torques of the respective joint motors; Obtaining the angles of the joint motors and the angles of the inertial measurement unit, and measuring the pitch angle and roll angle of the robot according to the angles of the joint motors and the angles of the inertial measurement unit; Obtaining a Jacobian matrix based on the angles of the joint motors and the link lengths between the joint motors, and calculating the left hip support force and the right hip support force of the robot according to the Jacobian matrix, the left knee motor torque, and the right knee motor torque; Calculating the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot; Calculating the x coordinate and y coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtaining the load coordinates of the load on the robot.

2. The load balancing method for a robot according to claim 1, characterized in that, The calculating the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot includes: Calculating the mass of the load by using the following formula: where m is the mass of the load, M is the mass of the robot, F LKnee and F RKnee are the left hip support force and the right hip support force respectively, and γ is the roll angle of the robot.

3. The load balancing method for a robot according to claim 1, characterized in that, The calculating the x coordinate and y coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtaining the load coordinates of the load on the robot includes: Obtaining the body width of the robot body according to the basic parameters of the robot; Calculating the x coordinate of the load according to the mass of the load, the pitch angle, the left hip motor torque, the right hip motor torque, and a preset x coordinate calculation formula; Calculating the y coordinate of the load according to the body width, the left hip support force, the right hip support force, and a preset y coordinate calculation formula, and obtaining the load coordinates according to the x coordinate and y coordinate of the load.

4. The load balancing method for a robot according to claim 3, characterized in that, The x coordinate calculation formula and the y coordinate calculation formula are respectively: Wherein, L y is the width of the main body, m is the mass of the load, T Lhip and T Rhip are the left hip motor torque and the right hip motor torque respectively, θ is the pitch angle, F LKnee and F RKnee are the left hip support force and the right hip support force respectively.

5. The load balancing method for a robot according to claim 1, characterized in that, The analyzing the force state of the load plane on the robot according to the load coordinates includes: Obtaining the load pressure received by the load plane according to the mass of the load and the load coordinates; Obtaining the motor support force received by the load plane according to the left hip support force and the right hip support force calculated according to the torques of the respective joint motors, and obtaining the force state of the load plane according to the load pressure and the motor support force.

6. The load balancing method for a robot according to claim 1, characterized in that, Adjusting the load plane according to the stress state to maintain that the load does not fall out of the load plane includes: Adjusting the electrical angle of the joint motor according to the stress state, changing the load coordinates of the load on the robot, and maintaining that the load does not fall out of the load plane.

7. The load balancing method for a robot according to claim 1, characterized in that, Before calculating the load coordinates of the load on the robot based on the torques of the respective joint motors, the method further includes: When it is detected that the joint motor generates a preset current change due to an external force, it is determined that there is a load applying pressure to the robot.

8. A load balancing device for a robot, characterized in that, The device includes: A joint current acquisition module for acquiring the joint currents of the respective joint motors of the robot; A motor torque calculation module for calculating the torques of the respective joint motors according to the joint currents; A load coordinate acquisition module for calculating the load coordinates of the load on the robot based on the torques of the respective joint motors and analyzing the stress state of the load plane on the robot according to the load coordinates. Wherein, calculating the load coordinates of the load on the robot based on the torques of the respective joint motors includes: obtaining the left hip motor torque, the right hip motor torque, the left knee motor torque, and the right knee motor torque according to the torques of the respective joint motors; obtaining the angles of the joint motors and the angles of the inertial measurement unit, and measuring the pitch angle and roll angle of the robot according to the angles of the joint motors and the angles of the inertial measurement unit; obtaining a Jacobian matrix based on the angles of the joint motors and the link lengths between the joint motors, and calculating the left hip support force and the right hip support force of the robot according to the Jacobian matrix, the left knee motor torque, and the right knee motor torque; calculating the mass of the load according to the left hip support force, the right hip support force, the roll angle, and the mass of the robot; calculating the x coordinate and y coordinate of the load according to the basic parameters of the robot, the pitch angle, the mass of the load, the left hip motor torque, and the right hip motor torque, and obtaining the load coordinates of the load on the robot; A robot balance module for adjusting the load plane according to the stress state to maintain that the load does not fall out of the load plane.

9. A load robot, characterized in that, The load robot includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the load balancing method of the robot according to any one of claims 1 to 6.

10. A computer-readable storage medium, including a data storage area and a program storage area, the data storage area stores created data, and the program storage area stores a computer program; wherein, When the computer program is executed by the processor, it implements the load balancing method of the robot according to any one of claims 1 to 6.

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