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

Abstract

This invention discloses a robot dynamic load protection system based on active vibration reduction and gyro stabilization, comprising: a disturbance monitoring unit for real-time monitoring of key data during robot operation, including the vibration frequency, amplitude, direction, and angle of the chassis and key components; a disturbance type determination unit for analyzing the key data to obtain the current disturbance type; a compensation force execution unit for determining the current execution mode based on the disturbance type and controlling the corresponding actuators to perform compensation actions according to the execution mode; and a dynamic adjustment unit for continuously adjusting the compensation strategy based on the key disturbance monitoring data to ensure stable robot operation in various complex scenarios. By real-time monitoring of external vibrations and dynamic tilting, combined with the coordinated control of the two systems, the system aims to eliminate high-frequency small-amplitude vibrations and counteract low-frequency large-amplitude tilting.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot anti-dynamic load system based on active damping and gyro stabilization. Background Technology

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

[0003] Traditional stability designs typically employ low center of gravity and passive damping structures. A low center of gravity design reduces the robot's height, thereby improving stability. This method reduces the likelihood of tipping over by adjusting the physical structure. Passive damping structures absorb and mitigate external impacts using mechanical components such as springs and dampers. These systems do not require external energy and rely on the characteristics of the mechanical structure for damping. While existing technologies have improved robot stability to some extent, they still have significant limitations when dealing with sudden dynamic loads: passive damping systems and low center of gravity designs respond slowly to rapidly changing dynamic loads, making it difficult to adjust in time to maintain stability; these traditional methods are often based on specific design parameters, resulting in poor adaptability and difficulty in coping with complex and changing environments; and most traditional damping and stabilization measures are passively designed, lacking active adjustment capabilities and unable to dynamically respond to real-time environmental changes.

[0004] Therefore, there is an urgent need for a robot anti-dynamic load system based on active damping and gyroscope stabilization. Summary of the Invention

[0005] This invention provides a robot anti-dynamic load system based on active damping and gyroscope stabilization to solve the above-mentioned problems in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A robot dynamic load protection system based on active damping and gyro stabilization includes:

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

[0009] The disturbance type determination unit is used to obtain the current disturbance type by analyzing key data;

[0010] The compensating force execution unit is used to determine the current execution mode based on the type of disturbance, and control the corresponding actuator to perform compensating actions according to the execution mode;

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

[0012] The disturbance monitoring unit includes:

[0013] An accelerometer module is used to monitor the vibration frequency and amplitude of the robot chassis and key components 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] The disturbance type determination unit includes:

[0016] The data analysis module is used to receive and process key data from the 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 This helps in determining the type of disturbance, where the compensating force F 补偿 The formula is:

[0018] F 补偿 =-K×F 振动

[0019] F 补偿 Indicates the numerical value of the compensating force; F 振动 This represents the monitored vibration force; K represents the control gain, used to control the magnitude of the compensation force.

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

[0021] The compensating force execution unit includes:

[0022] The select execution module is used to determine the current execution mode based on the type of disturbance. The execution mode includes activating the vibration compensation system or the gyro stabilization device to deal with different types of disturbances.

[0023] The vibration compensation system includes a piezoelectric actuator and an electromagnetic damping device. The piezoelectric actuator is used to generate a compensating force by utilizing the rapid response characteristics of piezoelectric materials to neutralize vibrations. The electromagnetic damping device is used to generate a dynamically controlled magnetic field using an electromagnetic coil to drive the mechanical structure to generate a reverse force and reduce the impact of vibrations.

[0024] A gyro stabilizing device is used to generate a stable torque to counteract external tilting torque.

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

[0026] Collect key data from the disturbance monitoring unit and provide real-time feedback;

[0027] Based on real-time feedback data, the compensation strategy is adjusted to optimize the response of the piezoelectric actuator and the electromagnetic damping device;

[0028] By adjusting the compensation strategy, the stability of the robot is continuously monitored and optimized.

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

[0030] Extract multiple measurement items from the attitude data collected by the gyroscope module. These measurement items include: corresponding attitude parameters, vibration direction, and angle.

[0031] Extract the variation relationship between adjacent attitude parameters in different measurement items of the attitude data;

[0032] Based on preset analysis rules, a monitoring model for robot posture changes is generated based on posture parameters, vibration direction, angle and change relationship.

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

[0034] Extract the orientation information corresponding to the attitude parameters from the real-time data;

[0035] Determine the orientation and position of the robot chassis and key components;

[0036] The attitude position is compared with the monitoring model to calculate the direction and angle of vibration;

[0037] When the robot's posture changes are 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] Determining the current disturbance type includes:

[0039] Obtain a preset set of disturbance type standards, which includes: multiple disturbance types and corresponding discrimination criteria, including: compensation force threshold range and frequency characteristics;

[0040] Extract the compensation force values ​​and frequency characteristics corresponding to the disturbance type from the compensation force information;

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

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

[0043] Determining the current execution mode includes:

[0044] Based on the type of disturbance, feature parameters related to the disturbance are extracted to form a disturbance parameter set, which includes disturbance amplitude, frequency distribution and disturbance duration.

[0045] The disturbance parameter set is matched with the preset disturbance processing model, and the current disturbance processing mode is determined based on the matching result. The disturbance processing modes include the vibration compensation system activation mode and the gyroscope stabilization device activation mode.

[0046] When the disturbance type is low-frequency disturbance, select the vibration compensation system activation mode, and generate an anti-vibration signal opposite to the low-frequency disturbance through the vibration compensation device to reduce the impact of the disturbance;

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

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

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

[0050] High inertia flywheels are used to generate stable torque through rotation, counteracting tilting torque caused by external factors.

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

[0052] Among them, generating a stable torque through rotation includes:

[0053] High-inertia flywheels provide stable reaction torque by changing their rotation direction and speed to counteract external tilting torque;

[0054] Stability control formula:

[0055] τ 补偿 =-I×α

[0056] Where, τ 补偿 α represents the compensating 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] A robot dynamic load mitigation system based on active vibration reduction and gyro stabilization includes: a disturbance monitoring unit for real-time monitoring of key data during robot operation, including the vibration frequency, amplitude, direction, and angle of the chassis and key components; a disturbance type determination unit for analyzing key data to determine the current disturbance type; a compensation force execution unit for determining the current execution mode based on the disturbance type and controlling the corresponding actuators to perform compensation actions according to the execution mode; and a dynamic adjustment unit for continuously adjusting the compensation strategy based on the key disturbance monitoring data to ensure stable robot operation in various complex scenarios. By real-time monitoring of external vibrations and dynamic tilt, combined with the coordinated control of the two systems, the system aims to eliminate high-frequency, small-amplitude vibrations and counteract low-frequency, large-amplitude tilts.

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

[0060] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0061] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

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

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

[0064] Figure 3 This is a structural diagram of the disturbance type determination unit in an embodiment of the present invention. Detailed Implementation

[0065] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0066] This invention provides a robot dynamic load protection system based on active damping and gyro stabilization, comprising:

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

[0068] The disturbance type determination unit is used to obtain the current disturbance type by analyzing key data;

[0069] The compensating force execution unit is used to determine the current execution mode based on the type of disturbance, and control the corresponding actuator to perform compensating actions according to the execution mode;

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

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

[0072] In the actuator section, piezoelectric actuators use piezoelectric materials to generate precise counterforce through rapid deformation. Their high response speed makes them suitable for handling high-speed, high-frequency vibrations. For example, when a robot moves, the piezoelectric actuator immediately generates a reaction force to mitigate vibration.

[0073] Electromagnetic vibration damping devices control the magnetic field strength through electromagnetic coils, which in turn drives mechanical components to generate a counterforce, reducing the amplitude of vibration. They are suitable for vibration compensation over a wider range.

[0074] Real-time monitoring involves sensors acquiring external vibration signals (such as vibrations caused by ground undulations). The sensor data is then digitally processed 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 counterforce based on the direction and magnitude of the compensation force to neutralize external impacts in real time.

[0076] Disturbance detection involves the gyroscope capturing changes in the robot's angular velocity when it tilts or rotates, and transmitting this information to the flywheel control system. Based on compensation calculations, the flywheel adjusts its rotation direction and speed to provide a reaction torque, restoring the robot's balance.

[0077] The system dynamically adjusts its compensation strategy to ensure continuous optimization of compensation effects across various complex scenarios. For example:

[0078] High-frequency disturbances: piezoelectric actuators or electromagnetic damping devices should be used preferentially.

[0079] Low-frequency disturbances or tilting: The flywheel provides torque stabilization support.

[0080] Integrated disturbance: The two systems work together, with the central controller coordinating and regulating to optimize stability.

[0081] The beneficial effects of the above technical solutions are as follows: the millisecond-level response time of the piezoelectric actuator is suitable for high-speed robots and can quickly neutralize vibrations. The electromagnetic damping device, through precise generation of counterforce, can significantly reduce vibration amplitude and improve the robot's stability on complex terrain. The flywheel system provides stable reaction torque, which is particularly suitable for long-term balancing needs, such as slope operations or long-distance transportation. Due to its internal integrated design, the gyro stabilization device does not add additional mechanical complexity. The synergy between the active damping system and the gyro stabilization device improves the robot's ability to cope with complex environments, effectively handling both high-frequency vibrations and large tilts.

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

[0083] An accelerometer module is used to monitor the vibration frequency and amplitude of the robot chassis and key components 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] This includes real-time monitoring of the vibration frequency and amplitude of the robot chassis and key components, including:

[0086] Accelerometers are installed on the robot chassis and key parts. The accelerometers monitor changes in acceleration through built-in microelectromechanical systems (MEMS) and generate corresponding electrical signals based on the monitoring results.

[0087] The electrical signal is digitized using an analog-to-digital converter (ADC), and the digitized signal is transmitted to the data processing unit.

[0088] In the data processing unit, the digital signal is analyzed based on the Fast Fourier Transform (FFT) algorithm to extract the frequency and amplitude information of the vibration.

[0089] The extraction of vibration frequency and amplitude information includes:

[0090] Digital signals from an accelerometer are received in real time, and the signals are frequency-domain converted based on the FFT algorithm to determine the frequency components of the vibration.

[0091] Based on the frequency domain transformation results, the main frequencies and corresponding amplitudes in the vibration signal are identified, and time series analysis is performed on the vibration signal.

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

[0093] The acceleration sensor includes a suspended mass block, which displaces as the vibration direction and amplitude change, and converts the displacement into an electrical signal through capacitance, resistance or piezoelectric effect; the data processing unit is a microcontroller or single-board computer, 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 accelerometer monitors changes in acceleration through a built-in micro-electro-mechanical system (MEMS). A mass block within the sensor (often called the suspended mass) displaces with changes in the direction and amplitude of vibration. This displacement is converted into an electrical signal through capacitance, resistance, or piezoelectric effect, representing the acceleration change in the corresponding direction. The sensor digitizes these signals (via an analog-to-digital converter, ADC) and transmits them to a processing unit (such as a microcontroller or single-board computer). The data processing unit uses a Fast Fourier Transform (FFT) algorithm to analyze the raw signals into the frequency and amplitude of the vibration. For example, if the robot chassis encounters an obstacle while moving forward, resulting in a higher vibration frequency and larger amplitude, the sensor will record this change in real time 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 vibratory gyroscopes) to calculate attitude changes and vibration direction. Gyroscopes use sensing elements (such as vibrating beams or optical devices) to sense angular velocity. When the robot rotates or vibrates in a certain direction, the vibration modes of these elements change. The altered vibration signal is interpreted as a change in angular velocity and combined with time integration to calculate the attitude angle. By fusing these angle data with acceleration data (usually using a Kalman filter algorithm), the direction, amplitude, and angle of vibration in the robot's chassis and key components can be obtained. For example, at the moment the robot turns or tilts, the gyroscope can capture these subtle attitude changes and, in conjunction with an accelerometer, accurately identify the specific direction of the vibration.

[0096] The beneficial effects of the above technical solution are as follows: By combining data from accelerometers and gyroscopes, comprehensive vibration monitoring of the robot chassis and key components can be achieved. Compared to a single sensor, the dual-module approach significantly improves data reliability and accuracy. Real-time monitoring of vibration frequency and amplitude helps predict potential mechanical failures. For example, abnormal chassis vibration amplitude may indicate damaged mechanical connections or unbalanced loads. Early detection can effectively prevent more widespread mechanical failures. The gyroscope provides attitude change information, while the accelerometer monitors vibration amplitude; their combination allows the robot to quickly adjust its attitude and speed in complex environments, thereby improving operational efficiency and adaptability. Monitoring of direction and angle helps the robot identify the source of vibration. For example, when a wheel vibrates due to terrain, the gyroscope and accelerometer can work together to locate the vibration position, facilitating precise adjustment of the chassis attitude.

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

[0098] The data analysis module is used to receive and process key data from the 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 This helps in determining the type of disturbance, where the compensating force F 补偿 The formula is:

[0100] F 补偿 =-K×F 振动

[0101] F 补偿 Indicates the numerical value of the compensating force; F 振动 This represents the monitored vibration force; K represents the control gain, used to control the magnitude of the compensation force.

[0102] The disturbance type determination module is used to determine the current disturbance type based on the compensation force and a 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 this data to extract preliminary disturbance characteristics (such as vibration force). The data analysis module receives raw data from the sensors in real time through a communication interface (such as SPI or UART), including information such as vibration amplitude, frequency, and angle changes. Data filtering: To eliminate noise, the module uses filters (such as low-pass filters or Kalman filters) 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, representing the change in vibration energy per unit time. For example, during robot movement, if the vibration force at a certain part suddenly increases, the module can quickly detect this change and feed it back to 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 This is to assist in the subsequent determination of the type of disturbance.

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

[0106] Compensating force F 补偿 The formula is:

[0107] F 补偿 =-K×F 振动

[0108] F 补偿 Indicates the numerical value of the compensating force; F 振动 The formula represents the monitored vibration force; K represents the control gain, used to control the magnitude of the compensation force; the negative sign (-) in the formula indicates that the compensation force is in the opposite direction to the vibration force, which is to counteract disturbances and maintain system stability. The magnitude 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, suitable for high-speed response systems; while a smaller K value is suitable for equipment that is more sensitive to vibration, avoiding overcompensation.

[0109] Calculation logic: The module dynamically adjusts F based on the real-time monitored vibration force. 补偿 This ensures that the robot system responds quickly and accurately. For example, when the robot is disturbed by external forces (such as impacts) while moving, and the vibration increases, the module can quickly calculate the corresponding compensation force and transmit it to the actuator to balance the disturbance.

[0110] The disturbance type discrimination module analyzes the compensation force F 补偿The characteristics (magnitude, direction, rate of change) of the disturbance are combined with preset disturbance type standards (such as impact, continuous vibration, tilt) to determine the current disturbance type. Disturbance standard presets: Based on experimental data, the characteristic parameter ranges for different disturbance types are preset (such as the F-value of impact). 补偿 The rate of change is high and the duration is short, while the tilt is low-frequency but the duration is long.

[0111] Real-time comparison: The module compares the calculated compensation force with these preset standards to determine the type of disturbance. Dynamic adjustment: Combining real-time data trends, the module can further optimize the determination of the disturbance type, for example, by updating the 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 as follows: By rapidly calculating and executing the compensation force, the module can effectively reduce attitude deviations caused by vibration or external forces, thus improving the stability of robot operation. The data analysis module and the disturbance feature calculation module work together to complete the closed-loop feedback from disturbance detection to compensation force calculation in a short time, significantly improving response speed. The disturbance type discrimination module, by combining real-time data and preset standards, can accurately distinguish different types of disturbances. This is particularly important in complex environments, such as differentiating between uneven ground and external force collisions. 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 compensating force execution unit includes:

[0114] The select execution module is used to determine the current execution mode based on the type of disturbance. The execution mode includes activating the vibration compensation system or the gyro stabilization device to deal with different types of disturbances.

[0115] The vibration compensation system includes a piezoelectric actuator and an electromagnetic damping device. The piezoelectric actuator is used to generate a compensating force by utilizing the rapid response characteristics of piezoelectric materials to neutralize vibrations. The electromagnetic damping device is used to generate a dynamically controlled magnetic field using an electromagnetic coil to drive the mechanical structure to generate a reverse force and reduce the impact of vibrations.

[0116] A gyro stabilizing device is used to generate a stable torque to counteract external tilting torque.

[0117] The working principle of the above technical solution is as follows: The main function of the selection execution module is to automatically select the most suitable execution mode based on the output of the disturbance type discrimination module, and start the corresponding equipment to deal with different disturbance situations. Disturbance type input: The module receives disturbance type information (such as impact, continuous vibration, or tilt). Matching execution mode: If vibration is detected as the main disturbance, a vibration compensation system is selected; if tilt is detected as the main disturbance, a gyro stabilization device is selected. 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 commands: Send start or adjustment commands to the corresponding execution devices. For example, when the robot senses continuous vibration caused by terrain undulations while moving, the module will select the vibration compensation system; and when tilting is detected (such as a shift in the center of gravity when climbing a slope), the gyro stabilization device will be selected.

[0119] The vibration compensation system consists of two parts: a piezoelectric actuator and an electromagnetic damping device. These components neutralize and reduce vibrations through different mechanisms in different scenarios. The piezoelectric actuator utilizes the rapid response characteristics of piezoelectric materials (such as lead zirconate titanate, PZT) to generate mechanical deformation by applying voltage, thus producing a compensating force. The piezoelectric effect: piezoelectric materials deform under the influence of an electric field (direct piezoelectric effect), and conversely, they can convert external forces into electrical signals (inverse piezoelectric effect). This system utilizes the direct piezoelectric effect. Operation process: The control circuit quickly generates a voltage signal opposite to the vibration force based on the vibration signal. The piezoelectric material deforms rapidly under voltage drive, generating a reverse compensating force. The reverse force and the vibration force are superimposed and cancel each other out, reducing the impact of vibration.

[0120] Electromagnetic vibration damping devices utilize electromagnetic coils to generate a dynamic magnetic field, which couples with a mechanical structure. The magnetic field force drives the mechanical device to produce a counterforce, thus reducing vibration. The electromagnetic force works as follows: Based on the principle of electromagnetic induction, a current-carrying coil generates a Lorentz force in the magnetic field. The magnitude and direction of this force are controlled by the coil current. The operation process involves a sensor detecting the vibration force and generating a corresponding current signal. The coil generates a dynamic magnetic field based on the control signal. This magnetic field acts on the device's mechanical structure, producing a counterforce to counteract the vibration force. Advantages include: suitability for a wide range of low-frequency vibrations, and a relatively large controllable range of compensation force.

[0121] Gyroscopic stabilization devices maintain system balance by generating a stable torque to counteract external tilting torque. Tilting torque detection: The system monitors external torques in real time, such as tilting torques caused by terrain slope or center of gravity shift. Torque calculation: Based on the detected data, the required counter-torque is calculated. Torque generation: The gyro device generates a stable counter-torque by adjusting its rotation direction and speed to counteract external tilting torque. Gyroscopic effect: A rotating gyroscope has the property of resisting changes in direction; this property is used to stabilize mechanical systems.

[0122] The beneficial effects of the above technical solution are as follows: Different execution modes can be selected according to the type of disturbance, flexibly responding to various disturbances such as vibration and tilt, and applicable to a variety of complex environments. The piezoelectric actuator and electromagnetic damping device of the vibration compensation system each perform their respective functions, suitable for high-frequency vibration and low-frequency vibration respectively, ensuring rapid and effective neutralization of vibration. The gyro stabilization device can effectively counteract external tilting torque, maintaining the system's attitude stability. The fast response characteristics of the piezoelectric actuator and the controllable range of the electromagnetic damping device effectively reduce overcompensation, thereby reducing system energy consumption. It reduces the long-term impact of vibration on the mechanical structure, reduces component fatigue damage, and significantly extends equipment service life.

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

[0124] Collect key data from the disturbance monitoring unit and provide real-time feedback;

[0125] Based on real-time feedback data, the compensation strategy is adjusted to optimize the response of the piezoelectric actuator and the electromagnetic damping device;

[0126] By adjusting the compensation strategy, the stability of the robot is continuously monitored and optimized.

[0127] The working principle of the above technical solution is as follows: The first step of the dynamic adjustment unit is to acquire key data from the disturbance monitoring unit. This data 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 external disturbance information in real time. Accelerometer: Used to detect the acceleration value of vibration, helping to determine the vibration intensity and frequency. Gyroscope: Used to detect changes in the system's attitude, such as tilt angle or rotational angular velocity. 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, and tilt angle) 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 piezoelectric actuator and electromagnetic damping device always maintain optimal response.

[0129] Vibration compensation system strategy adjustments: Piezoelectric actuators: If the vibration frequency is high (e.g., >100Hz), the algorithm increases the response strength and frequency matching of the piezoelectric actuator. If the vibration amplitude is small (e.g., <0.1mm), the compensation force is reduced to lower energy consumption. Electromagnetic damping devices: For low-frequency, high-amplitude vibrations (such as ground bumps), the strategy adjusts the current intensity of the electromagnetic coil to generate a greater counterforce. Gyro stabilization device strategy adjustments: If a rapid rate of change in tilt angle is detected (e.g., >10° / s), the rotation speed is dynamically adjusted to enhance the stabilizing torque. If the tilt angle changes slowly but with a large amplitude (e.g., tilt angle continuously >15°), the torque application time is extended to ensure balance.

[0130] Real-time optimization algorithm: The frequency characteristics of the disturbance signal are extracted using Fast Fourier Transform (FFT), and the actuator parameters are adjusted in conjunction with an adaptive control model. Feedback adjustment model: The execution strategy is dynamically corrected by comparing the disturbance data with the compensation effect (closed-loop feedback). During the execution of the optimization strategy, the dynamic adjustment unit continuously monitors the changes in disturbance and the system response to further optimize robot stability.

[0131] Execute optimized compensation strategies (such as piezoelectric actuator deformation amplitude, electromagnetic coil current intensity, or gyroscope torque). Real-time feedback monitoring: The disturbance monitoring unit continues to record the system's operation under the compensation strategy. If system vibration is not significantly reduced, adjust compensation parameters to enhance execution. If tilt is not completely corrected, further optimize the rotational speed or torque of the gyro stabilization device. Continuous cyclic optimization: The adjustment process is repeated at extremely short time intervals (e.g., milliseconds) to ensure the system is always in optimal operating condition.

[0132] The beneficial effects of the above technical solution are as follows: The dynamic adjustment unit can quickly optimize the compensation strategy based on real-time monitored data, significantly reducing the response delay to disturbances. For example, the robot can maintain precise posture control even in high-frequency vibration environments (such as when a robotic arm is working). Through the dynamic adjustment strategy, the system can flexibly respond to different types and intensities of disturbances. For example, in the face of random vibrations in complex environments, piezoelectric actuators and electromagnetic damping devices can work together efficiently to ensure compensation effectiveness. Dynamic adjustment avoids overcompensation and reduces actuator energy consumption by optimizing compensation parameters. For example, in low-frequency vibration scenarios, it reduces the over-response of piezoelectric actuators and extends equipment life. 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 accurately match the frequency and amplitude of disturbance signals, thereby achieving precise vibration compensation and tilt correction.

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

[0134] Extract multiple measurement items from the attitude data collected by the gyroscope module. These measurement items include: corresponding attitude parameters, vibration direction, and angle.

[0135] Extract the variation relationship between adjacent attitude parameters in different measurement items of the attitude data;

[0136] Based on preset analysis rules, a monitoring model for robot posture changes is generated based on posture parameters, vibration direction, angle and change relationship.

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

[0138] Extract the orientation information corresponding to the attitude parameters from the real-time data;

[0139] Determine the orientation and position of the robot chassis and key components;

[0140] The attitude position is compared with the monitoring model to calculate the direction and angle of vibration;

[0141] When the robot's posture changes are 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 as follows: Multiple measurement items are extracted from the attitude data collected by the gyroscope module. Attitude parameters: The gyroscope module records basic parameters related to the robot's attitude, including: Roll angle: reflecting the rotation angle around the robot's longitudinal axis; Pitch angle: reflecting the rotation angle around the lateral axis; Yaw angle: reflecting the rotation angle around the vertical axis. Vibration direction and angle: The vibration direction is determined by the three-axis acceleration (X, Y, Z axes). The vibration angle is calculated using the rate of change of time-series attitude parameters, such as the angular velocity output by the gyroscope. Data extraction: Measurement items corresponding to the above parameters are extracted from the output of the gyroscope module to form a complete attitude dataset.

[0143] The relationships between adjacent attitude parameters in different measurement items are extracted, and these relationships are calculated using the finite 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 over time)

[0145] Data Analysis: Vibration Direction: Analyze the relationship between acceleration changes in the X, Y, and Z directions. Attitude Stability: Determine whether the robot is in a tilted or unstable state by comparing the rates of change of roll and pitch angles.

[0146] A posture change monitoring model is generated based on preset analysis rules. Preset analysis rules include: Stability standard: If a change in a certain angle exceeds a threshold (e.g., pitch angle change > 10° / second), an alarm is triggered. Vibration range: If an acceleration change exceeds a threshold (e.g., > 2m / s²), an alarm is triggered. 2 Vibration is marked as severe. Attitude parameter fusion: Roll angle, pitch angle, yaw angle, vibration direction, and rate of change of angle are combined to form a multi-dimensional state space. Mathematical modeling: Based on the attitude parameters and their changing relationships, a mathematical model (such as a 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] The system acquires real-time data from the gyroscope module and extracts orientation information. Real-time data extraction involves obtaining attitude data from the gyroscope module via communication protocols (such as SPI or I2C). Data decomposition involves extracting real-time attitude parameters, such as roll angle and acceleration. The vibration direction is determined by calculating the orientation vector using the components (X, Y, Z) of the acceleration vector.

[0148] The robot chassis and key components' attitude positions are determined. Based on the multiple gyroscope modules installed on the chassis and key components, their individual attitude parameters are calculated. Using the geometric relationships of their installation positions, the data from each module are integrated into an overall attitude. The attitude differences between the chassis and other parts such as the robotic arm are compared to determine if any abnormal relative motion has occurred.

[0149] Vibration direction: The unit direction of the acceleration vector. Vibration angle: Calculated using the law of cosines, representing the acceleration vector at different time points.

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

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

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

[0153] Obtain a preset set of disturbance type standards, which includes: multiple disturbance types and corresponding discrimination criteria, including: compensation force threshold range and frequency characteristics;

[0154] Extract the compensation force values ​​and frequency characteristics corresponding to the disturbance type from the compensation force information;

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

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

[0157] The working principle of the above technical solution is as follows: Disturbance types: Low-frequency disturbances: frequencies below a certain threshold (e.g., 10Hz), usually caused by slow fluctuations, such as slow ground subsidence or mechanical buffering movements. High-frequency disturbances: frequencies above a threshold (e.g., 50Hz), usually originating from rapid vibrations, such as high-speed operation of mechanical equipment or impacts. Random disturbances: without obvious patterns, with a wide spectral distribution, such as environmental noise or random jitter.

[0158] Discrimination Criteria: Compensation Force Threshold Range: Defines a specific compensation force range for each type of disturbance. For example: Low-frequency disturbance: Compensation force 0.5–2.0N. High-frequency disturbance: Compensation force >2.0N. Frequency Characteristics: Analyzes the frequency range of the disturbance based on Fourier transform. For example: Low-frequency disturbance: 0–10Hz. High-frequency disturbance: >50Hz. Random disturbance: No specific frequency peaks; the spectrum exhibits noise characteristics.

[0159] Extracting numerical and frequency characteristics corresponding to the disturbance type from the compensation force information: Compensation force: The force exerted on the system by external disturbances as measured by sensors, and compensated accordingly by the actuator. Data acquisition: Extracting the magnitude and direction of the compensation force from the actuator feedback data. Frequency feature analysis: Using Fast Fourier Transform (FFT) to convert the time-domain compensation force signal into a frequency-domain signal. Extracting frequency features, such as the dominant frequency (the frequency component with the largest amplitude in the signal) and spectral width.

[0160] Based on the numerical value and frequency characteristics of the compensation force, the disturbance type is determined by combining the disturbance type standard set, 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 determine the possible disturbance type.

[0161] Frequency Feature Matching: Based on the dominant frequency extracted by FFT, the frequency range corresponding to the perturbation type in the matching standard set is used. For example: if the dominant frequency is between 0 and 10 Hz and the compensation force is within the low-frequency threshold range, it is determined to be a low-frequency perturbation. If the dominant frequency is higher than 50 Hz and the compensation force is large, it is determined to be a high-frequency perturbation. If the signal spectrum has no significant dominant frequency and the distribution is relatively random, it is determined to be a random perturbation. Comprehensive Analysis: The results of the compensation force value and frequency feature discrimination are fused to give the final perturbation type determination.

[0162] Output disturbance type discrimination results. Operation process: Disturbance type classification: Low-frequency disturbance, high-frequency disturbance, random disturbance. Result display: Displays disturbance type, corresponding compensation force range, main frequency, and other information. Alarm signals can be used to alert the user or system.

[0163] The beneficial effects of the above technical solution are as follows: the system can accurately determine the type of disturbance based on compensation force and frequency characteristics, making it suitable for vibration monitoring and disturbance control in various complex environments. By distinguishing different disturbance types, 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 adopted to improve response speed. Accurately distinguishing between 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 type of disturbance, feature parameters related to the disturbance are extracted to form a disturbance parameter set, which includes disturbance amplitude, frequency distribution and disturbance duration.

[0166] The disturbance parameter set is matched with the preset disturbance processing model, and the current disturbance processing mode is determined based on the matching result. The disturbance processing modes include the vibration compensation system activation mode and the gyroscope stabilization device activation mode.

[0167] When the disturbance type is low-frequency disturbance, select the vibration compensation system activation mode, and generate an anti-vibration signal opposite to the low-frequency disturbance through the vibration compensation device to reduce the impact of the disturbance;

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

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

[0170] The working principle of the above technical solution is as follows: Feature parameters related to the disturbance are extracted to form a disturbance parameter set. Disturbance amplitude: The maximum amplitude of the disturbance is extracted from the real-time signal acquired by the sensor. For example, for low-frequency vibrations, the amplitude may be relatively large (e.g., 5–10N); for high-frequency disturbances, the amplitude is usually smaller (e.g., 1–3N). Frequency distribution: The signal spectrum is analyzed using Fast Fourier Transform (FFT) to extract the dominant frequency and spectral characteristics. For example, low-frequency disturbances are concentrated in the 0–10Hz range. High-frequency disturbances are usually higher than 50Hz. The frequency distribution of random disturbances is irregular, and the spectrum is relatively smooth. Disturbance duration: The duration of the disturbance is calculated by analyzing the signal time axis. For example, the duration of a short-term disturbance may be 0.1–1 second. A long-term disturbance may last for several seconds or even longer.

[0171] The system matches the disturbance parameter set with preset disturbance processing models. These preset models include: Vibration Compensation System Mode: Specifically designed for low-frequency disturbances, using inverted signals to reduce low-frequency amplitude. Gyro Stabilizer Mode: Designed for high-frequency disturbances, rapidly adjusting the system attitude to restore balance. Joint Compensation Mode: Processes both low-frequency and high-frequency disturbances simultaneously, suitable for random disturbances.

[0172] Parameter matching: Compare the current disturbance parameter set with the parameter range of the preset model. For example: if the dominant frequency is in the low-frequency range (0–10Hz) and the disturbance amplitude is large, match the vibration compensation system mode. If the frequency exceeds 50Hz and the amplitude is small, match the gyro stabilization device 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: Activate the vibration compensation system mode. The vibration compensation device generates an anti-vibration signal opposite to the disturbance signal (e.g., by controlling a reverse vibration device). The goal is to reduce or completely cancel the effect of low-frequency vibration on the system. High-frequency disturbance: Activate the gyro stabilization device mode. Quickly adjust the system balance using the gyro device, such as adjusting the robot arm's posture or the suspension system's angle. Dynamically respond to disturbances to prevent the accumulation of high-frequency vibrations in the system.

[0174] Random Disturbance: Simultaneously activate the vibration compensation system mode and the gyro stabilization device mode. The vibration compensation system reduces low-frequency disturbances, while the gyro device responds to high-frequency disturbances. The combined action of the two devices achieves comprehensive compensation for disturbances across the entire 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 comprehensively described, improving processing accuracy. Different disturbance types are automatically matched with the optimal processing mode, avoiding the limitations of traditional single processing methods. Low-frequency disturbances are compensated for vibration, providing stable compensation. High-frequency disturbances are stabilized using gyroscopic devices for rapid balance restoration. Random disturbances are handled using a combined mode to ensure efficient processing. Precise processing for different disturbance types minimizes the impact of external interference on system performance, improving stability and reliability. Utilizing frequency analysis and disturbance characteristic matching, the system can respond in milliseconds, quickly compensating for external disturbances and adapting to dynamically changing working environments.

[0176] In another embodiment, the gyro stabilizing device includes: a high-inertia flywheel and an electric motor;

[0177] High inertia flywheels are used to generate stable torque through rotation, counteracting tilting torque caused by external factors.

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

[0179] The working principle of the above technical solution is as follows: Inertia is an object's resistance to changes in rotation. A high-inertia flywheel, through its large mass and uniformly distributed design, can generate stable angular momentum during rotation. For example, a flywheel designed with a large diameter and thicker edges provides greater stability. Torque generation: According to the principle of conservation of angular momentum, when the flywheel's axis of rotation is subjected to external disturbances (such as tilting torque), the reaction torque generated by its rotation can counteract the external disturbances. Assuming the flywheel rotates at a high speed of 3000 revolutions per second along an axis, when an external tilting force attempts to change its direction, the flywheel counteracts this change through its own torque, maintaining system stability.

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

[0181] The system works in tandem, with the high-inertia flywheel and electric motor forming a stable system: the flywheel provides basic torque disturbance rejection capability. The electric motor adjusts the flywheel state according to the dynamic changes of external disturbances, ensuring a fast and efficient response.

[0182] The beneficial effects of the above technical solution are as follows: The high-inertia flywheel, through the principle of conservation of angular momentum, provides a continuous stabilizing torque when subjected to external disturbances, effectively resisting external disturbances and enhancing system stability. The electric motor adjusts the flywheel speed and direction in real time, enabling rapid response to complex disturbances and adaptation to rapidly changing working environments. For example, in a high-speed vehicle, a gyro stabilization device can quickly balance the tilt. The high-inertia flywheel, through its multi-axis design, can adapt to disturbances in multiple directions (such as forward and backward tilting, left and right swaying), ensuring the system's balance in any direction.

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

[0184] High-inertia flywheels provide stable reaction torque by changing their rotation direction and speed to counteract external tilting torque;

[0185] Stability control formula:

[0186] τ 补偿 =-I×α

[0187] Where, τ 补偿 α represents the compensating 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 as follows: the core function of the high-inertia flywheel is to generate a compensating torque through its own rotation to counteract 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 external tilting torque, the angular momentum is adjusted by changing the direction or speed of the flywheel's rotation, thereby generating a compensating torque opposite to the direction of the external disturbance.

[0189] Stability control formula:

[0190] τ 补偿 =-I×α

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

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

[0193] The electric motor changes the direction and speed of the flywheel's rotation by adjusting the current intensity, thereby generating the desired acceleration α. ​​For example, when the tilting torque is clockwise, the flywheel accelerates counterclockwise, generating a reaction torque.

[0194] Torque Compensation and Stabilization: The flywheel provides a compensating torque τ through changes in angular momentum. 补偿 This counteracts external tilting torque and maintains system balance. Once the disturbance is removed, the flywheel returns to a static or low-speed rotation state, avoiding unnecessary energy consumption.

[0195] The beneficial effects of the above technical solution are as follows: by adjusting the rotational inertia and rotational acceleration of the flywheel, the system can adapt to disturbances of various intensities and directions. Using rotational acceleration as a control variable, the motor only rapidly accelerates or decelerates the flywheel when necessary, avoiding prolonged high-power operation and saving energy consumption.

[0196] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A robot anti-dynamic load system based on active vibration reduction and gyro stabilization, characterized in that, include: The disturbance monitoring unit is used to monitor key data during the robot's operation in real time. Key data includes the vibration frequency, amplitude, direction, and angle of the chassis and key components. The disturbance type determination unit is used to obtain the current disturbance type by analyzing key data; The compensating force execution unit is used to determine the current execution mode based on the type of disturbance, and control the corresponding actuator to perform compensating actions according to the execution mode; The dynamic adjustment unit is used to continuously adjust the compensation strategy based on key disturbance monitoring data to ensure that the robot operates stably in various complex scenarios; The disturbance type determination unit includes: The data analysis module is used to receive and process key data from the sensors to obtain preliminary disturbance characteristics, including vibration force. The disturbance feature calculation module is used to calculate the compensation force based on the preliminary disturbance features. This helps in determining the type of disturbance, including the compensating force. The formula is: ； Indicates the numerical value of the compensating force; This represents the monitored vibration force; K represents the control gain, used to control the magnitude of the compensation force. The disturbance type determination module is used to determine the current disturbance type based on the compensation force and a preset disturbance type standard. Determine the current disturbance type, including: Obtain a preset set of disturbance type standards, which includes: multiple disturbance types and corresponding discrimination criteria, including: compensation force threshold range and frequency characteristics; Extract the compensation force values ​​and frequency characteristics corresponding to the disturbance type from the compensation force information; Based on the numerical and frequency characteristics of the compensation force, combined with the standard set of disturbance types, the disturbance type of the current environment is determined; Output disturbance type discrimination results, including low-frequency disturbance, high-frequency disturbance and random disturbance; The compensating force execution unit includes: The select execution module is used to determine the current execution mode based on the type of disturbance. The execution mode includes activating the vibration compensation system or the gyro stabilization device to deal with different types of disturbances. The vibration compensation system includes a piezoelectric actuator and an electromagnetic damping device. The piezoelectric actuator is used to generate a compensating force by utilizing the rapid response characteristics of piezoelectric materials to neutralize vibration. The electromagnetic damping device is used to generate a dynamically controlled magnetic field using an electromagnetic coil to drive the mechanical structure to generate a reverse force and reduce the impact of vibration. A gyro stabilizing device is used to generate a stable torque to counteract external tilting torque; Determine the current execution mode, including: Based on the type of disturbance, feature parameters related to the disturbance are extracted to form a disturbance parameter set, which includes disturbance amplitude, frequency distribution and disturbance duration. The disturbance parameter set is matched with the preset disturbance processing model, and the current disturbance processing mode is determined based on the matching result. The disturbance processing modes include the vibration compensation system activation mode and the gyroscope stabilization device activation mode. When the disturbance type is low-frequency disturbance, select the vibration compensation system activation mode, and generate an anti-vibration signal opposite to the low-frequency disturbance through the vibration compensation device to reduce the impact of the disturbance; When the disturbance type is high-frequency disturbance, select the gyroscope stabilization device mode to quickly respond to high-frequency disturbances and achieve dynamic balance through the gyroscope stabilization device; When the disturbance type is random disturbance, the vibration compensation system mode and the gyroscope stabilization device mode are activated simultaneously to perform joint disturbance compensation processing.

2. The robot anti-dynamic load system based on active vibration reduction and gyro stabilization according to claim 1, characterized in that, The disturbance monitoring unit includes: An acceleration sensor module is used to monitor the vibration frequency and amplitude of the robot chassis and key components 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 vibration reduction and gyro stabilization according to claim 1, characterized in that, The dynamic adjustment unit includes the following execution steps: Collect key data from the disturbance monitoring unit and provide real-time feedback; Based on real-time feedback data, the compensation strategy is adjusted to optimize the response of the piezoelectric actuator and the electromagnetic vibration damping device; By adjusting the compensation strategy, the stability of the robot is continuously monitored and optimized.

4. The robot anti-dynamic load system based on active vibration reduction and gyro stabilization according to claim 2, characterized in that, Real-time monitoring of robot posture changes, including: Extract multiple measurement items from the attitude data collected by the gyroscope module. These measurement items include: corresponding attitude parameters, vibration direction, and angle. Extract the variation relationship between adjacent attitude parameters in different measurement items of the attitude data; Based on preset analysis rules, a monitoring model for robot posture changes is generated based on posture parameters, vibration direction, angle and change relationship. Acquire real-time data from gyroscope modules installed on the robot chassis and key components; Extract the orientation information corresponding to the attitude parameters from the real-time data; Determine the orientation and position of the robot chassis and key components; The attitude position is compared with the monitoring model to calculate the direction and angle of vibration; When the robot's posture changes are monitored in real time and the direction and angle of vibration are calculated, the robot's posture change information and vibration parameters are output.

5. The robot anti-dynamic load system based on active vibration reduction and gyro stabilization according to claim 1, characterized in that, The gyro stabilization device includes: a high-inertia flywheel and an electric motor; High inertia flywheels are used to generate stable torque through rotation, counteracting tilting torque caused by external factors. An electric motor is used to control the acceleration, deceleration, and reverse rotation of a high-inertia flywheel in order to achieve real-time torque adjustment.

6. The robot anti-dynamic load system based on active vibration reduction and gyro stabilization according to claim 5, characterized in that, Generating a stable torque through rotation includes: High-inertia flywheels provide stable reaction torque by changing their rotation direction and speed to counteract external tilting torque; Stability control formula: ； in, This represents the compensating torque; I represents the moment of inertia of the flywheel. It represents rotational acceleration, and its direction is opposite to the direction of external tilt.

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