A robot balance state judgment method, device and robot

Abstract

The present application relates to a method, device and robot for judging the balance state of a robot. The robot comprises a robot body and a support for carrying the robot body, the center of gravity of the robot body is projected on the support as the center of gravity; a pair of pressure sensors are symmetrically arranged on the support on a straight line passing through the center of gravity; the method comprises: obtaining data of each pair of pressure sensors at the same time; calculating the data difference of each pair of pressure sensors; judging whether the data difference is greater than a preset difference; if the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state. The pressure sensors are symmetrically arranged on the robot support, and the balance state of the robot can be judged by judging whether the values ​​of each pair of pressure sensors are equal within the error range, which is simple, efficient and low-cost.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot control technology, and more specifically, to a robot balance state judgment method, device and robot. Background Art

[0002] Center of gravity control is an important aspect of robot control. By controlling the center of gravity position of the robot, the robot can be kept in a balanced state. Summary of the invention

[0003] The present application provides a robot balance state judgment method, device and robot, which can judge the robot's balance state by judging whether the values ​​of each pair of pressure sensors are equal within an error range. The method is simple, efficient and low-cost.

[0004] In a first aspect, a method for determining a balance state of a robot is provided, wherein the robot comprises a robot body and a bearing member for bearing the robot body, wherein the center of gravity of the robot body is projected on the bearing member as a center of gravity point; and a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity point;

[0005] The method comprises:

[0006] Obtain the data of each pair of pressure sensors at the same time;

[0007] Calculate the data difference of each pair of pressure sensors;

[0008] Determining whether the data difference is greater than a preset difference;

[0009] If the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

[0010] In combination with the first aspect, in certain embodiments of the first aspect, the number of the straight lines is M, where M is a natural number and M≥1.

[0011] In combination with the first aspect, in certain embodiments of the first aspect, the number of the straight lines is 2, and the two pairs of pressure sensors are respectively located on the front and rear sides and the left and right sides of the robot.

[0012] In a second aspect, a robot balance state judgment device is provided, wherein the robot comprises a robot body and a bearing member for bearing the robot body, the center of gravity of the robot body is projected on the bearing member as a center of gravity point; a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity point;

[0013] The device comprises:

[0014] A data acquisition module, used to acquire data of each pair of pressure sensors at the same time;

[0015] A data difference calculation module, used to calculate the data difference of each pair of pressure sensors;

[0016] The judgment module is used to judge whether the data difference is greater than a preset difference; if the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

[0017] In combination with the second aspect, in certain embodiments of the second aspect, the number of the straight lines is M, where M is a natural number and M≥1.

[0018] In combination with the second aspect, in certain embodiments of the second aspect, the number of the straight lines is 2, and the two pairs of pressure sensors are respectively located on the front and rear sides and the left and right sides of the robot.

[0019] In a third aspect, a robot balance state judgment system is provided, comprising:

[0020] Memory; and

[0021] A processor coupled to the memory, wherein the processor is configured to execute the method according to any one of the first aspects based on instructions stored in the memory.

[0022] In a fourth aspect, a robot is provided, comprising a robot body and a bearing member for bearing the robot body, wherein the center of gravity of the robot body is projected on the bearing member as a center of gravity; and a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity;

[0023] It also includes the robot balance state judgment device described in any one of the first aspect or the robot balance state judgment system described in the third aspect.

[0024] In a fifth aspect, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method as described in any one of the first aspects is implemented.

[0025] In a sixth aspect, a computer program product is provided, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the method as described in any one of the first aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0027] Figure 1 is a flowchart of a method for determining a robot's balance state provided by at least one embodiment of the present application;

[0028] Figure 2 is a flow chart of a method for determining a balance state of a robot provided in at least another embodiment of the present application;

[0029] Figure 3 is a structural block diagram of a robot balance state judgment device provided by at least one embodiment of the present application;

[0030] Figure 4 It is a structural block diagram of a robot balance state judgment system provided by at least one embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] In the description of the present application, the terms "first", "second", "third", etc. are used to distinguish different objects and do not indicate any order or importance.

[0033] In the description of the present application, “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0034] In the description of this application, the term "and / or" is merely a term used to describe the association relationship between associated objects, indicating that three possible relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0035] In the description of this application, words such as "connection" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] In the description of this application, "up", "down", "left", "right", etc. are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0037] It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0038] As described above, by controlling the center of gravity of the robot, the robot can be kept in a balanced state. Most existing solutions require obtaining the coordinates of the center of gravity of the robot with the help of expensive sensors. This solution is relatively costly.

[0039] The present application provides a method for judging the balance state of a robot, wherein the robot comprises a robot body and a supporting member for supporting the robot body, wherein the projection of the center of gravity of the robot body on the supporting member is recorded as the center of gravity point; a pair of pressure sensors are symmetrically arranged on the supporting member on a straight line passing through the center of gravity point, and the method provided by the present application comprises: obtaining data of each pair of pressure sensors at the same time; calculating the data difference of each pair of pressure sensors; judging whether the data difference is greater than a preset difference; if the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

[0040] In the solution provided in the present application, pressure sensors are symmetrically arranged on the robot carrier, and the balance state of the robot can be judged by judging whether the values ​​of each pair of pressure sensors are equal within the error range. This is simple, efficient and low-cost.

[0041] It should be understood that the execution subject of the robot balance state judgment method provided in the embodiment of the present application can be an electronic device, and the electronic device can be a computing device, a terminal device or a server, wherein the terminal device can be various personal computers, laptops, smart phones, tablet computers and portable wearable devices, etc., and the present application does not make specific limitations. The electronic device can also be a processor or a processing chip. When the electronic device is a processor or a processing chip, the electronic device can be integrated into the robot.

[0042] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0043] The robot in the robot balance state judgment method provided in at least one embodiment of the present application includes a robot body and a supporting member for supporting the robot body, and the projection of the center of gravity of the robot body on the supporting member is recorded as the center of gravity point; a pair of pressure sensors are symmetrically arranged on the supporting member on a straight line passing through the center of gravity point.

[0044] The present application does not specifically limit the possible shape of the robot's carrier in a top-down view. It can be a regular shape, such as a circle or a square. In this case, the projection of the center of gravity of the robot body on the carrier falls on the center point of the carrier, that is, the center of gravity coincides with the center point.

[0045] However, it should be understood that, in some embodiments, the shape of the support member in a top-down view may be an irregular shape.

[0046] Based on this, reference Figure 1 At least one embodiment of the present application provides a method for determining a robot's balance state, comprising the following steps:

[0047] S21: Acquire the data of each pair of pressure sensors at the same time.

[0048] S22: Calculate the data difference of each pair of pressure sensors.

[0049] S23: Determine whether the data difference is greater than a preset difference;

[0050] If the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

[0051] In some possible embodiments, the robot's carrier is square in a top-down view, and a pair of pressure sensors are symmetrically arranged on two straight lines L1 and L2 passing through the center of gravity on the carrier (L1 indicates the front and rear direction of the robot, and L2 indicates the left and right direction of the robot). Figure 2 At least one embodiment of the present application provides a method for determining a robot's balance state, which may include the following steps:

[0052] S31: Obtain the data of two pairs of pressure sensors at the same time and record them as (D 11 , D 12 ) and (D 21 , D 22 ).

[0053] S32: Calculate the data difference of each pair of pressure sensors, which are Δ1 and Δ2 respectively.

[0054] When calculating, the value of the data difference is the absolute value of the data difference of a pair of symmetrically arranged pressure sensors. 11 -D 12 |, Δ2=|D 21 -D 22 |.

[0055] S33: Determine whether the data difference is greater than a preset difference value Δ0.

[0056] The preset difference Δ0 is a value within the error range, which may be 0 or other values, depending on the sensitivity of the pressure sensor.

[0057] If the data difference is greater than the preset difference, it means that the forces on the symmetrical positions on both sides of the robot's center of gravity are greatly different, and the robot can be judged to be in an unbalanced state; otherwise, it means that the forces on the symmetrical positions on both sides of the robot's center of gravity are equal, and the robot can be judged to be in a balanced state.

[0058] At least one embodiment of the present application further provides a robot balance state judgment device, the robot comprising a robot body and a bearing member for bearing the robot body, the projection of the center of gravity of the robot body on the bearing member is recorded as the center of gravity point; a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity point;

[0059] refer to Figure 3 , the device comprises:

[0060] A data acquisition module 410 is used to acquire data of each pair of pressure sensors at the same time;

[0061] A data difference calculation module 420, used to calculate the data difference of each pair of pressure sensors;

[0062] The judgment module 430 is used to judge whether the data difference is greater than a preset difference; if the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

[0063] In the specification, multiple embodiments are described in a progressive manner, and the focus of each embodiment is different, and the same or similar parts between the embodiments can be referred to each other. For the above-mentioned device embodiment, since its overall structure and the modules involved and their functions and effects correspond to the contents in the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0064] At least one embodiment of the present application further provides a robot balance state judgment system, referring to Figure 4 The system includes a processor 520 and a memory 510, wherein the processor 520 and the memory 510 are connected, wherein the memory 510 is used to store program codes, and the processor 520 is used to call program codes to execute a method as described in any of the above embodiments.

[0065] The memory 510 may be a disk, a flash memory, or any other non-volatile storage medium. The memory 510 is used to store instructions in the corresponding embodiment of the robot balance state determination method. The processor 520 is coupled to the memory 510 and may be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 520 is used to execute the instructions stored in the memory 510.

[0066] At least one embodiment of the present application further provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, the robot balance state judgment method as described above is implemented.

[0067] Another embodiment of the present application also provides a robot balance state judgment system. In some embodiments, the robot balance state judgment system includes a memory and a processor. The processor is coupled to the memory via a BUS bus. The robot balance state judgment system can also be connected to an external storage device via a storage interface to call external data, and can also be connected to a network or another computer system (not shown) via a network interface. No further detailed description is given here.

[0068] At least one embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of a robot balance state determination method described in any of the above. Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0069] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of the processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0070] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0071] So far, the present application has been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed herein.

[0072] The method and apparatus of the present application may be implemented in many ways. For example, the method and apparatus of the present application may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present application are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present application may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present application. Therefore, the present application also covers a recording medium storing a program for executing the method according to the present application.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application rather than to limit it. Although the present application has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present application can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present application, which should be included in the scope of the technical solution for protection in the present application.

Claims

1. A method for determining a robot's balance state, characterized in that: The robot comprises a robot body and a bearing member for bearing the robot body, the center of gravity of the robot body is projected on the bearing member as a center of gravity; a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity; The method comprises: Obtain the data of each pair of pressure sensors at the same time; Calculate the data difference of each pair of pressure sensors; Determining whether the data difference is greater than a preset difference; If the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

2. The robot balance state judgment method according to claim 1, characterized in that: The number of the straight lines is M, where M is a natural number and M≥1.

3. The robot balance state judgment method according to claim 2, characterized in that: The number of the straight lines is 2, and the two pairs of pressure sensors are respectively located at the front and rear sides and the left and right sides of the robot.

4. A robot balance state judgment device, characterized in that: The robot comprises a robot body and a bearing member for bearing the robot body, the center of gravity of the robot body is projected on the bearing member as a center of gravity; a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity; The device comprises: A data acquisition module, used to acquire data of each pair of pressure sensors at the same time; A data difference calculation module, used to calculate the data difference of each pair of pressure sensors; The judgment module is used to judge whether the data difference is greater than a preset difference; if the data difference is greater than the preset difference, the robot is in an unbalanced state; otherwise, the robot is in a balanced state.

5. The robot balance state judgment device according to claim 4, characterized in that: The number of the straight lines is M, where M is a natural number and M≥1.

6. The robot balance state judgment device according to claim 4, characterized in that: The number of the straight lines is 2, and the two pairs of pressure sensors are respectively located at the front and rear sides and the left and right sides of the robot.

7. A robot balance state judgment system, characterized in that: include: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the method according to any one of claims 1 to 3 based on instructions stored in the memory.

8. A robot, characterized in that: It comprises a robot body and a bearing member for bearing the robot body, wherein the center of gravity of the robot body is projected on the bearing member as a center of gravity; a pair of pressure sensors are symmetrically arranged on the bearing member on a straight line passing through the center of gravity; It also includes the robot balance state judgment device according to any one of claims 4 to 6 or the robot balance state judgment system according to claim 7.

9. A computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method according to any one of claims 1 to 3.

10. A computer program product, comprising a computer program or instructions, which implement the method according to any one of claims 1 to 3 when executed by a processor.

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