Robot auxiliary driving handle and robot auxiliary driving system

Abstract

The invention provides a robot auxiliary driving handle and a robot auxiliary driving system. The robot auxiliary driving handle comprises a main rod, a pressure sensing module and a main control module, wherein the main rod is mounted on a robot main body structure and connected with a left handle main body and a right handle main body; the main rod is made of a sheet-shaped or columnar material which can generate bending deformation and recover in time when being stressed; the pressure sensing module is used for changing the resistance value when a user applies force to the handle main body and the main rod generates bending deformation; the main control module is used for measuring the pressure vector borne by the handle body based on the resistance value variation of the pressure sensing module, calculating target motion parameters of the robot and updating the moving state of the robot. According to the invention, when a user operates the handle main body, the push-and-pull vector is known through the fine change of the pressure sensing module, so that the driving intention of the user is identified; by amplifying the force applied by the user, the user feels that the robot becomes very light and can move according to the relative action of the force, and the user experience feeling is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a robot-assisted driving handle and a robot-assisted driving system. Background Art

[0002] Existing robotic mobile chassis, particularly forklifts, are typically equipped with push-button handles. These buttons control forward, reverse, and steering. The operator and the vehicle do not physically touch each other, but rather are controlled by wire. However, push-button operation is indirect control, lacks force feedback, is unintuitive, and requires a long learning curve to master. Furthermore, it is difficult to perform delicate operations and prone to misoperation, resulting in collisions.

[0003] On the other hand, the deployment of autonomous chassis and automated forklifts requires a mapping process. Traditional technologies often require manual pushing of the robot to complete the mapping. While this is possible for light service robots, manual pushing is unrealistic for large, heavy-load robots or automated forklifts. Summary of the Invention

[0004] To this end, the present invention provides a robot-assisted driving handle and a robot-assisted driving system, which aim to solve the technical problems in the prior art that the robot moving handle is difficult to finely control the robot operation and is difficult to implement.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions:

[0006] According to a first aspect of the present invention, there is provided a robot assisted driving handle, the handle comprising: a left handle body and a right handle body mounted on a robot main structure, a main rod for supporting the mechanical connection between the two handle bodies and the robot main structure, two pressure sensing modules respectively provided on the back of the main rod, and a main control module, the main control module comprising a control circuit;

[0007] The main rod is made of sheet or columnar material that can bend and deform when subjected to force and recover in time;

[0008] The pressure sensing module is connected to the control circuit, and is used to cause the internal resistance unit to change in length and resistance value accordingly when the main rod is bent and deformed;

[0009] The main control module is used to measure the pressure vector of the handle body based on the change in the resistance value of the pressure sensing module, calculate the target motion parameters of the robot according to the pressure vector, and update the movement state of the robot based on the target motion parameters.

[0010] Further, the main rod includes a spring steel sheet or a glass fiber sheet; and / or, the pressure sensing module includes a strain resistance sheet or a tension and compression gauge.

[0011] Further, the main control module is further configured to obtain the current working mode of the robot, and update the moving state of the robot in combination with the working mode;

[0012] Wherein, the working mode includes a pushing mode and a driving mode;

[0013] In the pushing mode, the greater the force applied by the user to the handle body, the greater the linear acceleration and angular acceleration of the robot's movement;

[0014] In the driving mode, the greater the force applied by the user to the handle body, the greater the linear acceleration and angular velocity of the robot's movement.

[0015] Further, the control circuit includes three lines connected in parallel between the input voltage and the ground, a left handle strain resistance sheet, a right side strain resistance sheet, and resistors R1 to R4;

[0016] Wherein, the resistance values of the left handle strain resistance sheet, the right side strain resistance sheet, and the resistors R1 to R4 are all the same;

[0017] In the first line, the left handle strain resistance sheet is connected in series with resistor R3;

[0018] In the second line, resistor R1 is connected in series with resistor R2;

[0019] In the third line, the right side strain resistance sheet is connected in series with resistor R4;

[0020] The main control module is further configured to measure a first voltage between the left handle strain resistance sheet and resistor R3, a second voltage between resistor R1 and resistor R2, and a third voltage between the right side strain resistance sheet and resistor R4.

[0021] Further, the main control module is further configured to calculate the forces on the left handle body and the right handle body respectively according to the first voltage, the second voltage, and the third voltage, and the formula is as follows:

[0022] FL = (VL - VREF) * GAIN

[0023] FR = (VRE - VREF) * GAIN

[0024] Wherein, FL represents the force on the left handle body; FR represents the force on the right handle body; VL represents the first voltage; VREF represents the second voltage; VR represents the third voltage; GAIN represents the voltage amplification factor;

[0025] The main control module is further configured to establish a robot coordinate system, and determine the force point coordinates of the left handle body and the right handle body based on the robot coordinate system;

[0026] Wherein, the robot coordinate system is: the positive right side of the robot main body structure is the X direction, the positive front is the Y direction, and the rotation center is (0, 0);

[0027] The force point coordinates of the left handle body are P l = (-x, y);

[0028] The force point coordinates of the right handle body are P r = (x, y);

[0029] The main control module is further configured to determine the pressure vectors of the left handle body and the right handle body acting on the Y axis according to the forces on the left handle body and the right handle body; decompose the pressure vectors by using the force point coordinates to determine the forward / backward forces of the left handle body and the right handle body, and further decompose the forward / backward forces into Y-axis components in the Y-axis direction; determine the force on the robot movement by using the Y-axis components of the forces on the left handle body and the right handle body;

[0030] Wherein, the pressure vector of the left handle body acting on the Y axis is F l = (0, FL);

[0031] The pressure vector of the right handle body acting on the Y axis is F r = (0, FR);

[0032] The forward / backward force of the left handle body is

[0033] The forward / backward force of the right handle body is

[0034] The Y-axis component of the force on the left handle body is F l y; the Y-axis component of the force on the right handle body is F r y;

[0035] The force on the robot movement is F drive = F l y + F r y.

[0036] Furthermore, the main control module is further configured to calculate the target motion parameters of the robot according to the force on the robot movement; the target motion parameters include linear acceleration and / or angular acceleration;

[0037] The calculation formula of the linear acceleration is as follows:

[0038]

[0039] Among them, a1 represents linear acceleration; F drive represents the force on the robot during movement; m robot represents the mass of the robot;

[0040] and / or,

[0041] The calculation formula of the angular acceleration is as follows:

[0042]

[0043] Among them, a2 represents angular acceleration; I robot represents the moment of inertia of the robot; τ represents the rotational torque, and the calculation formula is as follows:

[0044] τ = τ l +τ r

[0045]

[0046] Among them, τ l represents the torque on the main body of the left handle; τ r represents the torque on the main body of the right handle; × represents vector multiplication; () z represents taking the Z-axis component.

[0047] Furthermore, the main control module is also used to obtain the current speed of the robot, and update the movement state of the robot based on the current speed and the target motion parameters. The calculation formula is as follows:

[0048] v new = v + a1 × t

[0049]

[0050] Among them, v new and respectively represent the updated linear speed and angular speed of the robot in the pushing mode; v new and respectively represent the updated linear speed and angular speed of the robot in the driving mode; v represents the current linear speed of the robot; w represents the current angular speed of the robot; k represents the steering sensitivity coefficient of the robot; f represents the sampling frequency; t represents the sampling period; τ represents the rotational torque.

[0051] Furthermore, a capacitive induction touch pad is provided on the surface of the handle main body; the capacitive induction touch pad is connected to the main control module;

[0052] The capacitive touch sheet is used to sense whether two hands are touching the handle body at the same time. When one hand is touching, the robot cannot be controlled to move.

[0053] According to a second aspect of the present invention, the present invention provides a robot-assisted driving system, comprising a robot, a working mode selection module, and a robot-assisted driving handle as described in any one of the first aspects of the present invention;

[0054] The working mode selection module is in communication with the main control module and is used to input the working mode of the robot;

[0055] The working modes include a pushing mode and a driving mode.

[0056] Furthermore, the working mode selection module includes an interactive display screen provided on the robot body and / or an operation button provided on the side end of the handle body of the robot auxiliary driving handle;

[0057] The interactive display screen is used to send working mode selection / switching instructions to the main control module in response to different touch screen operations of the user;

[0058] The operation button is used to send a working mode selection / switching instruction to the main control module in response to different key operations of the user.

[0059] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0060] The present invention provides a robot-assisted driving handle and a robot-assisted driving system. The robot-assisted driving handle comprises: a left handle body and a right handle body mounted on a robot main structure; a main rod for mechanically connecting the two handle bodies to the robot main structure; two pressure sensing modules located on the back of the main rods; and a main control module. The main control module includes a control circuit. The main rods are made of sheet or columnar material capable of bending and recovering when subjected to force. The pressure sensing modules are connected to the control circuit, and when the main rods bend, the internal resistor unit changes length and resistance accordingly. The main control module measures the pressure vector applied to the handle body based on the change in resistance value of the pressure sensing modules, calculates the robot's target motion parameters based on the pressure vector, and updates the robot's movement state based on the target motion parameters. Thus, when a user operates the handle body, the push and pull vectors are determined by subtle changes in the pressure sensing modules, thereby identifying the user's driving intention. By amplifying the user's applied force, the robot can move in accordance with the relative force while appearing to be very light, significantly improving the user experience.

[0061] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0063] Figure 1 The structural schematic diagram of the robot-assisted driving handle provided by an embodiment of the present invention is shown;

[0064] Figure 2 The brief schematic diagram of the deformation of the strain gauge provided by an embodiment of the present invention is shown;

[0065] Figure 3 The brief schematic diagram of the simultaneous force application on two handle bodies provided by an embodiment of the present invention is shown;

[0066] Figure 4 The circuit schematic diagram of the control circuit provided by an embodiment of the present invention is shown;

[0067] Figure 5 The brief schematic diagram of the handle position provided by an embodiment of the present invention is shown;

[0068] Figure 6 The brief schematic diagram of the force decomposition of the handle force provided by an embodiment of the present invention is shown;

[0069] Figure 7 The structural schematic diagram of the robot-assisted driving system provided by an embodiment of the present invention is shown;

[0070] Figure 8 The working flow chart of the operation button provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0071] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0072] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0073] The embodiment of the present invention provides a robot-assisted driving handle, such as Figure 1 As shown, it can at least include a left handle body 10 and a right handle body 20 installed on both sides of the robot main structure, a main rod 30 for supporting the mechanical connection between the two handle bodies and the robot main structure, two pressure sensing modules 40 respectively arranged on the back of the main rod and a main control module (not shown in the figure), and the main control module includes a control circuit.

[0074] Figure 1 It is a top view of the robot's main structure, and the user can apply force to the handle body by holding the handle body. The handle body and the robot's main structure can be connected through a main rod 30 that can bend and deform under force, and a pressure sensing module 40 is provided on the back of the main rod 30 on both sides. In actual applications, the main rod 30 can be made of sheet or columnar materials such as spring steel sheets or glass fiber sheets that can bend and deform when subjected to force and recover in time, and the pressure sensing module 40 can be made of strain resistors or tension pressure gauges. The tension pressure gauge (also called a weighing sensor or force sensor) usually uses 4 piezoresistors (strain resistors) to form a Wheatstone bridge circuit. Therefore, based on the module volume and cost considerations, the pressure sensing module 40 in the embodiment of the present invention is preferably a strain resistor. The strain resistor is very sensitive to changes in length. When the length changes by 0.000001 times, the resistance value will change measurably. As Figure 2 As shown, when the user pushes or pulls the robot, the main rod 30 will bend very slightly (exaggerated in the figure), causing the length of the strain gauge on the back to deform slightly.

[0075] In the embodiment of the present invention, the pressure sensing module 40 can be connected to a control circuit, which can detect the resistance change of the internal resistance unit of the pressure sensing module 40, and calculate the size of the push-pull vector based on the resistance change. Figure 3As shown, when the two handle bodies are simultaneously stressed, two force push-pull vectors will be generated. This calculation process is executed by the main control module. Taking the strain gauge as an example, when the main rod 30 is stressed and bent, the length of the strain gauge changes, thereby changing its resistance value. Furthermore, the main control module can measure the pressure vector received by the handle body based on the change in the resistance value of the strain gauge, calculate the target motion parameters of the robot according to the pressure vector, and update the moving state of the robot based on the target motion parameters.

[0076] As Figure 4 shown, it is the schematic diagram of the control circuit. Figure 4 It can be seen from [Figure] that the control circuit includes three lines connected in parallel between the input voltage and the ground, the left handle strain gauge, the right handle strain gauge, and resistors R1 to R4. Among them, the resistance values of the left handle strain gauge, the right handle strain gauge, and resistors R1 to R4 are all the same; in the first line, the left handle strain gauge is connected in series with resistor R3; in the second line, resistor R1 is connected in series with resistor R2; in the third line, the right handle strain gauge is connected in series with resistor R4; the main control module is also used to measure the first voltage VL between the left handle strain gauge and resistor R3, the second voltage VREF between resistor R1 and resistor R2, and the third voltage VR between the right handle strain gauge and resistor R4.

[0077] Preferably, the standard resistance value of the strain gauge can be 120 ohms; R1 = R2 = R3 = R4 = 120Ω; the input voltage can be set to 3.3V.

[0078] In the control circuit as described above, the main control module can measure the first voltage VL, the second voltage VREF, and the third voltage VR. Then, since R1 = R2 = 120Ω, the second voltage VREF = 1.65V is determined. When neither of the two handle bodies is stressed, VL = VR = 1.65V. However, when the user pushes the handle body, the resistance of the strain gauge becomes smaller, for example, it may become 119 ohms; when the user pulls the handle body, the resistance of the strain gauge becomes larger, for example, it may become 121 ohms. Therefore, when the left handle strain gauge or the right handle strain gauge is under a pushing force, the first voltage VL or the third voltage VR will be slightly less than 1.65V; when the left handle strain gauge or the right handle strain gauge is under a pulling force, the first voltage VL or the third voltage VR will be slightly greater than 1.65V.

[0079] The main control module measures the first voltage VL, the second voltage VREF, and the third voltage VR, and can then calculate the forces on the left handle body 10 and the right handle body 20 respectively. The formula is expressed as follows:

[0080] FL = (VL - VREF) * GAIN

[0081] FR = (VR - VREF) * GAIN

[0082] Among them, FL represents the force applied to the left handle main body; FR represents the force applied to the right handle main body; VL represents the first voltage; VREF represents the second voltage; VR represents the third voltage; GAIN represents the voltage amplification factor. In practical applications, an amplifier with a magnification of more than 200 times can generally be selected.

[0083] It can be understood that the calculated force FL on the left handle main body 10 and the force FR on the right handle main body 20 may be positive or negative. Based on this, it can be determined whether the force is a pulling force or a pushing force.

[0084] In an alternative embodiment, as Figure 1 shown, capacitive induction touch pads 50 can be provided on the surfaces of the left handle main body 10 and the right handle main body 20. The capacitive induction touch pads 50 can be connected to the main control module to sense whether both hands touch the handle main body at the same time. When touched with one hand, the robot movement cannot be controlled. That is to say, the setting of the capacitive induction touch pads 50 serves as a safety measure. The user must place both hands on the handle at the same time for the resistance change feedback of the pressure sensing module 40 to take effect on the main control module.

[0085] In another alternative embodiment, in order to adapt to various application scenarios of using the robot, the embodiments of the present invention also provide two working modes for the robot-assisted driving, including a pushing mode and a driving mode.

[0086] The pushing mode can provide assistance in a very natural way, magnifying the force of the user's push / pull by many times, making the user feel that they can easily push the robot forward. Different from the traditional wired control and remote control of general remote control cars, the traditional remote control handle only provides button input amounts such as throttle, brake, and steering, without body feeling feedback and the feeling of pushing. However, for the robot-assisted driving handle provided by the embodiments of the present invention in the pushing mode, the robot always moves following the user's two hands: when the hands push forward, the robot moves forward; when the hands pull backward, the robot moves backward; when one hand pushes forward and the other hand pulls backward, the robot will rotate. When the user operates, they will have a feeling that the robot becomes very light, but the feeling of its movement conforms to the relative action of force. That is to say, in the pushing mode, the greater the force applied by the user to the handle main body, the greater the linear acceleration and angular acceleration of the robot's movement.

[0087] In the driving mode, the user can sit on the robot driving vehicle and drive the robot to travel. In the driving mode, the greater the force applied by the user to the handle main body, the greater the linear acceleration and angular velocity of the robot's movement. The main control module can still recognize the user's driving intention based on the force applied to the handle main body and has an active safety strategy. For example, even if the user deliberately crashes into a wall, the robot will actively decelerate gradually to avoid collision.

[0088] It should be noted that in practical applications, an interactive display screen communicatively connected to the main control module can be provided on the robot body, and the user can select and switch the working modes of the robot on the interactive display screen according to actual needs. In another alternative embodiment, the robot-assisted driving handle may further include operation buttons provided on the side of any handle body and communicatively connected to the main control module, which send working mode selection / switching instructions to the main control module in response to different key operations of the user.

[0089] Thereby, the main control module can obtain the working mode and calculate the target motion parameters in combination with the specific working mode to update the moving state of the robot.

[0090] The calculation process of the main control module is described below:

[0091] First, establish a robot coordinate system: the positive right side of the robot body structure is the X direction, the positive front is the Y direction, and the rotation center is (0, 0).

[0092] Based on the robot coordinate system, determine the force application point coordinates of the left handle body 10 and the right handle body 20: the force application point coordinate of the left handle body is P l = (-x, y); the force application point coordinate of the right handle body is P r = (x, y).

[0093] As Figure 5 shown, for an example handle position, P l = (-0.3, 0.4); P r = (0.3, 0.4).

[0094] Furthermore, according to the forces on the left handle body 10 and the right handle body 20, determine the pressure vectors of the left handle body and the right handle body acting on the Y axis: the pressure vector of the left handle body 10 acting on the Y axis is F l = (0, FL); the pressure vector of the right handle body 20 acting on the Y axis is F r = (0, FR).

[0095] As Figure 6 shown, use the force application point coordinates to decompose the pressure vectors to determine the forward / backward forces of the left handle body 10 and the right handle body 20: the forward / backward force of the left handle body 10 is The forward / backward force of the right handle body 20 is

[0096] Since the robot cannot move laterally, the X-axis component of the forward / backward force does not affect the movement. Therefore, only the Y-axis component needs to be considered. That is, further decompose the forward / backward force in the Y-axis direction into the Y-axis component: the Y-axis component of the force on the left handle body 10 is F ly; The Y-axis component of the force on the right handle body 20 is F r y.

[0097] Determine the force F on the robot's movement using the Y-axis components of the forces on the left handle body 10 and the right handle body 20 drive , which is expressed by the formula: F drive = F l y + F r y.

[0098] Furthermore, calculate the target motion parameters of the robot based on the force on the robot's movement; the target motion parameters include linear acceleration and angular acceleration.

[0099] The calculation formula for linear acceleration is as follows:

[0100]

[0101] where, a1 represents linear acceleration; F drive represents the force on the robot's movement; m robot represents the mass of the robot.

[0102] The calculation formula for angular acceleration is as follows:

[0103]

[0104] where, a2 represents angular acceleration; I robot represents the moment of inertia of the robot; τ represents the torque, and the calculation formula is as follows:

[0105] τ = τ l + τ r

[0106]

[0107] where, τ l represents the torque on the left handle body; τ r represents the torque on the right handle body; × represents vector multiplication; () z represents taking the Z-axis component.

[0108] Finally, the main control module can obtain the current speed of the robot and update the moving state of the robot based on the current speed and the target motion parameters. It should be noted that the control of the angular velocity is different under different working modes. In the pushing mode, the robot is controlled by the angular acceleration. That is, the greater the force applied by the user to the handle body, the greater the angular acceleration; when the robot has caught up with the rotation of the human hand and the user stops applying force, it means that the user hopes that the robot will continue to follow the hand rotation at the current angular velocity, so the angular acceleration is zero. In the driving mode, the robot is controlled by the angular velocity. That is, the greater the force applied by the user to the handle body, the greater the angular velocity; when the user stops applying force, it means that the user hopes that the robot will move straight, so the angular velocity is zero.

[0109] Therefore, in the pushing mode, to update the moving state of the robot based on the current speed and the target motion parameters, the calculation formula is as follows:

[0110] v new = v + a1 × t

[0111]

[0112] where, v hew and respectively represent the updated linear velocity and angular velocity of the robot in the pushing mode; v represents the current linear velocity of the robot; w represents the current angular velocity of the robot; a1 represents the linear acceleration; a2 represents the angular acceleration; t represents the sampling period.

[0113] In the driving mode, the angular velocity is directly proportional to the handle torque. Therefore, to update the moving state of the robot based on the current speed and the target motion parameters, the calculation formula is as follows:

[0114] v new = v + a1 × t

[0115]

[0116] where, v new and respectively represent the updated linear velocity and angular velocity of the robot in the driving mode; v represents the current linear velocity of the robot; a1 represents the linear acceleration; k represents the steering sensitivity coefficient of the robot; τ represents the rotational torque; t represents the sampling period.

[0117] It should be noted that the sampling period t is determined by the preset sampling frequency f, that is, t = 1 / f. In practical applications, the sampling frequency f can be set according to actual needs, and the present invention does not limit this.

[0118] An embodiment of the present invention provides a robot-assisted driving handle, which includes: a left handle body and a right handle body mounted on the robot main body structure, a main rod for supporting the mechanical connection between the two handle bodies and the robot main body structure, two pressure sensing modules respectively arranged on the back of the main rod, and a main control module. The main control module includes a control circuit; the main rod is made of a sheet or columnar material that can generate a bending deformation and recover in time when stressed; the pressure sensing module is connected to the control circuit and is used to cause a corresponding length change in the internal resistance unit and a change in the resistance value when the main rod undergoes a bending deformation; the main control module is used to measure the pressure vector received by the handle body based on the change in the resistance value of the pressure sensing module, calculate the target motion parameters of the robot according to the pressure vector, and update the moving state of the robot based on the target motion parameters. Through the present invention, when the user operates the handle body, the pushing and pulling vector can be obtained through the subtle changes of the pressure sensing module, so as to identify the driving intention of the user; by amplifying the force applied by the user, when the robot feels very light to the user, the robot can still move according to the relative action of the force, greatly improving the user experience; in addition, the present invention also proposes two working modes suitable for different robot application scenarios for the user to select according to their needs.

[0119] Further, an embodiment of the present invention also provides a robot-assisted driving system, as Figure 7 shown. The system can at least include a robot 60, a working mode selection module, and a robot-assisted driving handle as Figure 1 described above; the working mode selection module is communicatively connected to the main control module and is used to input the working mode of the robot 60; wherein, the working mode includes a pushing mode and a driving mode.

[0120] Specifically, the working mode selection module in the embodiment of the present invention may include an interactive display screen 70 arranged on the robot main body and / or an operation button 80 arranged on the side end of the handle body of the robot-assisted driving handle; the interactive display screen 70 is used to send a working mode selection / switching instruction to the main control module in response to different touch screen operations of the user; the operation button 80 is used to send a working mode selection / switching instruction to the main control module in response to different button operations of the user.

[0121] As Figure 8As shown, it is the flowchart of the operation of the operation button 80. In the idle state, the user can select the current working mode as the pushing mode by clicking the operation button 80, and select the current working mode as the driving mode by long-pressing the operation button 80 for 3 seconds; in the pushing mode, the user can switch from the current pushing mode to the driving mode by long-pressing the operation button 80 for 3 seconds; in the pushing mode or the driving mode, the user can switch to the idle mode by clicking the operation button 80 or not touching the handle body for 10 seconds. It should be noted that the above settings of the long-pressing time / button presses when using the operation button 80 are only examples, and in actual applications, they can be set according to requirements, and the present invention does not limit this.

[0122] In an optional embodiment, the operation button 80 may also be provided with an LED indicator for characterizing different working modes. For example, in the idle state, the LED indicator is always on; in the driving mode, the LED indicator flashes quickly; in the pushing mode, the LED indicator flashes slowly. Thus, it is more convenient for the user to select or switch different working modes, greatly improving the user experience.

[0123] It should be noted that for other corresponding descriptions of each functional module involved in the robot-assisted driving system provided by the embodiments of the present invention, reference can be made to Figure 1 the corresponding description of the robot-assisted driving handle shown, which will not be elaborated here.

[0124] In addition, in each embodiment of the present invention, the functional units may be physically independent of each other, or two or more functional units may be integrated together, or all the functional units may be integrated in a processing unit. The above integrated functional units may be implemented in the form of hardware, or in the form of software or firmware.

[0125] Those of ordinary skill in the art can understand that if the integrated functional unit is implemented in the form of software 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 invention essentially or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, which includes several instructions for causing a computing device (such as a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present invention when running the instructions. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0126] Alternatively, all or part of the steps of implementing the foregoing method embodiments may be completed by hardware related to program instructions (such as computing devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of the computing device, the computing device executes all or part of the steps of the methods described in the embodiments of the present invention.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that within the spirit and principles of the present invention, it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. These modifications or replacements do not cause the corresponding technical solutions to deviate from the protection scope of the present invention.

Claims

1. A robot-assisted driving handle, characterized in that, The handle includes: a left handle body and a right handle body mounted on the robot main structure, a main rod for supporting the mechanical connection between the two handle bodies and the robot main structure, two pressure sensing modules respectively arranged on the back of the main rod, and a main control module, and the main control module includes a control circuit; The main rod is made of a sheet or columnar material that can generate a bending deformation when stressed and recover in time; The pressure sensing module is connected to the control circuit, and is used for when the main rod generates a bending deformation, the internal resistance unit has a corresponding length change and the resistance value changes; The main control module is used to measure the pressure vector received by the handle body based on the change amount of the resistance value of the pressure sensing module, calculate the target motion parameters of the robot according to the pressure vector, and update the moving state of the robot based on the target motion parameters.

2. The robot-assisted driving handle according to claim 1, wherein The main rod includes a spring steel sheet or a glass fiber sheet; and / or, the pressure sensing module includes a strain resistance sheet or a tension and compression gauge.

3. The robot-assisted driving handle according to claim 1, wherein The main control module is also used to obtain the current working mode of the robot, and update the moving state of the robot in combination with the working mode; Wherein, the working mode includes a pushing mode and a driving mode; In the pushing mode, the greater the force applied by the user to the handle body, the greater the linear acceleration and angular acceleration of the robot's movement; In the driving mode, the greater the force applied by the user to the handle body, the greater the linear acceleration and angular velocity of the robot's movement.

4. The robot-assisted driving handle according to claim 3, wherein The control circuit includes three lines connected in parallel between the input voltage and the ground, a left handle strain resistance sheet, a right handle strain resistance sheet, and resistors R1 to R4; Wherein, the resistance values of the left handle strain resistance sheet, the right handle strain resistance sheet, and the resistors R1 to R4 are all the same; In the first line, the left handle strain resistance sheet is connected in series with resistor R3; In the second line, resistor R1 is connected in series with resistor R2; In the third line, the right handle strain resistance sheet is connected in series with resistor R4; The main control module is also used to measure a first voltage between the left handle strain resistance sheet and resistor R3, a second voltage between resistor R1 and resistor R2, and a third voltage between the right handle strain resistance sheet and resistor R4.

5. The robot-assisted driving handle according to claim 4, wherein, The main control module is also used to calculate the forces on the left handle body and the right handle body respectively according to the first voltage, the second voltage, and the third voltage, and the formula is as follows: FL = (VL - VREF) * GAIN FR = (VR - VREF) * GAIN Wherein, FL represents the force on the left handle body; FR represents the force on the right handle body; VL represents the first voltage; VREF represents the second voltage; VR represents the third voltage; GAIN represents the voltage amplification factor; The main control module is also used to establish a robot coordinate system, and determine the force point coordinates of the left handle body and the right handle body based on the robot coordinate system; Wherein, the robot coordinate system is: the positive right side of the robot main structure is the X direction, the positive front is the Y direction, and the rotation center is (0, 0); The coordinate of the force application point on the left handle body is P l = (-x, y); The coordinate of the force application point on the right handle body is P r =(x, y); The main control module is further configured to determine the pressure vectors of the left handle body and the right handle body acting on the Y-axis according to the forces on the left handle body and the right handle body; decompose the pressure vectors by using the force application point coordinates to determine the forward / backward forces of the left handle body and the right handle body, and further decompose the forward / backward forces into Y-axis components in the Y-axis direction; and determine the forces on the robot movement by using the Y-axis components of the forces on the left handle body and the right handle body. Among them, the pressure vector of the left handle body acting on the Y-axis is F l =(0, FL); The pressure vector exerted by the right handle body on the Y-axis is F r =(0, FR); The forward / backward force of the left handle main body is The forward / backward force of the right handle main body is The Y-axis component of the force on the left handle body is F l y; the Y-axis component of the force on the right handle body is F r y; The force on the robot's movement is F drive = F l y + F r y.

6. The robot-assisted driving handle according to claim 5, wherein, The main control module is further configured to calculate the target motion parameters of the robot according to the forces on the robot movement; the target motion parameters include linear acceleration and / or angular acceleration. The calculation formula of the linear acceleration is as follows: Among them, a1 represents the linear acceleration; F drive represents the force on the robot during movement; m robot represents the mass of the robot; and / or The calculation formula of the angular acceleration is as follows: where, a2 represents angular acceleration; I robot represents the moment of inertia of the robot; τ represents the rotational torque, and the calculation formula is as follows: τ = τ l + τ r Among them, τ l represents the torque on the left handle main body; τ r represents the torque on the right handle main body; × represents vector multiplication; () z represents taking the Z-axis component.

7. The robot-assisted driving handle according to claim 6, wherein The main control module is further configured to obtain the current speed of the robot, and update the movement state of the robot based on the current speed and the target motion parameters. The calculation formula is as follows: v new = v + a1 × t Among them, v new and Respectively represent the updated linear velocity and angular velocity of the robot in the push mode; v new and They represent the updated linear velocity and angular velocity of the robot in driving mode respectively; v represents the current linear velocity of the robot; w represents the current angular velocity of the robot; k represents the steering sensitivity coefficient of the robot; f represents the sampling frequency; t represents the sampling period; and τ represents the rotational torque.

8. The robot-assisted driving handle according to any one of claims 1 to 7, characterized in that A capacitive induction touch pad is provided on the surface of the handle body; the capacitive induction touch pad is connected to the main control module. The capacitive induction touch pad is used to sense whether both hands touch the handle body at the same time, and the robot movement cannot be controlled when only one hand touches.

9. A robot-assisted driving system, characterized in that, It includes a robot, a working mode selection module, and a robot auxiliary driving handle according to any one of claims 1 to 8. The working mode selection module is communicatively connected to the main control module and is used to input the working mode of the robot. Wherein, the working mode includes a pushing mode and a driving mode.

10. The robot-assisted driving system according to claim 9, characterized in that, The working mode selection module includes an interactive display screen provided on the robot body and / or operation buttons provided at the side end of the handle body of the robot auxiliary driving handle. The interactive display screen is used to send a working mode selection / switching instruction to the main control module in response to different touch screen operations of the user. The operation buttons are used to send a working mode selection / switching instruction to the main control module in response to different button operations of the user.

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