Robot anti-dynamic load system based on active damping and gyro stabilization

Abstract

The invention discloses a robot anti-dynamic load system based on active damping and gyro stabilization, and the system comprises a disturbance monitoring unit which is used for monitoring key data in the operation process of a robot in real time, and the key data comprises the vibration frequency, amplitude, direction and angle of a chassis and key parts; the disturbance type judgment unit is used for analyzing the key data to obtain a current disturbance type; the compensation force execution unit is used for determining a current execution mode based on the disturbance type and controlling a corresponding actuator to perform compensation action according to the execution mode; and the dynamic adjustment unit is used for continuously adjusting a compensation strategy based on the disturbance monitoring key data so as to ensure that the robot stably operates in various complex scenes. The purposes of eliminating high-frequency small-amplitude vibration and counteracting low-frequency large-amplitude inclination are achieved by monitoring external vibration and dynamic inclination conditions in real time and combining cooperative control of double systems.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization. Background Art

[0002] In the development of modern robotics, the stability and adaptability of robots in complex terrains has become a key challenge. With the diversification of application scenarios, robots need to perform tasks in complex environments such as rough roads, steep slopes, and uneven ground. However, external disturbances in these environments can cause the robot to bear dynamic loads, which in turn can cause problems such as tilting, shaking, or even instability of the robot, seriously affecting the normal operation and task execution of the robot.

[0003] Traditional stability design usually adopts low center of gravity design, passive shock absorption structure, etc. The low center of gravity design is used to reduce the center of gravity height, thereby improving the stability of the robot. This method reduces the possibility of tipping over by adjusting the physical structure; the passive shock absorption structure absorbs and alleviates external impact force through mechanical components such as springs and dampers. These systems do not require external energy and rely on the characteristics of the mechanical structure to reduce shock. Although existing technologies have improved the stability of robots to some extent, they still have significant limitations when dealing with sudden dynamic loads: passive shock absorption systems and low center of gravity designs have slow response speeds when facing rapidly changing dynamic loads, and it is difficult to adjust in time to maintain stability; these traditional methods are often based on specific design parameters, have poor adaptability, and are difficult to cope with changing and complex environments; traditional shock absorption and stabilization measures are mostly passive designs, lack active adjustment capabilities, and cannot respond dynamically according to real-time environmental changes.

[0004] Therefore, there is an urgent need for a robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization. Summary of the invention

[0005] The present invention provides a robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization to solve the above problems existing in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization includes:

[0008] The disturbance monitoring unit is used to monitor the key data of the robot during operation in real time, including the vibration frequency, amplitude, direction and angle of the chassis and key components;

[0009] A disturbance type judgment unit, used to obtain the current disturbance type by analyzing key data;

[0010] A compensation force execution unit, used to determine the current execution mode based on the disturbance type, and control the corresponding actuator to perform compensation action according to the execution mode;

[0011] The dynamic adjustment unit is used to continuously adjust the compensation strategy based on the disturbance monitoring key data to ensure the stable operation of the robot in a variety of complex scenarios.

[0012] The disturbance monitoring unit includes:

[0013] Acceleration sensor module, used to monitor the vibration frequency and amplitude of the robot chassis and key parts in real time;

[0014] The gyroscope module is used to monitor the robot's posture changes in real time and obtain the direction and angle of vibration of the robot's chassis and key parts.

[0015] Wherein, the disturbance type judgment unit includes:

[0016] A data analysis module, used for receiving and processing key data from sensors to obtain preliminary disturbance characteristics, including vibration force;

[0017] The disturbance characteristic calculation module is used to calculate the compensation force F based on the preliminary disturbance characteristics. 补偿 , which helps determine the disturbance type, where the compensation force F 补偿 The formula is:

[0018] F 补偿 =-K×F 振动

[0019] F 补偿 Indicates the compensation force value; F 振动 Indicates the monitored vibration force; K indicates the control gain, which is used to control the magnitude of the compensation force;

[0020] The disturbance type identification module is used to determine the current disturbance type based on the compensation force and the preset disturbance type standard.

[0021] Wherein, the compensation force execution unit comprises:

[0022] An execution module is selected to determine a current execution mode based on the disturbance type, wherein the execution mode includes starting a vibration compensation system or a gyro stabilization device to cope with different types of disturbances;

[0023] The vibration compensation system includes a piezoelectric actuator and an electromagnetic shock absorber. The piezoelectric actuator is used to generate a compensation force through the rapid response characteristics of the piezoelectric material to neutralize the vibration; the electromagnetic shock absorber is used to use the electromagnetic coil to generate a dynamically controlled magnetic field to drive the mechanical structure to generate a reverse force to reduce the impact of vibration.

[0024] The gyro stabilizer is used to generate a stabilizing torque to offset the external tilting torque.

[0025] The dynamic adjustment unit includes the following execution steps:

[0026] Collect key data from disturbance monitoring units for real-time feedback;

[0027] Adjust compensation strategies based on real-time feedback data to optimize the response of piezoelectric actuators and electromagnetic shock absorbers;

[0028] The robot's stability is continuously monitored and optimized through adjusted compensation strategies.

[0029] Among them, real-time monitoring of the robot's posture changes includes:

[0030] Extracting multiple measurement items from the attitude data collected by the gyroscope module, the measurement items include: corresponding attitude parameters, vibration directions and angles;

[0031] Extract the change relationship between adjacent posture parameters in different measurement items in posture data;

[0032] According to the preset analysis rules, a monitoring model of the robot's posture change is generated based on posture parameters, vibration direction, angle and change relationship;

[0033] Obtain real-time data from gyroscope modules installed on the robot chassis and key parts;

[0034] Extracting direction information corresponding to attitude parameters from real-time data;

[0035] Determine the posture and position of the robot chassis and key parts;

[0036] Compare the posture position with the monitoring model to calculate the direction and angle of vibration;

[0037] When the robot's posture change is monitored in real time and the direction and angle of vibration are calculated, the robot's posture change information and vibration parameters are output.

[0038] Among them, judging the current disturbance type includes:

[0039] Obtaining a preset disturbance type standard set, the disturbance type standard set including: multiple disturbance types and corresponding discrimination criteria, the discrimination criteria including: compensation force threshold range and frequency characteristics;

[0040] Extracting compensation force values ​​and frequency characteristics corresponding to disturbance types from compensation force information;

[0041] Based on the compensation force value and frequency characteristics, combined with the disturbance type standard set, the disturbance type of the current environment is judged;

[0042] Output disturbance type discrimination results, disturbance types include low-frequency disturbance, high-frequency disturbance and random disturbance.

[0043] Among them, determining the current execution mode includes:

[0044] Based on the disturbance type, characteristic parameters related to the disturbance are extracted to form a disturbance parameter set. The disturbance parameters include disturbance amplitude, frequency distribution and disturbance duration.

[0045] Matching the disturbance parameter set with the preset disturbance processing model, and determining the current disturbance processing mode according to the matching result, the disturbance processing mode including starting the vibration compensation system mode and starting the gyro stabilization device mode;

[0046] When the disturbance type is low-frequency disturbance, the vibration compensation system mode is selected to start, and the vibration compensation device generates a countermeasure signal opposite to the low-frequency disturbance to reduce the impact of the disturbance;

[0047] When the disturbance type is high-frequency disturbance, select the gyro stabilization device mode to quickly respond to high-frequency disturbances through the gyro stabilization device to achieve dynamic balance;

[0048] When the disturbance type is random disturbance, the vibration compensation system mode and the gyro stabilization device mode are started simultaneously to perform joint disturbance compensation processing.

[0049] The gyro stabilization device includes: a high-inertia flywheel and an electric motor;

[0050] High inertia flywheel, used to generate stable torque through rotation to offset the tilting torque caused by the outside;

[0051] The electric motor is used to control the acceleration, deceleration and reverse rotation of the high inertia flywheel to achieve real-time adjustment of the torque.

[0052] Among them, the stable torque generated by rotation includes:

[0053] The high inertia flywheel provides a stable reaction torque by changing the rotation direction and speed to offset the external tilting torque;

[0054] Stability control formula:

[0055] τ 补偿 = -I × α

[0056] Among them, τ 补偿 represents the compensation torque; I represents the moment of inertia of the flywheel; α represents the rotational acceleration, which is opposite to the direction of external tilt.

[0057] Compared with the prior art, the present invention has the following advantages:

[0058] The robot anti-dynamic load system based on active shock absorption and gyro stabilization includes: a disturbance monitoring unit, which is used to monitor the key data of the robot in real time during operation, including the vibration frequency, amplitude, direction and angle of the chassis and key components; a disturbance type judgment unit, which is used to obtain the current disturbance type by analyzing the key data; a compensation force execution unit, which is used to determine the current execution mode based on the disturbance type and control the corresponding actuator to perform compensation actions according to the execution mode; a dynamic adjustment unit, which is used to continuously adjust the compensation strategy based on the disturbance monitoring key data to ensure the stable operation of the robot in a variety of complex scenarios. By real-time monitoring of external vibration and dynamic tilt, combined with the coordinated control of the dual systems, the purpose of eliminating high-frequency small vibrations and offsetting low-frequency large tilts can be achieved.

[0059] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention.

[0060] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 It is a structural diagram of a robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization in an embodiment of the present invention;

[0063] Figure 2 A structural diagram of a disturbance monitoring unit in an embodiment of the present invention;

[0064] Figure 3 4 is a structural diagram of a disturbance type determination unit in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0066] The embodiment of the present invention provides a robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization, comprising:

[0067] The disturbance monitoring unit is used to monitor the key data of the robot during operation in real time, including the vibration frequency, amplitude, direction and angle of the chassis and key components;

[0068] A disturbance type judgment unit, used to obtain the current disturbance type by analyzing key data;

[0069] A compensation force execution unit, used to determine the current execution mode based on the disturbance type, and control the corresponding actuator to perform compensation action according to the execution mode;

[0070] The dynamic adjustment unit is used to continuously adjust the compensation strategy based on the disturbance monitoring key data to ensure the stable operation of the robot in a variety of complex scenarios.

[0071] The working principle of the above technical solution is as follows: The acceleration sensor module is used to capture the vibration data of the robot chassis and key components in real time, including the vibration frequency and amplitude. These data are an important basis for subsequent compensation calculations. For example, when the robot is driving on rough ground, the acceleration sensor records the peak value and period of the vibration. The gyroscope works with the acceleration sensor to provide information on changes in attitude angles (such as pitch and roll angles) to determine the direction and angle of vibration. By monitoring the tilt trend, the gyroscope helps identify the type of disturbance, such as roll or rotation.

[0072] In the actuator part, piezoelectric actuators use piezoelectric materials to generate precise reverse compensation force through rapid deformation. Its high response speed is suitable for handling high-speed and high-frequency vibrations. For example, when the robot moves, the piezoelectric actuator immediately generates a reaction force to slow down the vibration.

[0073] The electromagnetic shock absorber controls the magnetic field strength through the electromagnetic coil, pushes the mechanical parts to generate reverse force, and reduces the amplitude of vibration. It is suitable for a wider range of vibration compensation.

[0074] Real-time monitoring, the sensor obtains external vibration signals (such as vibration force caused by ground undulation). The sensor data is digitized by the controller.

[0075] Compensation calculation: the controller calculates the required compensation force based on the frequency, amplitude, and direction of the vibration; feedback and execution: the actuator receives the control signal and generates a reverse force based on the direction and magnitude of the compensation force to neutralize external impacts in real time.

[0076] Disturbance detection: When the robot tilts or rotates, the gyroscope captures its angular velocity changes and transmits them to the flywheel control system. The flywheel adjusts the rotation direction and speed based on compensation calculations, provides a reaction torque for the robot, and restores the posture balance.

[0077] The system dynamically adjusts the compensation strategy to ensure continuous optimization of the compensation effect in a variety of complex scenarios. For example:

[0078] High frequency disturbances: Piezoelectric actuators or electromagnetic shock absorbers are preferred.

[0079] Low frequency disturbance or tilt: The flywheel provides torque stabilization support.

[0080] Integrated disturbance: The two systems work together, coordinated by a central controller to optimize stability.

[0081] The beneficial effects of the above technical solution are: the millisecond response time of the piezoelectric actuator is suitable for high-speed moving robots and can quickly neutralize vibrations. The electromagnetic shock absorber can significantly reduce the vibration amplitude and improve the stability of the robot on complex terrain by accurately generating reverse force. The flywheel system provides a stable reaction torque, which is particularly suitable for long-term balance needs, such as slope operations or long-distance transportation. Due to the internal integrated design, the gyro stabilizer does not add additional mechanical complexity. The synergy between the active shock absorption system and the gyro stabilizer improves the robot's ability to cope with complex environments, whether it is high-frequency vibration or large tilts.

[0082] In another embodiment, the disturbance monitoring unit comprises:

[0083] Acceleration sensor module, used to monitor the vibration frequency and amplitude of the robot chassis and key parts in real time;

[0084] The gyroscope module is used to monitor the robot's posture changes in real time and obtain the direction and angle of vibration of the robot's chassis and key parts.

[0085] Among them, real-time monitoring of the vibration frequency and amplitude of the robot chassis and key parts includes:

[0086] Acceleration sensors are installed on the chassis and key parts of the robot. The acceleration sensors monitor the changes in acceleration through the built-in micro-electromechanical system (MEMS) and generate corresponding electrical signals based on the monitoring results.

[0087] digitizing the electrical signal through an analog-to-digital converter (ADC) and transmitting the digitized signal to a data processing unit;

[0088] In the data processing unit, the digitized signal is analyzed based on the fast Fourier transform (FFT) algorithm to extract the frequency and amplitude information of the vibration;

[0089] Among them, extracting the frequency and amplitude information of vibration includes:

[0090] Receive the digital signal from the acceleration sensor in real time and perform frequency domain conversion on the signal based on the FFT algorithm to determine the frequency component of the vibration;

[0091] Based on the frequency domain conversion results, the main frequencies and corresponding amplitudes in the vibration signal are identified, and the vibration signal is analyzed in time series;

[0092] The vibration frequency and amplitude data at each moment are extracted and classified and marked to distinguish the vibration characteristics of different parts.

[0093] Among them, the acceleration sensor includes a suspended mass block, which produces displacement as the vibration direction and amplitude change, and is converted into an electrical signal through capacitance, resistance or piezoelectric effect; the data processing unit is a microcontroller or a single-board computer, which is used to execute the FFT algorithm and perform real-time analysis and processing of vibration data.

[0094] The working principle of the above technical solution is as follows: the acceleration sensor monitors the change of acceleration through the built-in micro-electro-mechanical system (MEMS, Micro-Electro-Mechanical Systems). The mass block (usually called the suspended mass) in the sensor will produce displacement as the direction and amplitude of the vibration change. This displacement is converted into an electrical signal through capacitance, resistance or piezoelectric effect, indicating the change of acceleration in the corresponding direction. The sensor digitizes these signals (through an analog-to-digital converter, ADC) and transmits them to a processing unit (such as a microcontroller or a single-board computer). The data processing unit uses the fast Fourier transform (FFT) algorithm to resolve the original signal into the frequency and amplitude of the vibration. For example, if the robot chassis encounters an obstacle while moving forward, the vibration frequency is high and the amplitude is large. The sensor will immediately record this change and feed it back to the main control unit for adjusting the motion strategy.

[0095] Gyroscopes monitor changes in angular velocity based on the gyroscopic effect or vibration loop principle (such as MEMS vibration gyroscopes) to calculate posture changes and vibration directions. Gyroscopes use sensor elements (such as vibration beams, optical devices) to sense angular velocity. When the robot rotates in a certain direction or vibrates, the vibration mode of these elements will change. The changed vibration signal is interpreted as a change in angular velocity and combined with time integration to calculate the posture angle. By fusing these angle data with acceleration data (usually using the Kalman filter algorithm), the direction, amplitude and angle of vibration of the robot chassis and key parts can be obtained. For example, at the moment when the robot turns or tilts, the gyroscope can capture these subtle posture changes and accurately identify the specific direction of vibration by cooperating with the acceleration sensor.

[0096] The beneficial effect of the above technical solution is that by combining the data of the accelerometer and the gyroscope, all-round vibration monitoring of the robot chassis and key parts can be achieved. Compared with a single sensor, the combination of dual modules greatly improves the reliability and accuracy of the data. Real-time monitoring of vibration frequency and amplitude can help predict possible mechanical failures. For example, abnormal chassis vibration amplitude may mean damaged mechanical connections or unbalanced loads. Through early detection, a wider range of mechanical failures can be effectively avoided. The gyroscope provides posture change information, and the accelerometer monitors the vibration amplitude. The combination of the two enables the robot to quickly adjust its posture and speed in a complex environment, thereby improving operating efficiency and adaptability. Direction angle monitoring can help the robot identify the source of vibration. For example, when a wheel vibrates due to terrain, the gyroscope and accelerometer can jointly locate the vibration position, which is convenient for precise adjustment of the chassis posture.

[0097] In another embodiment, the disturbance type determination unit includes:

[0098] A data analysis module, used for receiving and processing key data from sensors to obtain preliminary disturbance characteristics, including vibration force;

[0099] The disturbance characteristic calculation module is used to calculate the compensation force F based on the preliminary disturbance characteristics. 补偿 , which helps determine the disturbance type, where the compensation force F 补偿 The formula is:

[0100] F 补偿 =-K×F 振动

[0101] F 补偿 Indicates the compensation force value; F 振动 Indicates the monitored vibration force; K indicates the control gain, which is used to control the magnitude of the compensation force;

[0102] The disturbance type identification module is used to determine the current disturbance type based on the compensation force and the preset disturbance type standard.

[0103] The working principle of the above technical solution is as follows: the data analysis module is mainly used to receive key data provided by sensors (such as accelerometers and gyroscopes), and process these data to extract preliminary disturbance features (such as vibration force). The data analysis module receives the raw data of the sensor in real time through a communication interface (such as SPI or UART), including information such as vibration amplitude, frequency, and angle change. Data filtering: To eliminate noise, the module uses a filter (such as a low-pass filter or a Kalman filter) to process the data and retain valid signals. Feature extraction: The module calculates features such as vibration force through mathematical transformations (such as fast Fourier transform FFT or time domain analysis). Vibration force is a function of vibration amplitude and frequency, indicating the change in vibration energy per unit time. For example, if the vibration force of a certain part suddenly increases while the robot is moving, the module can quickly capture this change and feed it back to the subsequent modules.

[0104] The disturbance characteristic calculation module calculates the compensation force F based on the preliminary disturbance characteristics output by the data analysis module. 补偿 , in order to assist in the subsequent judgment of the disturbance type.

[0105] Compensation force formula: The module calculates the compensation force using the following formula:

[0106] Compensation force F 补偿 The formula is:

[0107] F 补偿 =-K×F 振动

[0108] F 补偿 Indicates the compensation force value; F 振动 represents the monitored vibration force; K represents the control gain, which is used to control the size of the compensation force; the negative sign (-) in the formula indicates that the compensation force is in the opposite direction of the vibration force, which is to offset the disturbance and maintain system stability. The size of the control gain K is determined by the dynamic characteristics of the specific system. For example, a larger K value will produce a stronger compensation force, which is suitable for a high-speed response system; while a smaller K value is suitable for equipment that is more sensitive to vibration to avoid overcompensation.

[0109] Calculation logic: The module dynamically adjusts F according to the vibration force monitored in real time 补偿 To ensure that the robot system responds quickly and accurately. For example, when the robot is disturbed by external forces (such as collisions) during movement and the vibration force increases, the module can quickly calculate the corresponding compensation force and transmit it to the actuator to balance the interference.

[0110] The disturbance type identification module analyzes the compensation force F 补偿The current disturbance type is determined by combining the characteristics (size, direction, rate of change) of the disturbance with the preset disturbance type standards (such as impact, continuous vibration, tilt). Disturbance standard preset: Based on experimental data, the characteristic parameter ranges of different disturbance types are preset (such as the F of impact). 补偿 The rate of change is high and the duration is short, while the tilt is low frequency but long duration).

[0111] Real-time comparison: The module compares the calculated compensation force with these preset standards to determine the type of disturbance. Dynamic adjustment: Combined with real-time data trends, the module can further optimize the determination of disturbance types, such as updating disturbance standards through machine learning models. For example, when the compensation force fluctuates frequently and in the same direction, the system can determine that it is a continuous vibration caused by uneven terrain rather than a single impact.

[0112] The beneficial effects of the above technical solution are: through the rapid calculation and execution of compensation force, the module can effectively reduce the posture deviation caused by vibration or external force and improve the stability of robot operation. The data analysis module works together with the disturbance feature calculation module to complete the closed-loop feedback from disturbance detection to compensation force calculation in a short time, greatly improving the response speed. The disturbance type discrimination module can accurately distinguish different types of disturbances by combining real-time data and preset standards. This is particularly important in complex environments, such as identifying the difference between rugged ground and external force collision. The compensation force is adjusted by controlling the gain K, and its flexibility ensures that the system does not produce excessive or insufficient compensation, thereby optimizing the energy consumption of the actuator.

[0113] In another embodiment, the compensation force execution unit includes:

[0114] An execution module is selected to determine a current execution mode based on the disturbance type, wherein the execution mode includes starting a vibration compensation system or a gyro stabilization device to cope with different types of disturbances;

[0115] The vibration compensation system includes a piezoelectric actuator and an electromagnetic shock absorber. The piezoelectric actuator is used to generate a compensation force through the rapid response characteristics of the piezoelectric material to neutralize the vibration; the electromagnetic shock absorber is used to use the electromagnetic coil to generate a dynamically controlled magnetic field to drive the mechanical structure to generate a reverse force to reduce the impact of vibration.

[0116] The gyro stabilizer is used to generate a stabilizing torque to offset the external tilting torque.

[0117] The working principle of the above technical solution is as follows: the main function of the execution selection module is to automatically select the most suitable execution mode based on the output result of the disturbance type discrimination module, and start the corresponding equipment to cope with different disturbance situations. Disturbance type input: The module receives information about the disturbance type (such as impact, continuous vibration or tilt). Matching execution mode: If vibration is detected as the main disturbance, select the vibration compensation system; if tilt is detected as the main disturbance, select the gyro stabilization device. Dynamic adjustment: During operation, the module dynamically switches or adjusts the execution mode according to the duration, intensity and direction of the disturbance.

[0118] Output command: Send a start or adjustment command to the corresponding execution device. For example, when the robot senses the continuous vibration caused by the undulating terrain while moving, the module will select the vibration compensation system; and when it detects a tilt (such as the center of gravity shift when climbing a slope), it will select the gyro stabilization device.

[0119] The vibration compensation system consists of two parts: a piezoelectric actuator and an electromagnetic shock absorber, which neutralize and reduce vibrations through different mechanisms in different scenarios. Piezoelectric actuators use the fast response characteristics of piezoelectric materials (such as lead zirconate titanate PZT) to generate mechanical deformation by applying voltage to generate compensation force. Piezoelectric effect: Piezoelectric materials deform under the action of an electric field (positive piezoelectric effect), and conversely can convert external forces into electrical signals (inverse piezoelectric effect). The positive piezoelectric effect is used in this system. Operation process: The control circuit quickly generates a voltage signal opposite to the vibration force based on the vibration signal. Piezoelectric materials deform rapidly under voltage drive to generate a reverse compensation force. The reverse force and the vibration force are superimposed and cancel each other out, reducing the impact of vibration.

[0120] The electromagnetic shock absorber uses an electromagnetic coil to generate a dynamic magnetic field, which is coupled with a mechanical structure. The magnetic field force drives the mechanical device to generate a reverse force to reduce vibration. Electromagnetic force action: According to the principle of electromagnetic induction, an energized coil will generate a Lorentz force in the magnetic field. The magnitude and direction of this force are controlled by the coil current. Operation process: The sensor detects the vibration force and generates a corresponding current signal. The coil generates a dynamic magnetic field according to the control signal. The magnetic field acts on the mechanical structure of the device to generate a reverse force to offset the vibration force. Advantages: It is suitable for large-scale, low-frequency vibrations, and the compensation force has a large controllable range.

[0121] The gyro stabilizer maintains the balance of the system by generating a stable torque to offset the external tilt torque. Tilt torque detection: The system monitors the torque acting from the outside in real time, such as the tilt torque caused by terrain slope or center of gravity offset. Torque calculation: Calculate the required reverse torque based on the detection data. Torque generation: The gyro device generates a stable reverse torque to offset the external tilt torque by adjusting its rotation direction and speed. Gyro effect: A rotating gyro has the property of resisting changes in direction, which is used to stabilize mechanical systems.

[0122] The beneficial effects of the above technical solution are: different execution modes are selected according to the disturbance type, which can flexibly respond to different disturbances such as vibration and tilt, and is suitable for a variety of complex environments. The piezoelectric actuator and electromagnetic shock absorber of the vibration compensation system perform their respective functions, which are suitable for high-frequency vibration and low-frequency vibration respectively, ensuring the rapid and effective neutralization of vibration. The gyro stabilization device can effectively offset the external tilt torque and maintain the stability of the system's posture. The rapid response characteristics of the piezoelectric actuator and the controllable range of the electromagnetic shock absorber effectively reduce the over-compensation phenomenon, thereby reducing the energy consumption of the system. Reduce the long-term impact of vibration on the mechanical structure, reduce component fatigue damage, and significantly extend the service life of the equipment.

[0123] In another embodiment, the dynamic adjustment unit includes the following execution steps:

[0124] Collect key data from disturbance monitoring units for real-time feedback;

[0125] Adjust compensation strategies based on real-time feedback data to optimize the response of piezoelectric actuators and electromagnetic shock absorbers;

[0126] The robot's stability is continuously monitored and optimized through adjusted compensation strategies.

[0127] The working principle of the above technical solution is as follows: the first step of the dynamic adjustment unit is to obtain key data from the disturbance monitoring unit, which directly reflects the type, intensity and direction of the external disturbance. The disturbance monitoring unit (such as an accelerometer, gyroscope or other mechanical sensor) records the external disturbance information in real time. Accelerometer: used to detect the acceleration value of the vibration to help determine the vibration intensity and frequency. Gyroscope: used to detect the posture changes of the system, such as the tilt angle or the angular velocity of rotation. The monitoring unit transmits the data to the dynamic adjustment unit.

[0128] The dynamic adjustment unit analyzes this data and extracts key parameters (such as vibration frequency, amplitude, tilt angle, etc.) as the basis for subsequent compensation strategy adjustments. Based on the collected disturbance data, the dynamic adjustment unit optimizes the compensation strategy through algorithms to ensure that the response of the piezoelectric actuator and electromagnetic shock absorber is always in the best state.

[0129] Strategy adjustments for vibration compensation systems: Piezoelectric actuators: If the vibration frequency is high (e.g. >100Hz), the algorithm will increase the response strength and frequency matching of the piezoelectric actuator. If the vibration amplitude is small (e.g. <0.1mm), the compensation strength is reduced to reduce energy consumption. Electromagnetic shock absorbers: For low-frequency, large-amplitude vibrations (such as ground bumps), the strategy adjusts the current intensity of the electromagnetic coil to generate a greater reverse force. Strategy adjustments for gyro stabilization devices: If the rate of change of the tilt angle is detected to be fast (e.g. >10° / s), dynamically adjust the rotation speed to enhance the stabilizing torque. If the tilt angle changes slowly but with a large amplitude (e.g. the tilt angle lasts >15°), extend the torque action time to ensure balance.

[0130] Real-time optimization algorithm: extract the frequency characteristics of the disturbance signal through fast Fourier transform (FFT), and adjust the actuator parameters in combination with the adaptive control model. Feedback adjustment model: dynamically correct the execution strategy by comparing the disturbance data with the compensation effect (closed-loop feedback). In the process of executing the optimization strategy, the dynamic adjustment unit continuously monitors the changes in the disturbance and the system response effect to further optimize the robot stability.

[0131] Execute the optimized compensation strategy (e.g., piezoelectric actuator deformation amplitude, electromagnetic coil current intensity, or gyro torque). Real-time feedback monitoring: The disturbance monitoring unit continues to record the system operation under the action of the compensation strategy. If the system vibration is not significantly reduced, adjust the compensation parameters and strengthen the execution. If the tilt is not fully corrected, further optimize the speed or torque of the gyro stabilizer. Continuous loop optimization: The adjustment process is repeated at very short time intervals (e.g., milliseconds) to ensure that the system is always in the optimal operating state.

[0132] The beneficial effects of the above technical solution are as follows: the dynamic adjustment unit can quickly optimize the compensation strategy according to the real-time monitoring data, greatly reducing the response delay of the disturbance. For example, the robot can still maintain precise posture control in a high-frequency vibration environment (such as the operation of a robotic arm). Through the dynamic adjustment strategy, the system can flexibly respond to different disturbance types and intensities. For example, in the face of random vibrations in a complex environment, the piezoelectric actuator and the electromagnetic shock absorber can work together efficiently to ensure the compensation effect. Dynamic adjustment avoids over-compensation and reduces actuator energy consumption by optimizing compensation parameters. For example, in low-frequency vibration scenarios, the excessive response of the piezoelectric actuator is reduced to extend the life of the equipment. Through continuous optimization of the compensation strategy, the robot can operate stably in complex environments such as bumpy terrain and inclined surfaces, effectively reducing the error rate. With the help of fast algorithms (such as FFT or adaptive control models), the system can match the frequency and amplitude of the disturbance signal with high precision, thereby achieving accurate vibration compensation and tilt correction.

[0133] In another embodiment, real-time monitoring of the posture change of the robot includes:

[0134] Extracting multiple measurement items from the attitude data collected by the gyroscope module, the measurement items include: corresponding attitude parameters, vibration directions and angles;

[0135] Extract the change relationship between adjacent posture parameters in different measurement items in posture data;

[0136] According to the preset analysis rules, a monitoring model of the robot's posture change is generated based on posture parameters, vibration direction, angle and change relationship;

[0137] Obtain real-time data from gyroscope modules installed on the robot chassis and key parts;

[0138] Extracting direction information corresponding to attitude parameters from real-time data;

[0139] Determine the posture and position of the robot chassis and key parts;

[0140] Compare the posture position with the monitoring model to calculate the direction and angle of vibration;

[0141] When the robot's posture change is monitored in real time and the direction and angle of vibration are calculated, the robot's posture change information and vibration parameters are output.

[0142] The working principle of the above technical solution is: extract multiple measurement items from the attitude data collected by the gyroscope module, attitude parameters: the gyroscope module records the basic parameters related to the robot attitude, including: Roll angle (Roll): reflects the rotation angle around the longitudinal axis of the robot. Pitch angle (Pitch): reflects the rotation angle around the horizontal axis. Yaw angle (Yaw): reflects the rotation angle around the vertical axis. Vibration direction and angle: The vibration direction is determined by the three-axis acceleration (X, Y, Z axis). The vibration angle is calculated by the rate of change of the time series attitude parameters, such as the angular velocity output by the gyroscope. Data extraction: Extract the measurement items corresponding to the above parameters from the output of the gyroscope module to form a complete attitude data set.

[0143] The change relationship between adjacent attitude parameters in different measurement items is extracted, and the change relationship between adjacent attitude parameters is calculated by the difference method. For example, the roll angle ΔRoll = Roll at two consecutive time points t+1 -Roll t

[0144] The rate of change can be expressed as (rate of change of angle with time).

[0145] Data analysis: Vibration direction: Analyze the relationship between the acceleration changes in the three directions of X, Y, and Z. Posture stability: By comparing the rate of change of the roll angle and pitch angle, determine whether the robot is in a tilted or unstable state.

[0146] Generate a monitoring model for attitude changes based on the preset analysis rules. The preset analysis rules are as follows: Stability standard: If a certain angle changes beyond a threshold (such as a pitch angle change of >10° / second), an alarm is triggered. Vibration range: If an acceleration change exceeds a threshold (such as >2m / s 2 ), marked as severe vibration. Attitude parameter fusion: Roll angle, pitch angle, yaw angle, vibration direction, and angle change rate are combined to form a multi-dimensional state space. Mathematical modeling: Based on the attitude parameters and change relationship, a mathematical model (such as Kalman filter) is used to estimate the state of real-time data. Output monitoring model: The model outputs the current robot attitude and vibration characteristics, and predicts future attitude trends.

[0147] Get real-time data from the gyroscope module and extract direction information. Real-time data extraction: Get attitude data from the gyroscope module through communication protocols (such as SPI, I2C). Data decomposition: Extract real-time attitude parameters such as roll angle and acceleration. Determine the vibration direction and calculate the direction vector through the components (X, Y, Z) of the acceleration vector.

[0148] Determine the posture position of the robot chassis and key parts, and calculate the posture parameters of each gyroscope module installed in the chassis and key parts. Use the geometric relationship of the installation position to integrate the data of each module into the overall posture. Compare the posture differences between the chassis and the robot arm and other parts to determine whether there is any relative motion abnormality.

[0149] Vibration direction: Analyze the unit direction of the acceleration vector. Vibration angle: Calculate the acceleration vector at different time points using the law of cosines.

[0150] Output the robot's posture change information and vibration parameters in real time, and trigger an alarm mechanism (such as when the vibration amplitude exceeds a threshold) through a user interface (such as a display screen or a communication module).

[0151] The beneficial effects of the above technical solution are: by acquiring attitude information through real-time data from the gyroscope module, the robot can quickly sense and adjust its own attitude and adapt to complex environments. The high-precision calculation of vibration direction and angle enables the robot to effectively respond to external disturbances and improve operational stability. In the event of severe vibration or tilt, the system can quickly output alarm information to avoid accidents caused by unstable attitude. Accurate attitude monitoring and stability control help robots complete tasks more efficiently, such as the precision operation of industrial robotic arms or the flight stability of drones. The attitude monitoring model is highly flexible and suitable for various complex scenarios, such as robots on bumpy roads or detection robots in rugged terrain.

[0152] In another embodiment, determining the current disturbance type includes:

[0153] Obtaining a preset disturbance type standard set, the disturbance type standard set including: multiple disturbance types and corresponding discrimination criteria, the discrimination criteria including: compensation force threshold range and frequency characteristics;

[0154] Extracting compensation force values ​​and frequency characteristics corresponding to disturbance types in the compensation force information;

[0155] Based on the compensation force value and frequency characteristics, combined with the disturbance type standard set, the disturbance type of the current environment is judged;

[0156] Output disturbance type discrimination results, disturbance types include low-frequency disturbance, high-frequency disturbance and random disturbance.

[0157] The working principle of the above technical solution is as follows: Disturbance type: Low-frequency disturbance: The frequency is lower than a certain threshold (such as 10Hz), usually caused by slow fluctuations, such as slow ground settlement or mechanical buffer movement. High-frequency disturbance: The frequency is higher than the threshold (such as 50Hz), usually from fast vibrations, such as high-speed operation or impact of mechanical equipment. Random disturbance: There is no obvious pattern, and the spectrum distribution is wide, such as environmental noise or random jitter.

[0158] Criteria: Compensation force threshold range: Defines a specific compensation force range for each disturbance type. For example: Low-frequency disturbance: Compensation force 0.5–2.0N. High-frequency disturbance: Compensation force >2.0N. Frequency characteristics: Analyze the disturbance frequency range based on Fourier transform. For example: Low-frequency disturbance: 0–10Hz. High-frequency disturbance: >50Hz. Random disturbance: No specific frequency peak, the spectrum shows noise characteristics.

[0159] Extract the numerical and frequency characteristics corresponding to the disturbance type in the compensation force information to obtain the compensation force information: Compensation force: The force caused by the external disturbance on the system measured by the sensor, and the corresponding compensation is performed through the actuator. Data acquisition: Extract the magnitude and direction of the compensation force from the actuator feedback data. Frequency feature analysis: Use fast Fourier transform (FFT) to convert the time domain compensation force signal into a frequency domain signal. Extract frequency features, such as the main frequency (the frequency component with the largest amplitude in the signal) and the spectrum width.

[0160] Based on the compensation force value and frequency characteristics, combined with the disturbance type standard set, the disturbance type is judged and the compensation force threshold range is matched: the current compensation force value is compared with the threshold range in the disturbance type standard set to preliminarily judge the possible disturbance type.

[0161] Frequency feature matching: According to the main frequency extracted by FFT, the frequency range of the corresponding disturbance type in the matching standard set is matched. For example: if the main frequency is between 0-10Hz and the compensation force is within the low-frequency threshold range, it is judged as a low-frequency disturbance. If the main frequency is higher than 50Hz and the compensation force is large, it is judged as a high-frequency disturbance. If the signal spectrum has no significant main frequency and the distribution is relatively random, it is judged as a random disturbance. Comprehensive analysis: The compensation force value and the judgment results of the frequency characteristics are combined to give the final judgment of the disturbance type.

[0162] Output disturbance type discrimination result, operation process: discrimination result classification: output disturbance type: low-frequency disturbance, high-frequency disturbance, random disturbance. Result display: display disturbance type, corresponding compensation force range, main frequency and other information. The user or system can be prompted by an alarm signal.

[0163] The beneficial effects of the above technical solution are: the system can accurately judge the disturbance type based on the compensation force and frequency characteristics, and is suitable for vibration monitoring and disturbance control in a variety of complex environments. By distinguishing different types of disturbances, the system can optimize the compensation algorithm. For example: for low-frequency disturbances, a flexible compensation strategy is used to avoid over-response. For high-frequency disturbances, a fast compensation mechanism is used to improve the response speed. Accurately distinguishing low-frequency, high-frequency and random disturbances enables the system to respond quickly to specific disturbances, thereby enhancing overall stability and reliability.

[0164] In another embodiment, determining the current execution mode includes:

[0165] Based on the disturbance type, characteristic parameters related to the disturbance are extracted to form a disturbance parameter set. The disturbance parameters include disturbance amplitude, frequency distribution and disturbance duration.

[0166] Matching the disturbance parameter set with the preset disturbance processing model, and determining the current disturbance processing mode according to the matching result, the disturbance processing mode including starting the vibration compensation system mode and starting the gyro stabilization device mode;

[0167] When the disturbance type is low-frequency disturbance, the vibration compensation system mode is selected to start, and the vibration compensation device generates a countermeasure signal opposite to the low-frequency disturbance to reduce the impact of the disturbance;

[0168] When the disturbance type is high-frequency disturbance, select the gyro stabilization device mode to quickly respond to high-frequency disturbances through the gyro stabilization device to achieve dynamic balance;

[0169] When the disturbance type is random disturbance, the vibration compensation system mode and the gyro stabilization device mode are started simultaneously to perform joint disturbance compensation processing.

[0170] The working principle of the above technical solution is: extract characteristic parameters related to the disturbance to form a disturbance parameter set, disturbance amplitude: extract the maximum amplitude of the disturbance from the real-time signal collected by the sensor. For example, for low-frequency vibration, the amplitude may be large (such as 5-10N); for high-frequency disturbance, the amplitude is usually small (such as 1-3N). Frequency distribution: use fast Fourier transform (FFT) to analyze the signal spectrum and extract the main frequency and spectrum characteristics. For example: the frequency of low-frequency disturbance is concentrated in 0-10Hz. The frequency of high-frequency disturbance is usually higher than 50Hz. The frequency distribution of random disturbance is irregular, and the spectrum is relatively smooth. Disturbance duration: by analyzing the signal time axis, calculate the duration of the disturbance. For example: the duration of short-term disturbance may be 0.1-1 second. Long-term disturbance may last for several seconds or even longer.

[0171] Match the disturbance parameter set with the preset disturbance processing model, preset disturbance processing model: Vibration compensation system mode: specially designed for low-frequency disturbances, using anti-phase signals to reduce low-frequency amplitude. Gyro stabilization device mode: designed for high-frequency disturbances, quickly adjust the system attitude to restore balance. Joint compensation mode: low-frequency and high-frequency disturbances are processed simultaneously, suitable for random disturbances.

[0172] Parameter matching: Compare the current perturbation parameter set with the parameter range of the preset model. For example: if the main frequency is in the low frequency range (0–10Hz) and the perturbation amplitude is large, match the vibration compensation system mode. If the frequency exceeds 50Hz and the amplitude is small, match the gyro stabilizer mode. If the frequency distribution is irregular, match the joint compensation mode.

[0173] Determine the disturbance handling mode and execute the response. Low-frequency disturbance: Start the vibration compensation system mode. The vibration compensation device generates a counter signal opposite to the disturbance signal (for example, by controlling the reverse vibration device). The goal is to reduce or completely offset the impact of low-frequency vibration on the system. High-frequency disturbance: Start the gyro stabilizer mode. Quickly adjust the system balance through the gyro device, such as adjusting the robot arm posture or the suspension system angle. Dynamically respond to disturbances to prevent the accumulation of high-frequency vibrations in the system.

[0174] Random disturbance: Start the vibration compensation system mode and gyro stabilization device mode at the same time. The vibration compensation system reduces the disturbance of low-frequency components, and the gyro device responds to high-frequency components. The two devices work together to achieve comprehensive compensation of disturbances in the full frequency band.

[0175] The beneficial effects of the above technical solution are as follows: by extracting characteristic parameters such as disturbance amplitude, frequency distribution and duration, the disturbance characteristics can be fully described and the processing accuracy can be improved. Different disturbance types automatically match the best processing mode to avoid the limitations of traditional single processing methods. Low-frequency disturbances select vibration compensation to provide smooth compensation. High-frequency disturbances select gyro stabilization devices to quickly restore balance. Random disturbances select joint mode to ensure efficient processing. Accurate processing of different disturbance types can minimize the impact of external interference on system performance and improve stability and reliability. By using frequency analysis and disturbance characteristic matching, the system can respond at the millisecond level, quickly compensate for external disturbances, and adapt to dynamically changing working environments.

[0176] In another embodiment, a gyroscopic stabilization device includes: a high inertia flywheel and an electric motor;

[0177] High inertia flywheel, used to generate stable torque through rotation to offset the tilting torque caused by the outside;

[0178] The electric motor is used to control the acceleration, deceleration and reverse rotation of the high inertia flywheel to achieve real-time adjustment of the torque.

[0179] The working principle of the above technical solution is: Inertia is the resistance of an object to rotational changes. The high-inertia flywheel can generate stable angular momentum when rotating through its own large mass and uniform distribution design. For example, a flywheel is designed with a larger diameter and thicker edges, which can provide greater stability. Torque generation: According to the principle of conservation of angular momentum, when the rotation axis of the flywheel is subjected to external disturbances (such as tilting torque), the reaction torque generated by its rotation can offset the external interference. Assuming that the flywheel rotates at a high speed of 3000 revolutions per second along an axis, when the external tilting force tries to change its direction, the flywheel uses its own torque to counteract this change and keep the system stable.

[0180] Real-time control of the motor, acceleration and deceleration: The motor adjusts the torque to adapt to the intensity of the external disturbance by controlling the rotation speed of the high-inertia flywheel (increasing or decreasing the speed). For example, when the external disturbance torque is large, the motor quickly accelerates the flywheel rotation to enhance the reaction torque. Reverse rotation: When the disturbance direction changes, the motor can quickly rotate the flywheel in the opposite direction to generate a stable torque in the opposite direction. This function is particularly important in high-speed dynamic scenarios, such as when a robot encounters complex terrain during movement. Closed-loop control: The motor and the sensor form a closed-loop system to collect parameters such as tilt angle and speed in real time, and adjust the operating state of the flywheel through a feedback control algorithm.

[0181] The system works together, the high inertia flywheel and the motor work together to form a stable system: the flywheel provides basic torque anti-disturbance capability. The motor adjusts the flywheel state according to the dynamic changes of external disturbances to ensure fast and efficient response.

[0182] The beneficial effects of the above technical solution are as follows: the high-inertia flywheel provides continuous stabilizing torque when subjected to external interference through the principle of conservation of angular momentum, effectively resists external disturbances, and enhances the stability of the system. The motor adjusts the speed and direction of the flywheel in real time, and can respond quickly to complex disturbances and adapt to rapidly changing working environments. For example, in a high-speed vehicle, the gyro stabilizer can quickly balance the tilt. The high-inertia flywheel can adapt to multi-directional disturbances (such as tilting forward and backward, swaying left and right) through a multi-axis design to ensure the balance of the system in any direction.

[0183] In another embodiment, generating a stabilizing torque by rotation includes:

[0184] The high inertia flywheel provides a stable reaction torque by changing the rotation direction and speed to offset the external tilting torque;

[0185] Stability control formula:

[0186] τ 补偿 = -I × α

[0187] Among them, τ 补偿 represents the compensation torque; I represents the moment of inertia of the flywheel; α represents the rotational acceleration, which is opposite to the direction of external tilt.

[0188] The working principle of the above technical solution is: the core function of the high inertia flywheel is to generate a compensating torque through its own rotation to offset the external tilting torque (disturbance). When the flywheel rotates in a certain direction, the direction of its angular momentum is determined by the direction of rotation. If it is necessary to counteract the external tilting torque, the angular momentum is adjusted by changing the rotation direction or speed of the flywheel, thereby generating a compensating torque in the opposite direction of the external disturbance.

[0189] Stability control formula:

[0190] τ 补偿 = -I × α

[0191] Compensation torque (τ 补偿 ) is determined by the flywheel's moment of inertia (I) and the rotational acceleration (α). The torque is in the opposite direction to the rotational acceleration, ensuring a compensating effect.

[0192] The moment of inertia (I) is a physical quantity that describes the magnitude of the rotational inertia of an object, and is related to the mass distribution and shape of the flywheel. For example, a flywheel with a large radius has a larger inertia than a flywheel with a small radius, which is suitable for stability requirements. The rotational acceleration (α) is a parameter that describes the change in the speed of the flywheel, representing the increment of speed per unit time.

[0193] The motor changes the rotation direction and speed of the flywheel by adjusting the current intensity to produce the desired acceleration α. ​​For example, when the tilting torque is clockwise, the flywheel rotates counterclockwise to generate a reaction torque.

[0194] Torque compensation and stabilization: The compensation torque τ provided by the flywheel through the change of angular momentum 补偿 , offset the external tilting torque and keep the system balanced. When the disturbance is removed, the flywheel returns to a static or low-speed rotation state to avoid unnecessary energy consumption.

[0195] The beneficial effect of the above technical solution is that by adjusting the rotational inertia and rotational acceleration of the flywheel, the system can adapt to disturbances of various intensities and directions. Using the rotational acceleration as the control variable, the motor only quickly accelerates or decelerates the flywheel when necessary, avoiding long-term high-power operation and saving energy consumption.

[0196] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization, characterized in that: include: The disturbance monitoring unit is used to monitor the key data of the robot during operation in real time, including the vibration frequency, amplitude, direction and angle of the chassis and key components; A disturbance type judgment unit, used to obtain the current disturbance type by analyzing key data; A compensation force execution unit, used to determine the current execution mode based on the disturbance type, and control the corresponding actuator to perform compensation action according to the execution mode; The dynamic adjustment unit is used to continuously adjust the compensation strategy based on the disturbance monitoring key data to ensure the stable operation of the robot in a variety of complex scenarios.

2. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 1 is characterized in that: The disturbance monitoring unit includes: Acceleration sensor module, used to monitor the vibration frequency and amplitude of the robot chassis and key parts in real time; The gyroscope module is used to monitor the robot's posture changes in real time and obtain the direction and angle of vibration of the robot's chassis and key parts.

3. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 1 is characterized in that: The disturbance type judgment unit includes: A data analysis module, used for receiving and processing key data from sensors to obtain preliminary disturbance characteristics, including vibration force; The disturbance characteristic calculation module is used to calculate the compensation force F based on the preliminary disturbance characteristics. 补偿 , which helps determine the disturbance type, where the compensation force F 补偿 The formula is: F 补偿 =-K×F 振动 F 补偿 Indicates the compensation force value; F 振动 Indicates the monitored vibration force; K indicates the control gain, which is used to control the magnitude of the compensation force; The disturbance type identification module is used to determine the current disturbance type based on the compensation force and the preset disturbance type standard.

4. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 1 is characterized in that: The compensation force actuator includes: An execution module is selected to determine a current execution mode based on the disturbance type, wherein the execution mode includes starting a vibration compensation system or a gyro stabilization device to cope with different types of disturbances; The vibration compensation system includes a piezoelectric actuator and an electromagnetic shock absorber. The piezoelectric actuator is used to generate a compensation force through the rapid response characteristics of the piezoelectric material to neutralize the vibration; the electromagnetic shock absorber is used to use the electromagnetic coil to generate a dynamically controlled magnetic field to drive the mechanical structure to generate a reverse force to reduce the impact of vibration. The gyro stabilizer is used to generate a stabilizing torque to offset the external tilting torque.

5. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 1, characterized in that: The dynamic adjustment unit includes the following execution steps: Collect key data from disturbance monitoring units for real-time feedback; Adjust compensation strategies based on real-time feedback data to optimize the response of piezoelectric actuators and electromagnetic shock absorbers; The robot's stability is continuously monitored and optimized through adjusted compensation strategies.

6. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 2 is characterized in that: Real-time monitoring of the robot's posture changes, including: Extracting multiple measurement items from the attitude data collected by the gyroscope module, the measurement items include: corresponding attitude parameters, vibration directions and angles; Extract the change relationship between adjacent posture parameters in different measurement items in posture data; According to the preset analysis rules, a monitoring model of the robot's posture change is generated based on posture parameters, vibration direction, angle and change relationship; Obtain real-time data from gyroscope modules installed on the robot chassis and key parts; Extracting direction information corresponding to attitude parameters from real-time data; Determine the posture and position of the robot chassis and key parts; Compare the posture position with the monitoring model to calculate the direction and angle of vibration; When the robot's posture change is monitored in real time and the direction and angle of vibration are calculated, the robot's posture change information and vibration parameters are output.

7. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 3 is characterized in that: Determine the current disturbance type, including: Obtaining a preset disturbance type standard set, the disturbance type standard set including: multiple disturbance types and corresponding discrimination criteria, the discrimination criteria including: compensation force threshold range and frequency characteristics; Extracting compensation force values ​​and frequency characteristics corresponding to disturbance types in the compensation force information; Based on the compensation force value and frequency characteristics, combined with the disturbance type standard set, the disturbance type of the current environment is judged; Output disturbance type discrimination results, disturbance types include low-frequency disturbance, high-frequency disturbance and random disturbance.

8. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 4 is characterized in that: Determine the current execution mode, including: Based on the disturbance type, characteristic parameters related to the disturbance are extracted to form a disturbance parameter set. The disturbance parameters include disturbance amplitude, frequency distribution and disturbance duration. Matching the disturbance parameter set with the preset disturbance processing model, and determining the current disturbance processing mode according to the matching result, the disturbance processing mode including starting the vibration compensation system mode and starting the gyro stabilization device mode; When the disturbance type is low-frequency disturbance, the vibration compensation system mode is selected to start, and the vibration compensation device generates a countermeasure signal opposite to the low-frequency disturbance to reduce the impact of the disturbance; When the disturbance type is high-frequency disturbance, select the gyro stabilization device mode to quickly respond to high-frequency disturbances through the gyro stabilization device to achieve dynamic balance; When the disturbance type is random disturbance, the vibration compensation system mode and the gyro stabilization device mode are started simultaneously to perform joint disturbance compensation processing.

9. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 4, characterized in that: The gyro stabilization device includes: a high-inertia flywheel and an electric motor; High inertia flywheel, used to generate stable torque through rotation to offset the tilting torque caused by the outside; The electric motor is used to control the acceleration, deceleration and reverse rotation of the high inertia flywheel to achieve real-time adjustment of the torque.

10. The robot anti-dynamic load system based on active shock absorption and gyroscopic stabilization according to claim 9, characterized in that: Generates stabilizing torque through rotation, including: The high inertia flywheel provides a stable reaction torque by changing the rotation direction and speed to offset the external tilting torque; Stability control formula: t 补偿 =-I×α Among them, τ 补偿 represents the compensation torque; I represents the moment of inertia of the flywheel; α represents the rotational acceleration, which is opposite to the direction of external tilt.

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