Robot control method and system

Abstract

The invention provides a robot control method and system, the system comprises a robot controller and an inductance type encoder, the inductance type encoder comprises a stator module and a rotor module coaxially installed with the stator module, the stator module comprises a processor, an excitation coil and a receiving coil, and the rotor module comprises a coupling coil; the method comprises the following steps: a processor controls an excitation coil to emit a high-frequency signal, and a coupling coil generates a first inductance signal according to the high-frequency signal; the receiving coil generates a second inductance signal through differential sampling according to the first inductance signal and sends the second inductance signal to the processor; the processor determines the current position of the stator module according to the second inductance signal and sends the current position of the stator module to the robot controller; and the robot controller controls the joint movement of the robot according to the current position of the stator module, so that the anti-interference performance, the dirt resistance and the detection precision of the inductance type encoder are improved, and then the reliability and the stability of robot joint control are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot control method and system. Background Art

[0002] Encoders are an integral part of robotic systems, providing critical sensor data for robot motion control, precise operation, and safe operation. With the widespread application of robotics in industries such as industry, medicine, and services, the working environment of encoders is becoming increasingly diverse and complex.

[0003] At present, in working environments with high temperatures, oil and dust, traditional optical encoders are easily affected by dirt, resulting in inaccurate signal detection or even signal loss. Magnetic encoders have low accuracy in environments with large temperature fluctuations or strong electromagnetic fields.

[0004] Therefore, the encoder in the prior art has poor anti-interference ability and dirt resistance in extreme working environments, low detection accuracy, and certain limitations. Summary of the invention

[0005] The purpose of this application is to provide a robot control method and system to address the deficiencies in the above-mentioned prior art, so as to solve the practical problems that the encoders in the prior art have poor anti-interference ability and dirt resistance in extreme working environments and low detection accuracy.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a robot control method, which is applied to a robot control system, wherein the robot control system includes: a robot controller and an inductive encoder, wherein the inductive encoder includes a stator module and a rotor module coaxially mounted with the stator module, wherein the stator module includes a processor, an excitation coil and a receiving coil, and the rotor module includes a coupling coil; the method includes:

[0008] The processor controls the excitation coil to transmit a high-frequency signal, and the coupling coil generates a first inductance signal according to the high-frequency signal;

[0009] The receiving coil generates a second inductance signal by differential sampling according to the first inductance signal and sends the second inductance signal to the processor;

[0010] The processor determines the current position of the stator module according to the second inductance signal and sends the current position of the stator module to the robot controller;

[0011] The robot controller controls the joint movement of the robot according to the current position of the stator module.

[0012] As an optional implementation, the coupling coil includes an external coupling coil and an internal coupling coil, and the first inductance signal includes a first external inductance signal and a first internal inductance signal;

[0013] The receiving coil includes an external receiving coil and an internal receiving coil, and the second inductance signal includes a second external inductance signal and a second internal inductance signal.

[0014] As an optional implementation manner, the external coupling coil and the internal coupling coil are both circular coils composed of rectangular structures, and the density of the external coupling coil is greater than the density of the internal coupling coil.

[0015] As an optional implementation, the coupling coil generates a first inductance signal according to the high-frequency signal, including:

[0016] The external coupling coil senses a magnetic field through a circular coil, senses the change in the magnetic field of the high-frequency signal emitted by the excitation coil, and generates the first external inductance signal;

[0017] The internal coupling coil induces a magnetic field through a circular coil, induces the magnetic field change of the high-frequency signal emitted by the excitation coil, and generates the first internal inductance signal.

[0018] As an optional implementation, the receiving coil generates a second inductance signal by differential sampling according to the first inductance signal, including:

[0019] The external receiving coil generates the second external inductance signal by differential sampling according to the first external inductance signal of the external coupling coil;

[0020] The internal receiving coil generates the second internal inductance signal by differential sampling according to the first internal inductance signal of the internal coupling coil.

[0021] As an optional implementation, the external receiving coil generates the second external inductance signal by differential sampling according to the first external inductance signal of the external coupling coil, including:

[0022] The external receiving coil senses a magnetic field through parallel lines, senses the change in the magnetic field when the external coupling coil generates the first external inductance signal, and generates the second external inductance signal through differential sampling.

[0023] As an optional implementation, the internal receiving coil generates the second internal inductance signal by differential sampling according to the first internal inductance signal of the internal coupling coil, including:

[0024] The internal receiving coil senses a magnetic field through parallel lines, senses the change in the magnetic field when the internal coupling coil generates the first internal inductance signal, and generates the second internal inductance signal through differential sampling.

[0025] As an optional implementation, the processor determines the current position of the stator module according to the second inductance signal, including:

[0026] The processor filters the second external inductance signal and the second internal inductance signal to obtain a filtered second external inductance signal and a filtered second internal inductance signal;

[0027] The processor demodulates the filtered second external inductance signal and the filtered second internal inductance signal, determines the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal, and determines the current position of the stator module based on the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal.

[0028] As an optional implementation, the inductive encoder further includes: a communication module, the communication module being communicatively connected to the robot controller and the processor respectively;

[0029] The sending the current position of the stator module to the robot controller comprises:

[0030] The processor sends a target signal to the communication module according to the current position of the stator module, wherein the target signal is used to represent the current position of the stator module;

[0031] The communication module performs level conversion on the target signal, obtains the converted target signal and sends it to the robot controller.

[0032] In a second aspect, an embodiment of the present application provides a robot control system, the robot control system comprising: a robot controller and an inductive encoder, the inductive encoder comprising a stator module and a rotor module coaxially mounted with the stator module, the stator module comprising a processor, an excitation coil and a receiving coil, the rotor module comprising a coupling coil;

[0033] The robot control system is used to execute the steps of the robot control method described in the first aspect above.

[0034] The beneficial effects of this application are:

[0035] The present application provides a robot control method and system, in which the processor of the stator module of the inductive encoder controls the excitation coil of the stator module to transmit a high-frequency signal of periodic AC voltage and current. When the excitation coil transmits the high-frequency signal, the coupling coil of the rotor module and the excitation coil of the stator module mutually induct and generate a first inductance signal with the same frequency as the high-frequency signal. At the same time, the receiving coil of the stator module and the coupling coil of the rotor module mutually induct and differentially sample to generate a second inductance signal with the same frequency as the first inductance signal and the high-frequency signal. The receiving coil sends the second inductance signal to the processor, and the processor performs position resolution based on the second inductance signal, accurately obtains the current position of the stator module and sends it to the robot controller. The robot controller accurately controls the joint movement of the robot based on the current position of the stator module. By setting a coupling coil in the rotor module of the inductive encoder, the coupling coil has mutual inductance with the excitation coil and the receiving coil in the stator module respectively, so that when the position is solved based on the second inductance signal generated by the mutual inductance of the receiving coil and the coupling coil and differential sampling, the current position of the stator module obtained is more accurate, and the inductive encoder is not affected by high temperature environment, strong electromagnetic field environment and dirty environment, which greatly improves the anti-interference and dirt resistance of the inductive encoder, thereby greatly improving the stability and reliability of the robot joint control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the structure of a robot control system provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application;

[0039] Figure 3 Another schematic diagram of the structure of the robot control system provided in the embodiment of the present application;

[0040] Figure 4 A schematic diagram of a flow chart of sending the current position of a stator module to a robot controller in a robot control method provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a coupling coil in a rotor module of a robot control system provided in an embodiment of the present application;

[0042] Figure 6A schematic diagram of an excitation coil and a receiving coil in a stator module of a robot control system provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of a group of mutual inductances of coupling coils and receiving coils of a robot control system provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of a flow chart of generating a first inductance signal in a robot control method provided in an embodiment of the present application;

[0045] Fig. 9 A schematic diagram of a flow chart of generating a second inductance signal in a robot control method provided in an embodiment of the present application;

[0046] Fig.10 A schematic diagram of a flow chart of determining the current position of a stator module in a robot control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0048] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0049] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0050] In the field of robotics, with the widespread application of robotics technology in the fields of industry, medical treatment and services, encoders are an indispensable part of the robot system, and the working environment of encoders is becoming increasingly diverse and complex. At present, in working environments with high temperatures, oil pollution and high dust content, traditional optical encoders are easily affected by dirt, resulting in inaccurate signal detection or even signal loss. Magnetic encoders have low accuracy in environments with large temperature fluctuations or strong electromagnetic fields. In the existing technology, encoders have the disadvantages of poor anti-interference ability and dirt resistance and low detection accuracy in extreme working environments.

[0051] Based on the above problems, the embodiment of the present application proposes a robot control method. The robot control system includes a robot controller and a new inductive encoder designed based on the inductance principle. The stator module of the inductive encoder includes a processor, an excitation coil and a receiving coil, and the rotor module includes a coupling coil. The first inductance signal is generated by electromagnetic induction between the excitation coil and the coupling coil, and the second inductance signal is generated by electromagnetic induction between the coupling coil and the receiving coil. The processor accurately calculates the current position of the stator module according to the second inductance signal and sends it to the robot controller, so that the robot controller controls the joint movement of the robot according to the current position of the stator module. The winding method of each coil is not affected by the number of coil poles, which improves the detection accuracy of the inductive encoder and simplifies the rotor code channel. By introducing a coupling coil in the rotor module, the coupling coil is mutually inductive with the excitation coil and the receiving coil in the stator module, respectively, which improves the anti-interference and anti-fouling properties of the inductive encoder and the accuracy of position resolution, thereby improving the stability and reliability of the robot joint control.

[0052] Figure 1 A schematic diagram of the structure of the robot control system provided in the embodiment of the present application is shown in FIG. Figure 1 As shown, the robot control system includes a robot controller 1 and an inductive encoder 2. The inductive encoder 2 includes a stator module 21 and a rotor module 22 coaxially mounted with the stator module 21. The stator module 21 includes a processor 211, an excitation coil 212 and a receiving coil 213. The rotor module 22 includes a coupling coil 221.

[0053] Reference Figure 1 , the robot controller 1 and the inductive encoder 2 perform bidirectional communication, and the robot controller 1 supplies power to the inductive encoder 2. The stator module 21 in the inductive encoder 2 can be a stator printed circuit board (PCB), including a processor 211, an excitation coil 212 and a receiving coil 213, and the rotor module 22 can be a rotor PCB, including a coupling coil 221. The rotor PCB is coaxially mounted with the stator PCB, and the rotor PCB is used to drive the inductive encoder 2 ( Figure 1The coupling coil 221 of the rotor module 22 can be mutually inductive with the excitation coil 212 of the stator module 21, and then mutually inductive with the receiving coil 213 of the stator module 21. The receiving coil 213 transmits the inductance signal generated by the mutual inductance with the coupling coil 221 to the processor 211. The processor 211 is used to perform position resolution according to the inductance signal sent by the receiving coil 213, obtain the current position of the stator module 21 and send it to the robot controller 1. The robot controller 1 is used to control the joint movement of the robot according to the current position of the stator module 21.

[0054] Figure 2 A schematic diagram of a flow chart of a robot control method provided in an embodiment of the present application, wherein the execution subject of the method is Figure 1 The robot control system shown in Figure 1 is shown in Figure 2. Figure 2 As shown, the method includes:

[0055] S201. The processor controls the excitation coil to transmit a high-frequency signal, and the coupling coil generates a first inductance signal according to the high-frequency signal.

[0056] Optionally, the inductor encoder 2 may further include an inductor (L)-capacitor (C) oscillator. After the robot controller 1 supplies power to the inductor encoder 2, the processor 211 of the stator module 21 drives a frequency f through the LC oscillator. osc The high-frequency signal is transmitted through the excitation coil 212 of the stator module 21, wherein the high-frequency signal can be a high-frequency periodic alternating voltage and current signal. The frequency f of the high-frequency signal is determined based on the following formula osc :

[0057]

[0058] Among them, f osc is the frequency of the high-frequency signal, L is the inductance, and C is the capacitance. By adjusting the values ​​of the inductance L and the capacitance C in the LC oscillator, the frequency f of the high-frequency signal can be changed. osc .

[0059] When the excitation coil 212 transmits the high-frequency signal, the alternating current flowing through the excitation coil 212 forms an alternating electromagnetic field around the excitation coil 212. Under the influence of the alternating electromagnetic field formed around the excitation coil 212, the coupling coil 221 of the rotor module 22 generates a first inductance signal through mutual inductance with the excitation coil 212. The frequency of the first inductance signal is equal to the frequency f of the high-frequency signal. osc The first inductance signal is the same as the first inductance signal, but the amplitude and phase of the first inductance signal are different from the amplitude and phase of the high frequency signal.

[0060] S202: The receiving coil generates a second inductance signal by differential sampling according to the first inductance signal and sends the second inductance signal to the processor.

[0061] Optionally, when the coupling coil 221 and the excitation coil 212 mutually induct to generate a first inductance signal, the alternating current flowing through the coupling coil 221 forms an alternating electromagnetic field around the coupling coil 221. Under the influence of the alternating electromagnetic field formed around the coupling coil 221, the receiving coil 213 of the stator module 21 mutually inducts with the coupling coil 221 and generates a second inductance signal in a differential sampling manner. The receiving coil 213 sends the second inductance signal to the processor 211. The frequency of the second inductance signal is equal to the frequency of the first inductance signal and the frequency f of the high-frequency signal. osc The second inductor signal has the same amplitude and phase as the first inductor signal, but the amplitude and phase of the second inductor signal are different from the amplitude and phase of the first inductor signal.

[0062] In the differential sampling process, the characteristics of the differential structure are used to offset even harmonics, so as to eliminate the harmonics generated by the mutual inductance of the receiving coil 213 and the coupling coil 221, offset the offset error, reduce the distortion of the second inductance signal, and improve the accuracy of the second inductance signal.

[0063] S203: The processor determines the current position of the stator module according to the second inductance signal and sends the current position of the stator module to the robot controller.

[0064] Optionally, the processor 211 processes the second inductance signal to obtain a processed second inductance signal, performs accurate position calculation based on the processed second inductance signal to obtain the current position of the stator module 21, and communicates with the robot controller 1 to send the calculated current position of the stator module 21 to the robot controller 1.

[0065] S204: The robot controller controls the joint movement of the robot according to the current position of the stator module.

[0066] Optionally, the robot controller 1 determines the position and rotation angle of the robot joints according to the current position of the stator module 21, and plans the joint motion trajectory of the robot according to the position and rotation angle of the robot joints, and determines the joint motion strategy of the robot, so as to accurately control the joint movement of the robot to the desired position according to the joint motion strategy of the robot.

[0067] In this embodiment, the processor of the stator module of the inductive encoder controls the excitation coil of the stator module to transmit a high-frequency signal of periodic AC voltage and current. When the excitation coil transmits the high-frequency signal, the coupling coil of the rotor module and the excitation coil of the stator module mutually induct and generate a first inductance signal with the same frequency as the high-frequency signal. At the same time, the receiving coil of the stator module and the coupling coil of the rotor module mutually induct and differentially sample to generate a second inductance signal with the same frequency as the first inductance signal and the high-frequency signal. The receiving coil sends the second inductance signal to the processor, and the processor performs position resolution based on the second inductance signal, accurately obtains the current position of the stator module and sends it to the robot controller. The robot controller accurately controls the joint movement of the robot based on the current position of the stator module. By setting a coupling coil in the rotor module of the inductive encoder, the coupling coil has mutual inductance with the excitation coil and the receiving coil in the stator module respectively, so that when the position is solved based on the second inductance signal generated by the mutual inductance of the receiving coil and the coupling coil and differential sampling, the current position of the stator module obtained is more accurate, and the inductive encoder is not affected by high temperature environment, strong electromagnetic field environment and dirty environment, which greatly improves the anti-interference and dirt resistance of the inductive encoder, thereby greatly improving the stability and reliability of the robot joint control.

[0068] The following describes in detail the process of sending the current position of the stator module to the robot controller.

[0069] Figure 3 Another schematic diagram of the structure of the robot control system provided in the embodiment of the present application is as follows: Figure 3 As shown, the inductive encoder 2 further includes: a communication module 23, and the communication module 23 is communicatively connected with the robot controller 1 and the processor 211 respectively.

[0070] Optionally, the inductive encoder 2 also includes a communication module 23, which is communicatively connected to the robot controller 1 and the processor 211 in the stator module 21 of the inductive encoder 2. The communication module performs two-way communication with the processor 211 and the robot controller 1 respectively. The robot controller 1 can obtain the current position of the stator module 21 through the communication module 23.

[0071] Figure 4 A schematic diagram of a flow chart of sending the current position of a stator module to a robot controller according to a robot control method provided in an embodiment of the present application, such as Figure 4 As shown, the step of sending the current position of the stator module to the robot controller in the above step S204 includes:

[0072] S401. The processor sends a target signal to the communication module according to the current position of the stator module, where the target signal is used to represent the current position of the stator module.

[0073] Optionally, the processor 211 generates a target signal according to the current position of the stator module 21 , and communicates with the communication module 23 , and sends the target signal representing the current position of the stator module 21 to the communication module 23 .

[0074] S402, the communication module performs level conversion on the target signal, obtains the converted target signal and sends it to the robot controller.

[0075] Optionally, the communication module 23 receives the target signal sent by the processor 211, and performs level conversion on the target signal to convert it into a signal that can be recognized by the robot controller 1, that is, the converted target signal, and sends the converted target signal to the robot controller 1 by communicating with the robot controller 1, so that the robot controller 1 receives and identifies and analyzes the converted target signal to obtain the current position of the stator module 21.

[0076] In this embodiment, a communication module is provided in the inductive encoder, and the communication module performs two-way communication with the processor and the robot controller respectively. The processor generates a target signal according to the current position of the stator module, and sends the target signal representing the current position of the stator module to the communication module. The communication module acts as a transfer station, performs level conversion on the target signal, obtains the converted target signal that can be recognized by the robot controller, and sends it to the robot controller, so that the robot controller receives and recognizes and analyzes the converted target signal to obtain the current position of the stator module. Indirect communication between the robot controller and the processor is realized through the communication module.

[0077] Figure 5 A schematic diagram of a coupling coil in a rotor module of a robot control system provided in an embodiment of the present application, such as Figure 5 As shown, the coupling coil includes an external coupling coil and an internal coupling coil, and the first inductance signal includes a first external inductance signal and a first internal inductance signal.

[0078] Optionally, refer to Figure 5 , the coupling coil 221 includes an external coupling coil 2211 and an internal coupling coil 2212, and the external coupling coil 2211 and the internal coupling coil 2212 do not overlap or overlap, thereby avoiding mutual coupling interference between the external coupling coil 2211 and the internal coupling coil 2212. Accordingly, the first inductance signal includes a first external inductance signal and a first internal inductance signal. Among them, the first external inductance signal is generated by the mutual inductance between the external coupling coil 2211 and the excitation coil 212 under the influence of the alternating electromagnetic field formed around the excitation coil 212. The second external inductance signal is generated by the mutual inductance between the internal coupling coil 2212 and the excitation coil 212 under the influence of the alternating electromagnetic field formed around the excitation coil 212.

[0079] Figure 6A schematic diagram of an excitation coil and a receiving coil in a stator module of a robot control system provided in an embodiment of the present application, such as Figure 6 As shown, the receiving coil includes an external receiving coil and an internal receiving coil, and the second inductance signal includes a second external inductance signal and a second internal inductance signal.

[0080] Optionally, refer to Figure 6 , the receiving coil 213 includes an external receiving coil 2131 and an internal receiving coil 2132, and the excitation coil 212 is between the external receiving coil 2131 and the internal receiving coil 2132. Among them, the external receiving coil 2131, the internal receiving coil 2132 and the excitation coil 212 do not overlap or overlap, thereby avoiding mutual coupling interference between the external receiving coil 2131, the internal receiving coil 2132 and the excitation coil 212. Correspondingly, the second inductance signal includes a second external inductance signal and a second internal inductance signal. Among them, the second external inductance signal is generated by the mutual inductance of the external receiving coil 2131 and the external coupling coil 2211 under the influence of the alternating electromagnetic field formed around the external coupling coil 2211 and in a differential sampling manner. The second internal inductance signal is generated by the mutual inductance of the internal receiving coil 2132 and the internal coupling coil 2212 under the influence of the alternating electromagnetic field formed around the internal coupling coil 2212 and in a differential sampling manner.

[0081] In this embodiment, the coupling coil includes an external coupling coil and an internal coupling coil that do not overlap each other. Under the influence of the alternating electromagnetic field formed around the excitation coil, the external coupling coil and the internal coupling coil respectively generate a first external inductance signal and a second external inductance signal through mutual inductance with the excitation coil. The receiving coil includes an external receiving coil and an internal receiving coil that do not overlap each other, and the excitation coil is arranged between the external receiving coil and the internal receiving coil, and does not overlap with the external receiving coil and the internal receiving coil. Under the influence of the alternating electromagnetic field formed around the external coupling coil, the external receiving coil generates a second external inductance signal through mutual inductance and differential sampling with the external coupling coil, and generates a second internal inductance signal through mutual inductance and differential sampling with the internal coupling coil under the influence of the alternating electromagnetic field formed around the internal coupling coil. Accurate mutual inductance of each coil is achieved to avoid additional coupling interference.

[0082] Figure 7 A schematic diagram of a set of mutual inductances of coupling coils and receiving coils of a robot control system provided in an embodiment of the present application, such as Figure 7 As shown, both the external coupling coil and the internal coupling coil are circular coils composed of rectangular structures, and the density of the external coupling coil is greater than that of the internal coupling coil.

[0083] Optionally, Figure 7It can be a schematic diagram of the mutual inductance between the external coupling coil 2211 and the external receiving coil 2131, or, Figure 7 It can also be a schematic diagram of the mutual inductance between the internal coupling coil 2212 and the internal receiving coil 2132. Figure 6 and Figure 7 The external coupling coil 2211 and the internal coupling coil 2212 are both circular coils composed of rectangular structures, and the external receiving coil 2131 and the internal receiving coil 2132 are both circular coils composed of mesh structures, so that the external receiving coil 2131 and the circular external coupling coil 2211 composed of rectangular structures can perform mutual inductance and differential sampling, and the internal receiving coil 2132 and the circular internal coupling coil 2212 composed of rectangular structures can perform mutual inductance and differential sampling.

[0084] Continue to refer to Figure 6 The number of rectangular structures of the external coupling coil 2211 is greater than the number of rectangular structures of the internal coupling coil 2212, that is, the density of the external coupling coil 2211 is greater than the density of the internal coupling coil 2212, so that the coupling coefficients of the external coupling coil 2211 and the internal coupling coil 2212 are different. The harmonics generated by the mutual inductance of the external receiving coil 2131 and the internal receiving coil 2132 can be eliminated by compensation, so as to improve the accuracy of the second external inductance signal and the second internal inductance signal, thereby improving the accuracy of the position detection of the inductive encoder.

[0085] In this embodiment, the external coupling coil and the internal coupling coil are both circular coils composed of rectangular structures, and the density of the external coupling coil is greater than that of the internal coupling coil. The external receiving coil and the internal receiving coil are both circular coils composed of mesh structures. The coupling coefficient when the external coupling coil and the external receiving coil are mutually inductive is different from the coupling coefficient when the internal coupling coil and the internal receiving coil are mutually inductive, and the accuracy of the position detection of the inductive encoder can be improved by eliminating the harmonics generated by the mutual inductance through the compensation channel.

[0086] The following describes in detail the process of generating the first inductance signal by the coupling coil according to the high-frequency signal.

[0087] Figure 8 A schematic diagram of a flow chart of generating a first inductance signal in a robot control method provided in an embodiment of the present application, such as Figure 8 As shown, in the above step S201, the step of generating a first inductance signal by the coupling coil according to the high-frequency signal includes:

[0088] S801: The external coupling coil induces a magnetic field through a circular coil, and induces a magnetic field change of a high-frequency signal emitted by the excitation coil to generate a first external inductance signal.

[0089] Optionally, refer to Figure 5 and Figure 6 When the excitation coil 212 transmits a high-frequency signal, since both the excitation coil 212 and the external coupling coil 2211 are circular coils, the alternating electromagnetic field formed around the excitation coil 212 and the external coupling coil 2211 by the alternating current flowing through the excitation coil 212 is a circular coil induced magnetic field. The external coupling coil 2211 is inductively coupled to the excitation coil 212 through the circular coil induced magnetic field, and the magnetic field changes when the excitation coil 212 transmits a high-frequency signal are induced, generating a frequency f that is the same as the high-frequency signal. osc Same first external inductor signal.

[0090] S802: The internal coupling coil induces a magnetic field through the circular coil, and induces the magnetic field change of the high-frequency signal emitted by the excitation coil to generate a first internal inductance signal.

[0091] Optionally, continue to refer to Figure 5 and Figure 6 When the excitation coil 212 transmits a high-frequency signal, since the excitation coil 212 and the internal coupling coil 2212 are both circular coils, the alternating electromagnetic field formed around the excitation coil 212 and the internal coupling coil 2212 by the alternating current flowing through the excitation coil 212 is also a circular coil induced magnetic field. The internal coupling coil 2212 is inductively coupled to the excitation coil 212 through the circular coil induced magnetic field, and the magnetic field changes when the excitation coil 212 transmits a high-frequency signal are induced, generating a frequency f that is the same as the high-frequency signal. osc Same first internal inductance signal.

[0092] In this embodiment, the excitation coil and the external coupling coil are both circular coils. When the excitation coil transmits a high-frequency signal, the alternating current flowing through the excitation coil forms an alternating electromagnetic field around the excitation coil and the external coupling coil, which is a circular coil induced magnetic field. The external coupling coil has mutual induction with the excitation coil through the circular coil induced magnetic field, and the magnetic field changes when the excitation coil transmits a high-frequency signal are induced, generating a first external inductance signal with the same frequency as the high-frequency signal. The excitation coil and the internal coupling coil are both circular coils. When the excitation coil transmits a high-frequency signal, the alternating electromagnetic field around the excitation coil and the internal coupling coil is also a circular coil induced magnetic field. The internal coupling coil has mutual induction with the excitation coil through the circular coil induced magnetic field, and the magnetic field changes when the excitation coil transmits a high-frequency signal are induced, generating a first internal inductance signal with the same frequency as the high-frequency signal. The first external inductance signal and the first internal inductance signal are generated by mutual induction under the circular coil induced magnetic field.

[0093] The following describes in detail the process of generating the second inductance signal by differential sampling of the receiving coil according to the first inductance signal.

[0094] Fig. 9A schematic diagram of a flow chart of generating a second inductance signal in a robot control method provided in an embodiment of the present application, such as Fig. 9 As shown, in the above step S202, the step of generating the second inductance signal by differential sampling of the receiving coil according to the first inductance signal includes:

[0095] S901. The external receiving coil generates a second external inductance signal by differential sampling according to the first external inductance signal of the external coupling coil.

[0096] Optionally, Figure 7 It can be a schematic diagram of the mutual inductance between the external coupling coil 2211 and the external receiving coil 2131. Figure 7 When the external coupling coil 2211 and the excitation coil 212 mutually induct to generate a first external inductance signal, the alternating current flowing through the external coupling coil 2211 forms an alternating electromagnetic field around the external coupling coil 2211. Under the influence of the alternating electromagnetic field formed around the external coupling coil 2211, the external receiving coil 2131 mutually inducts with the external coupling coil 2211 and differentially samples to generate a frequency f that is the same as the first external inductance signal. osc Same as the second external inductor signal.

[0097] S902: The internal receiving coil generates a second internal inductance signal by differential sampling according to the first internal inductance signal of the internal coupling coil.

[0098] Optionally, Figure 7 It can also be a schematic diagram of the mutual inductance between the internal coupling coil 2212 and the internal receiving coil 2132, and continue to refer to Figure 7 When the internal coupling coil 2212 and the excitation coil 212 mutually induct to generate a first internal inductance signal, the alternating current flowing through the internal coupling coil 2212 forms an alternating electromagnetic field around the internal receiving coil 2132. Under the influence of the alternating electromagnetic field formed around the internal coupling coil 2212, the internal receiving coil 2132 mutually inducts with the internal coupling coil 2212 and differentially samples to generate a frequency f that is the same as the first internal inductance signal. osc The same second internal inductance signal. The coupling coefficients of the first internal inductance signal generated by the mutual inductance and the second internal inductance signal generated by the mutual inductance are different.

[0099] In this embodiment, when the external coupling coil and the excitation coil generate a first external inductance signal by mutual inductance, the alternating current flowing through the external coupling coil forms an alternating electromagnetic field around the external coupling coil, and the external receiving coil, under the influence of the alternating electromagnetic field formed around the external coupling coil, generates a second external inductance signal with the same frequency as the first external inductance signal by mutual inductance and differential sampling with the external coupling coil. When the internal coupling coil and the excitation coil generate a first internal inductance signal by mutual inductance, the alternating current flowing through the internal coupling coil forms an alternating electromagnetic field around the internal receiving coil, and the internal receiving coil, under the influence of the alternating electromagnetic field formed around the internal coupling coil, generates a second internal inductance signal with the same frequency as the first internal inductance signal by mutual inductance and differential sampling with the internal coupling coil. Through the mutual inductance between the external coupling coil and the external receiving coil and the mutual inductance between the internal coupling coil and the internal receiving coil, the second external inductance signal and the second internal inductance signal with different coupling coefficients are generated, eliminating the resonance generated by electromagnetic induction.

[0100] As an optional implementation, in the above step S901, the step of differentially sampling the external receiving coil to generate the second external inductance signal according to the first external inductance signal of the external coupling coil includes:

[0101] The external receiving coil senses the magnetic field through the parallel lines, senses the change in the magnetic field when the external coupling coil generates the first external inductance signal, and generates the second external inductance signal through differential sampling.

[0102] Optionally, Figure 7 It can be a schematic diagram of the mutual inductance between the external coupling coil 2211 and the external receiving coil 2131. Figure 7 The current directions of the external coupling coil 2211 and the external receiving coil 2131 are marked in FIG. Figure 7 When the external coupling coil 2211 and the excitation coil 212 generate a first external inductance signal through mutual induction, the alternating electromagnetic field formed around the external coupling coil 2211 and the external receiving coil 2131 by the alternating current flowing through the external coupling coil 2211 is a parallel line induced magnetic field. The external receiving coil 2131 and the external coupling coil 2211 are mutually inductive through the parallel line induced magnetic field, and the magnetic field change when the induction external coupling coil 2211 generates the first external inductance signal is induced. The differential sampling generates a frequency f that is the same as the first external inductance signal. osc Same as the second external inductor signal.

[0103] In this embodiment, when the external coupling coil and the excitation coil generate a first external inductance signal through mutual inductance, the alternating electromagnetic field formed around the external coupling coil and the external receiving coil by the alternating current flowing through the external coupling coil is a parallel line induced magnetic field. The external receiving coil and the external coupling coil have mutual inductance through the parallel line induced magnetic field, inducing the magnetic field change when the external coupling coil generates the first external inductance signal, and differentially samples to generate a second external inductance signal with the same frequency as the first external inductance signal. The second external inductance signal is generated through the mutual inductance and differential sampling of the external coupling coil and the external receiving coil under the parallel line induced magnetic field.

[0104] As an optional implementation, in the above step S902, the step of differentially sampling the internal receiving coil to generate the second internal inductance signal according to the first internal inductance signal of the internal coupling coil includes:

[0105] The internal receiving coil senses the magnetic field through the parallel lines, senses the magnetic field change when the internal coupling coil generates the first internal inductance signal, and generates the second internal inductance signal through differential sampling.

[0106] Optionally, Figure 7 It can be a schematic diagram of the mutual inductance between the internal coupling coil 2212 and the internal receiving coil 2132. Figure 7 The current directions of the internal coupling coil 2212 and the internal receiving coil 2132 are marked in FIG. Figure 7 When the internal coupling coil 2212 and the excitation coil 212 generate a first internal inductance signal by mutual induction, the alternating electromagnetic field formed around the internal coupling coil 2212 and the internal receiving coil 2132 by the alternating current flowing through the internal coupling coil 2212 is a parallel line induced magnetic field. The internal receiving coil 2132 and the internal coupling coil 2212 are mutually inductive through the parallel line induced magnetic field, and the magnetic field change when the internal coupling coil 2212 generates the first internal inductance signal by induction is induced. The differential sampling generates a frequency f that is the same as the first internal inductance signal. osc Same as the second internal inductor signal.

[0107] In this embodiment, when the internal coupling coil and the excitation coil generate a first internal inductance signal through mutual inductance, the alternating electromagnetic field formed around the internal coupling coil and the internal receiving coil by the alternating current flowing through the internal coupling coil is a parallel line induced magnetic field. The internal receiving coil and the internal coupling coil have mutual inductance through the parallel line induced magnetic field, inducing the magnetic field change when the internal coupling coil generates the first internal inductance signal, and differentially samples to generate a second internal inductance signal with the same frequency as the first internal inductance signal. The second internal inductance signal is generated through the mutual inductance and differential sampling of the internal coupling coil and the internal receiving coil under the parallel line induced magnetic field.

[0108] The following describes in detail the process of the processor determining the current position of the stator module according to the second inductance signal.

[0109] Fig.10 A schematic diagram of a flow chart of determining the current position of a stator module of a robot control method provided in an embodiment of the present application, such as Fig.10 As shown, in the above step S103, the processor determines the current position of the stator module according to the second inductance signal, including:

[0110] S1001. The processor filters the second external inductance signal and the second internal inductance signal to obtain a filtered second external inductance signal and a filtered second internal inductance signal.

[0111] Optionally, the processor 211 samples and filters the second external inductance signal sent by the external receiving coil 2131 to eliminate noise in the second external inductance signal and obtain a filtered second external inductance signal. Correspondingly, the processor 211 samples and filters the second internal inductance signal sent by the internal receiving coil 2132 to eliminate noise in the second internal inductance signal and obtain a filtered second internal inductance signal.

[0112] S1002. The processor demodulates the filtered second external inductance signal and the filtered second internal inductance signal, determines the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal, and determines the current position of the stator module based on the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal.

[0113] Optionally, the processor 211 performs differential demodulation on the filtered second external inductance signal and the filtered second internal inductance signal to calculate the amplitude and phase of the filtered second external inductance signal and the amplitude and phase of the filtered second internal inductance signal. The processor 211 accurately obtains the current position of the stator module 21 through position calculation based on the amplitude and phase of the filtered second external inductance signal and the amplitude and phase of the filtered second internal inductance signal.

[0114] In this embodiment, the processor samples and filters the second external inductance signal sent by the external receiving coil and the second internal inductance signal sent by the internal receiving coil to eliminate the noise in the second external inductance signal and the second internal inductance signal, and obtains the filtered second external inductance signal and the filtered second internal inductance signal. The processor differentially demodulates the filtered second external inductance signal and the filtered second internal inductance signal, and calculates the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal, and accurately obtains the current position of the stator module through position calculation based on the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal. By filtering and demodulating the second external inductance signal and the second internal inductance signal, the accurate calculation of the current position of the stator module is achieved.

[0115] An embodiment of the present application also provides a robot control system, which includes: a robot controller 1 and an inductive encoder 2, the inductive encoder 2 includes a stator module 21 and a rotor module 22 coaxially installed with the stator module 21, the stator module 21 includes a processor 211, an excitation coil 212 and a receiving coil 213, and the rotor module 22 includes a coupling coil 221.

[0116] The robot control system is used to execute the steps of the robot control method described in the above embodiments.

[0117] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0118] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0119] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A robot control method, characterized in that: Applied to a robot control system, the robot control system includes: a robot controller and an inductive encoder, the inductive encoder includes a stator module and a rotor module coaxially installed with the stator module, the stator module includes a processor, an excitation coil and a receiving coil, and the rotor module includes a coupling coil; the method includes: The processor controls the excitation coil to transmit a high-frequency signal, and the coupling coil generates a first inductance signal according to the high-frequency signal; The receiving coil generates a second inductance signal by differential sampling according to the first inductance signal and sends the second inductance signal to the processor; The processor determines the current position of the stator module according to the second inductance signal and sends the current position of the stator module to the robot controller; The robot controller controls the joint movement of the robot according to the current position of the stator module.

2. The method according to claim 1, characterized in that: The coupling coil includes an external coupling coil and an internal coupling coil, and the first inductance signal includes a first external inductance signal and a first internal inductance signal; The receiving coil includes an external receiving coil and an internal receiving coil, and the second inductance signal includes a second external inductance signal and a second internal inductance signal.

3. The method according to claim 2, characterized in that The external coupling coil and the internal coupling coil are both circular coils composed of rectangular structures, and the density of the external coupling coil is greater than the density of the internal coupling coil.

4. The method according to claim 2, characterized in that: The coupling coil generates a first inductance signal according to the high-frequency signal, including: The external coupling coil senses a magnetic field through a circular coil, senses the change in the magnetic field of the high-frequency signal emitted by the excitation coil, and generates the first external inductance signal; The internal coupling coil induces a magnetic field through a circular coil, induces the magnetic field change of the high-frequency signal emitted by the excitation coil, and generates the first internal inductance signal.

5. The method according to claim 4, characterized in that The receiving coil generates a second inductance signal by differential sampling according to the first inductance signal, including: The external receiving coil generates the second external inductance signal by differential sampling according to the first external inductance signal of the external coupling coil; The internal receiving coil generates the second internal inductance signal by differential sampling according to the first internal inductance signal of the internal coupling coil.

6. The method according to claim 5, characterized in that The external receiving coil generates the second external inductance signal by differential sampling according to the first external inductance signal of the external coupling coil, including: The external receiving coil senses a magnetic field through parallel lines, senses the change in the magnetic field when the external coupling coil generates the first external inductance signal, and generates the second external inductance signal through differential sampling.

7. The method according to claim 5, characterized in that The internal receiving coil generates the second internal inductance signal by differential sampling according to the first internal inductance signal of the internal coupling coil, including: The internal receiving coil senses a magnetic field through parallel lines, senses the change in the magnetic field when the internal coupling coil generates the first internal inductance signal, and generates the second internal inductance signal through differential sampling.

8. The method according to claim 5, characterized in that The processor determines the current position of the stator module according to the second inductance signal, including: The processor filters the second external inductance signal and the second internal inductance signal to obtain a filtered second external inductance signal and a filtered second internal inductance signal; The processor demodulates the filtered second external inductance signal and the filtered second internal inductance signal, determines the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal, and determines the current position of the stator module based on the amplitude and phase of the filtered second external inductance signal and the filtered second internal inductance signal.

9. The method according to claim 1, characterized in that: The inductive encoder further includes: a communication module, the communication module being communicatively connected to the robot controller and the processor respectively; The sending the current position of the stator module to the robot controller comprises: The processor sends a target signal to the communication module according to the current position of the stator module, wherein the target signal is used to represent the current position of the stator module; The communication module performs level conversion on the target signal, obtains the converted target signal and sends it to the robot controller.

10. A robot control system, characterized in that: The robot control system comprises: a robot controller and an inductive encoder, the inductive encoder comprises a stator module and a rotor module coaxially mounted with the stator module, the stator module comprises a processor, an excitation coil and a receiving coil, and the rotor module comprises a coupling coil; The robot control system is used to execute the steps of the robot control method according to any one of claims 1 to 9.

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