Vibration reduction method, transfer robot and vibration reduction device

Abstract

The embodiment of the invention provides a vibration reduction method, a transfer robot and a vibration reduction device, and relates to the technical field of robots. According to the specific implementation scheme, when the carrying robot moves to a preset goods taking position, material information, collected by image collection equipment, of to-be-carried materials is obtained; on the basis of the obtained material information, the inherent frequency of the to-be-carried material is determined; if the current inherent frequency of the magneto-rheological damper is within the resonance interval corresponding to the inherent frequency of the to-be-carried material, the current of the magneto-rheological damper is adjusted, so that the adjusted inherent frequency of the magneto-rheological damper is outside the resonance interval, and damping preparation is provided for carrying the to-be-carried material; wherein the resonance interval represents a frequency interval which resonates with the to-be-carried material. Therefore, according to the scheme, the damping requirement during carrying of different objects can be met.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a vibration reduction method, a handling robot, and a vibration reduction device. Background Art

[0002] In warehousing and logistics scenarios, handling robots are usually used to transport materials.

[0003] At present, most handling robots install vibration-damping suspensions on the chassis drive components to achieve vibration reduction. The vibration reduction characteristics are single and cannot meet the vibration reduction needs when handling different types of fragile items. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a vibration reduction method, a handling robot, and a vibration reduction device to meet the vibration reduction requirements when handling different types of materials to be handled. The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a vibration reduction method applied to a main control unit of a transport robot, wherein the transport robot is further provided with an image acquisition device and a magnetorheological vibration damper, wherein the magnetorheological vibration damper is provided at the bottom of a storage space for placing materials; the method comprises:

[0006] When the transport robot moves to a preset pickup position, the material information of the material to be transported acquired by the image acquisition device is acquired;

[0007] Based on the acquired material information, determine the natural frequency of the material to be transported;

[0008] If the current natural frequency of the magneto-rheological damper is within a resonance range corresponding to the natural frequency of the material to be transported, the current of the magneto-rheological damper is adjusted so that the natural frequency of the magneto-rheological damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range represents a frequency range that resonates with the material to be transported.

[0009] Optionally, the transport robot is further provided with a vibration detection device for detecting vibration data representing a vibration state of the transport robot; the method further comprises:

[0010] When a preset detection time is reached, determining whether the vibration data detected by the vibration detection device meets a first safety condition;

[0011] If not, the current of the magnetorheological damper is adjusted so that the vibration data detected by the vibration detection device after the adjustment meets the second safety condition.

[0012] Optionally, the vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration and excitation frequency;

[0013] In a case where the vibration data detected by the vibration detection device includes displacement, the first safety condition includes: the detected displacement is less than a preset displacement; in a case where the vibration data detected by the vibration detection device includes speed, the first safety condition includes: the detected speed is less than a preset speed; in a case where the vibration data detected by the vibration detection device includes acceleration, the first safety condition includes: the detected acceleration is less than a preset acceleration; in a case where the vibration data detected by the vibration detection device includes excitation frequency, the first safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold; wherein, in a case where no material is placed in the storage space, the overall natural frequency is the natural frequency of the magnetorheological damper, and in a case where material is placed in the storage space, the overall natural frequency is the natural frequency of the whole composed of the magnetorheological damper and the material placed in the storage space;

[0014] and / or,

[0015] When the vibration data detected by the vibration detection device includes displacement, the second safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the second safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the second safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the second safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold.

[0016] Optionally, the resonance interval represents a frequency interval greater than a specified frequency, the specified frequency is a ratio of the natural frequency of the material to be transported to a predetermined coefficient, and the predetermined coefficient is greater than or equal to 2.5.

[0017] Optionally, the image acquisition device is a binocular camera, and the material information includes material and size;

[0018] The obtaining of material information of the material to be transported acquired by the image acquisition device includes:

[0019] Obtaining the material and size of the material to be transported captured by the binocular camera;

[0020] The determining of the natural frequency of the material to be transported based on the acquired material information includes:

[0021] Calculate the mass and stiffness of the material to be transported based on the acquired material and size;

[0022] The natural frequency of the material to be transported is calculated according to the mass and stiffness of the material to be transported and the damping coefficient represented by the acquired material.

[0023] Optionally, the image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material and size;

[0024] The obtaining of material information of the material to be transported acquired by the image acquisition device includes:

[0025] Obtaining the material and size of the material to be transported obtained by the code reading camera identifying the information code;

[0026] The determining of the natural frequency of the material to be transported based on the acquired material information includes:

[0027] Calculate the mass and stiffness of the material to be transported based on the acquired material and size;

[0028] Calculating the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the damping coefficient characterized by the obtained material;

[0029] or,

[0030] The image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material information, and the material information includes the natural frequency of the material to be transported;

[0031] The obtaining of material information of the material to be transported acquired by the image acquisition device includes:

[0032] Obtaining material information obtained by the code reading camera identifying the information code;

[0033] The determining of the natural frequency of the material to be transported based on the acquired material information includes:

[0034] From the acquired material information, the natural frequency of the material to be transported is determined.

[0035] In a second aspect, an embodiment of the present application provides a handling robot, comprising an image acquisition device, a magnetorheological damper, and a main control unit, wherein the magnetorheological damper is disposed at the bottom of a storage space for placing materials;

[0036] The image acquisition device is used to collect material information of the material to be transported when the transport robot moves to the preset pickup position;

[0037] The main control unit is used to execute the vibration reduction method described in the first aspect above;

[0038] The magnetorheological damper is used to work under the control of the main control unit.

[0039] Optionally, a vibration detection device is also included;

[0040] The vibration detection device is used to detect vibration data representing the vibration state of the transport robot.

[0041] Optionally, the image acquisition device is a binocular camera for acquiring the material and size of the material to be transported, or a code reading camera for identifying an information code representing material information set on the material to be transported.

[0042] Optionally, the magnetorheological vibration damper includes a base, a lower excitation magnet, a lower plane PCB coil, a magnetorheological elastomer, an upper plane PCB coil, an upper excitation magnet and a table;

[0043] The lower excitation magnet is arranged above the base, and there is a protrusion in the center of the upper surface of the lower excitation magnet. The lower plane PCB coil is sleeved on the protrusion of the lower excitation magnet through the through hole in the center. The magnetorheological elastomer is arranged above the lower plane PCB coil, and the upper plane PCB coil is arranged above the magnetorheological elastomer. The upper excitation magnet is inserted into the through hole in the center of the upper plane PCB coil through the protrusion in the center of the lower surface, and the table is arranged above the upper excitation magnet.

[0044] In a third aspect, an embodiment of the present application provides a vibration damping device applied to a main control unit of a handling robot, wherein the handling robot is further provided with an image acquisition device and a magnetorheological vibration damper, wherein the magnetorheological vibration damper is provided at the bottom of a storage space for placing materials; the device comprises:

[0045] an acquisition module, configured to acquire material information of the material to be transported captured by the image acquisition device when the transport robot moves to a preset pickup position;

[0046] A natural frequency determination module, used to determine the natural frequency of the material to be transported based on the acquired material information;

[0047] The first adjustment module is configured to adjust the current of the magneto-rheological vibration damper if the current natural frequency of the magneto-rheological vibration damper is within a resonance range corresponding to the natural frequency of the material to be transported, so that the natural frequency of the magneto-rheological vibration damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range represents a frequency range that resonates with the material to be transported.

[0048] Optionally, the transport robot is further provided with a vibration detection device for detecting vibration data representing a vibration state of the transport robot; the device further comprises:

[0049] a judgment module, configured to judge whether the vibration data detected by the vibration detection device meets a first safety condition when a preset detection time is reached;

[0050] The second adjustment module is configured to adjust the current of the magnetorheological damper if the condition is not satisfied, so that the vibration data detected by the vibration detection device after the adjustment satisfies the second safety condition.

[0051] Optionally, the vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration and excitation frequency;

[0052] In a case where the vibration data detected by the vibration detection device includes displacement, the first safety condition includes: the detected displacement is less than a preset displacement; in a case where the vibration data detected by the vibration detection device includes speed, the first safety condition includes: the detected speed is less than a preset speed; in a case where the vibration data detected by the vibration detection device includes acceleration, the first safety condition includes: the detected acceleration is less than a preset acceleration; in a case where the vibration data detected by the vibration detection device includes excitation frequency, the first safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold; wherein, in a case where no material is placed in the storage space, the overall natural frequency is the natural frequency of the magnetorheological damper, and in a case where material is placed in the storage space, the overall natural frequency is the natural frequency of the whole composed of the magnetorheological damper and the material placed in the storage space;

[0053] and / or,

[0054] When the vibration data detected by the vibration detection device includes displacement, the second safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the second safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the second safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the second safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold.

[0055] Optionally, the resonance interval represents a frequency interval greater than a specified frequency, the specified frequency is a ratio of the natural frequency of the material to be transported to a predetermined coefficient, and the predetermined coefficient is greater than or equal to 2.5.

[0056] Optionally, the image acquisition device is a binocular camera, and the material information includes material and size;

[0057] The acquisition module includes:

[0058] The first acquisition submodule is used to obtain the material and size of the material to be transported captured by the binocular camera;

[0059] The natural frequency determination module includes:

[0060] A first calculation submodule is used to calculate the mass and stiffness of the material to be transported according to the acquired material and size;

[0061] The second calculation submodule is used to calculate the natural frequency of the material to be transported according to the mass and stiffness of the material to be transported and the acquired damping coefficient represented by the material.

[0062] Optionally, the image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material and size;

[0063] The acquisition module includes:

[0064] The second acquisition submodule is used to obtain the material and size of the material to be transported obtained by the code reading camera identifying the information code;

[0065] The natural frequency determination module includes:

[0066] A third calculation submodule is used to calculate the mass and stiffness of the material to be transported based on the acquired material and size;

[0067] a fourth calculation submodule, configured to calculate the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the damping coefficient characterized by the acquired material;

[0068] or,

[0069] The image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material information, and the material information includes the natural frequency of the material to be transported;

[0070] The acquisition module is specifically used to obtain the material information obtained by the code reading camera identifying the information code;

[0071] The natural frequency determination module is specifically used to determine the natural frequency of the material to be transported from the acquired material information.

[0072] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0073] Memory for storing computer programs;

[0074] The processor is configured to implement the vibration reduction method described in the first aspect when executing the program stored in the memory.

[0075] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vibration reduction method described in the first aspect is implemented.

[0076] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes executable instructions. When the executable instructions are executed on a computer, the computer executes the vibration reduction method described in the first aspect above.

[0077] Beneficial effects of the embodiments of the present application:

[0078] In the solution provided by the embodiments of the present application, if the current natural frequency of the MR damper is within the resonance range corresponding to the natural frequency of the material being handled, it indicates that the MR damper will resonate with the material being handled when operating at the current natural frequency. In this case, adjusting the current of the MR damper can change the current stiffness of the MR damper, thereby changing the natural frequency of the MR damper after adjustment. When the natural frequency of the MR damper after adjustment is outside the resonance range, adjusting the current of the MR damper is stopped, so that the current natural frequency of the MR damper avoids the frequency range that resonates with the material being handled. This allows the handling robot to reduce resonance when handling the material and thus adapt to the vibration reduction requirements of the material being handled. Furthermore, since different types of materials being handled have different natural frequencies and corresponding resonance ranges, this solution can determine the current to which the MR damper should be adjusted based on the resonance range corresponding to the natural frequency of the material being handled. Therefore, this solution can meet the vibration reduction requirements of different types of materials being handled.

[0079] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0081] Figure 1 A flowchart of a vibration reduction method provided in an embodiment of the present application;

[0082] Figure 2 A cross-sectional view of a magnetorheological damper provided in an embodiment of the present application;

[0083] Figure 3 A flowchart of another vibration reduction method provided in an embodiment of the present application;

[0084] Figure 4 A schematic diagram of the composition of an active vibration reduction structure of a handling robot provided in an embodiment of the present application;

[0085] Figure 5 A flow chart of the control logic of a planar magnetorheological elastomer vibration damper provided in an embodiment of the present application during operation;

[0086] Figure 6A An overall schematic diagram of a transport robot provided in an embodiment of the present application;

[0087] Figure 6B An overall schematic diagram of another transport robot provided in an embodiment of the present application;

[0088] Figure 7 A flowchart of a specific example of the vibration reduction method provided in an embodiment of the present application;

[0089] Figure 8 A schematic structural diagram of a transport robot provided in an embodiment of the present application;

[0090] Figure 9 A schematic structural diagram of a vibration reduction device provided in an embodiment of the present application;

[0091] Figure 10 A block diagram of an electronic device for implementing the vibration reduction method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0093] A vibration reduction method provided in an embodiment of the present application is applied to the main control unit of a handling robot. The main control unit can be a component with data processing capabilities such as a processor. The handling robot is also provided with an image acquisition device and a magnetorheological damper. The magnetorheological damper is provided at the bottom of the storage space for placing materials. It can be understood that by providing a magnetorheological damper at the bottom of the storage space for placing materials on the handling robot, the handling robot can weaken the vibration of the bottom of the storage space for placing materials through the damping force generated by the magnetorheological damper when handling materials, thereby achieving a vibration reduction effect.

[0094] like Figure 1 As shown, the vibration reduction method provided in the embodiment of the present application includes steps S101-S103:

[0095] S101, when the transport robot moves to a preset pickup position, obtains material information of the material to be transported captured by an image acquisition device;

[0096] It can be understood that when the transport robot performs a picking operation, it first needs to move to the picking position indicated by the picking operation, that is, the peripheral position of the storage location of the material to be transported targeted by the picking operation. The peripheral position is the preset picking position in this application.

[0097] In actual applications, when the transport robot moves to a preset pickup location, the loading and unloading mechanism on the transport robot performs the pickup operation. At this point, the image acquisition device mounted on the loading and unloading mechanism captures material information of the material to be transported, and the main control unit obtains this material information from the image acquisition device. For example, the material information of the material to be transported may include the natural frequency of the material to be transported; alternatively, it may include information such as size and material from which the natural frequency can be calculated, so that the main control unit can calculate the natural frequency of the material to be transported after obtaining the material information captured by the image acquisition device.

[0098] S102, determining the natural frequency of the material to be transported based on the acquired material information;

[0099] It is understood that after acquiring the material information captured by the image acquisition device, the main control unit can determine the natural frequency of the material to be transported based on the acquired material information. For example, the acquired material information may include the natural frequency of the material to be transported, and accordingly, the main control unit can extract the natural frequency of the material to be transported from the acquired material information. Alternatively, the acquired material information may include information such as the size and material of the material to be transported that can be used to calculate the natural frequency, and accordingly, the main control unit can calculate the natural frequency of the material to be transported using the acquired material information.

[0100] Exemplarily, the image acquisition device may be an image recognition sensor such as a binocular camera or a code reading camera.

[0101] In one implementation, the image acquisition device is a binocular camera, and the material information includes material and size;

[0102] Accordingly, in this implementation, obtaining the material information of the material to be transported acquired by the image acquisition device in step S101 may include step A1:

[0103] A1, obtains the material and size of the material to be transported captured by the binocular camera;

[0104] Step S102 may include step A2 and step A3:

[0105] A2, calculates the mass and stiffness of the material to be transported based on the acquired material and size;

[0106] A3, calculate the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the damping coefficient represented by the obtained material.

[0107] It is understandable that a binocular camera can identify the material and three-dimensional information of an object. Therefore, if the image acquisition device is a binocular camera, the material and size of the material to be transported can be collected as the material information of the material to be transported.

[0108] Since the density, elastic modulus, Poisson's ratio, and damping coefficient of an object are all related to the material of the object, the density, elastic modulus, Poisson's ratio, and damping coefficient of the material to be transported can be determined after the material of the material to be transported is identified. For example, in actual applications, information such as the density, elastic modulus, Poisson's ratio, and damping coefficient corresponding to each material can be pre-stored in a designated storage location. After the material of the material to be transported is identified, the density, elastic modulus, Poisson's ratio, and damping coefficient corresponding to the material can be obtained from the designated storage location. Thus, after the material of the material to be transported is identified, the density, elastic modulus, Poisson's ratio, and damping coefficient of the material to be transported can be directly determined.

[0109] The mass of the material to be transported can be calculated based on its density and size. Furthermore, since the stiffness of an object is related to its elastic modulus, Poisson's ratio, and size, the stiffness of the material to be transported can also be calculated based on its elastic modulus, Poisson's ratio, and size. For example, if the material to be transported is a rectangular box, the stiffness calculation formula for the material to be transported is:

[0110]

[0111] Among them, K1 is the stiffness of the material to be transported, E is the elastic modulus of the material to be transported, b is the width of the material to be transported, L is the length of the material to be transported, h is the wall thickness of the material to be transported, and v is the Poisson's ratio of the material to be transported.

[0112] For example, after calculating the mass and stiffness of the material to be transported, the natural frequency of the material to be transported can be calculated using the following formula:

[0113]

[0114] Among them, f n1 is the natural frequency of the material to be transported, K1 is the stiffness of the material to be transported, m1 is the mass of the material to be transported, and ξ1 is the damping coefficient of the material to be transported.

[0115] For example, in one implementation, information such as the stiffness, mass, and damping coefficient of the material to be transported can be acquired in advance through numerical analysis or experimental measurement, and the acquired stiffness, mass, and damping coefficient information can be recorded in association with the material and size of the material to be transported, or in association with an image of the material to be transported captured by a binocular camera. In other words, the correspondence between the acquired stiffness, mass, and damping coefficient information of each material and its material and size is recorded in the background information database, or the correspondence between the acquired stiffness, mass, and damping coefficient information of each material and its image is recorded. After the binocular camera captures an image of the material to be transported, the stiffness, mass, damping coefficient and other information of the material to be transported can be obtained by retrieving the corresponding relationship recorded in the background information library; or, based on the image of the material to be transported captured by the binocular camera, a pre-trained AI (Artificial Intelligence) large model is used to predict the stiffness, mass and other information of the material to be transported; the AI ​​large model is trained based on sample material images and labels, and the label of each sample material image represents the stiffness, mass and other information of the material represented by the sample material image.

[0116] In another implementation, the image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material and size;

[0117] Accordingly, in this implementation, obtaining the material information of the material to be transported acquired by the image acquisition device in step S101 may include step B1:

[0118] B1, obtaining the material and size of the material to be transported by recognizing the information code with a barcode reader;

[0119] Step S102 may include step B2 and step B3:

[0120] B2, calculate the mass and stiffness of the material to be transported based on the obtained material and size;

[0121] B3. Calculate the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the damping coefficient represented by the obtained material.

[0122] It is understood that if the material being transported is provided with an information code, such as a barcode, indicating its material and size, a barcode reader camera can be used to identify the information code to obtain the material and size of the material being transported. It is understood that if the barcode reader camera identifies the information code to obtain the material and size of the material being transported, the specific implementation of steps B2-B3 can refer to the relevant description of steps A2-A3 above and will not be repeated here.

[0123] In another implementation, the image acquisition device is a code reading camera, and an information code representing material information is provided on the material to be transported, and the material information includes the natural frequency of the material to be transported.

[0124] Accordingly, in this implementation, obtaining the material information of the material to be transported acquired by the image acquisition device in step S101 may include step C1:

[0125] C1, obtain the material information obtained by the code reading camera identifying the information code;

[0126] Step S102 may include step C2:

[0127] C2, determine the natural frequency of the material to be transported from the acquired material information.

[0128] It is understood that the material information represented by the information code set on the material to be transported may include the natural frequency of the material to be transported. In one embodiment, the material information represented by the information code may also include other information besides the natural frequency, such as the type of material to be transported. Accordingly, after the main control unit obtains the material information obtained by the code reader camera through identification of the information code, the natural frequency of the material to be transported can be extracted from the obtained material information. In another embodiment, the material information represented by the information code is the natural frequency of the material to be transported. Accordingly, the main control unit can directly obtain the natural frequency of the material to be transported obtained by the code reader camera through identification of the information code. That is, the obtained material information is directly determined as the natural frequency of the material to be transported.

[0129] In practical applications, the material information contained in the information code may include information such as material and dimensions that can be used to calculate the mass and stiffness of the material to be transported. It may also include information such as the mass, stiffness, and damping coefficient of the material to be transported that can be used to calculate the natural frequency, or it may directly include the natural frequency. It is understood that the material information such as material, dimensions, or natural frequency in the information code representing the material information set on the material to be transported can be information pre-recorded by relevant technicians for each type of material.

[0130] It's understandable that if the material information contained in the information code is a natural frequency, the natural frequency read by the barcode reader is the actual natural frequency, rather than a calculated frequency based on the identified material and dimensions. In this case, the natural frequency obtained by the barcode reader is more accurate than the natural frequency calculated using the material information obtained by the binocular camera.

[0131] S103: If the current natural frequency of the magnetorheological damper is within a resonance range corresponding to the natural frequency of the material to be transported, adjust the current of the magnetorheological damper so that the natural frequency of the magnetorheological damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range refers to a frequency range that resonates with the material to be transported.

[0132] In this embodiment, the current natural frequency of the MR damper can be calculated based on the current flowing through it. It is understood that when the current flowing through the MR damper changes, the electromagnetic reaction generates magnetic fields of varying strengths, causing the stiffness of the MR damper to change, thereby changing its natural frequency and achieving different vibration damping effects. Specifically, when the current flowing through the MR damper is adjusted so that its natural frequency falls outside the frequency range that resonates with the material being handled, a better vibration damping effect can be achieved. This provides vibration damping for subsequent handling of the material. After the loading and unloading actuator on the handling robot has grasped the material, it can then carry the material to its destination. Since the adjusted natural frequency of the MR damper falls outside the resonance range, the handling robot can reduce resonance when handling the material, thereby adapting to the vibration damping requirements of the material being handled.

[0133] For example, in actual applications, the magnetorheological damper is controlled by a controller. The main control unit can read the current of the magnetorheological damper from the controller that controls the magnetorheological damper, and then calculate the current stiffness of the magnetorheological damper based on the conversion formula between current and stiffness. The conversion formula between the current current and the current stiffness of the magnetorheological damper is as follows:

[0134]

[0135] Among them, k2 is the current stiffness of the magnetorheological damper; β is the stiffness coefficient of the magnetorheological damper, which is related to the material of the magnetorheological damper; G0 is the initial shear modulus of the magnetorheological damper when there is no magnetic field; α and n are material characteristic parameters, which are related to the magnetic particle concentration and matrix material of the magnetorheological damper; N is the number of turns of the excitation coil in the magnetorheological damper; I is the current current of the magnetorheological damper, L e is the effective magnetic path length.

[0136] It is understandable that the current natural frequency of the magnetorheological damper is related to the current damping ratio, mass, and stiffness of the magnetorheological damper. The current damping ratio of the magnetorheological damper is related to the current current I of the magnetorheological damper. The calculation formula of the current damping ratio of the magnetorheological damper is:

[0137]

[0138] ξ2 is the current damping ratio of the MR damper; ξ0 is the zero-field damping ratio of the MR damper (i.e., the damping ratio when the magnetic field is 0), which is a fixed value; α and n are material characteristic parameters, which are related to the magnetic particle concentration and matrix material of the MR damper; N is the number of turns of the excitation coil in the MR damper; I is the current current of the MR damper, L e is the effective magnetic path length, and μ is the magnetic permeability of the material. After calculating the current stiffness of the magnetorheological damper, the current natural frequency of the magnetorheological damper can be calculated using the following formula:

[0139]

[0140] Among them, f n2 is the current natural frequency of the MR damper, K2 is the current stiffness of the MR damper, m2 is the mass of the MR damper, and ξ2 is the current damping ratio of the MR damper. The current stiffness of the MR damper is related to the current flowing through it. When the current increases, the current stiffness of the MR damper increases, and the current natural frequency of the MR damper also increases.

[0141] In practical applications, the mass and zero-field damping ratio of the magnetorheological damper can be pre-recorded in a designated storage location, so that when the current natural frequency of the magnetorheological damper needs to be determined, the zero-field damping ratio and mass of the magnetorheological damper can be obtained from the designated storage location to calculate the natural frequency.

[0142] The resonance range corresponding to the natural frequency of the material being transported is the frequency range that needs to be avoided. When the natural frequency of the MR damper is within this resonance range, it is likely to resonate with the material being transported. Therefore, if the current natural frequency of the MR damper is within the resonance range corresponding to the natural frequency of the material being transported, the current of the MR damper needs to be adjusted to adjust the natural frequency of the MR damper. This adjustment will allow the natural frequency of the MR damper to avoid the frequency range that resonates with the material being transported, thereby achieving the desired vibration reduction effect.

[0143] In one implementation, the resonance interval represents a frequency interval greater than a specified frequency, the specified frequency being a ratio of a natural frequency of the material to be transported to a predetermined coefficient, the predetermined coefficient being greater than or equal to 2.5;

[0144] In one embodiment, the predetermined coefficient is 2.5, and the specified frequency is f n1 / 2.5, the lower limit of the resonance range corresponding to the natural frequency of the material to be transported is f n1 / 2.5, f n1 It is understandable that, in practical applications, the range of the resonance interval corresponding to the natural frequency of the material to be transported can also be set by relevant technicians based on experience, and the embodiments of the present application are not limited thereto.

[0145] For example, when the predetermined coefficient is 2.5, the method of adjusting the current of the magnetorheological damper may include: setting the current less than or equal to f n1 / 2.5 is set as the target value of the natural frequency to which the magnetorheological damper needs to be adjusted, and the current value to which the magnetorheological damper needs to be adjusted when the target value is reached is directly calculated, and the current of the magnetorheological damper is adjusted to the calculated current value. Alternatively, the method of adjusting the current of the magnetorheological damper may also include: setting the current value less than or equal to f n1 It is reasonable to set any frequency of / 2.5 as the target value of the natural frequency to which the magnetorheological damper needs to be adjusted, and input the target value as input data into the PID (Proportional Integral Derivative) control algorithm to adjust the current of the magnetorheological damper using the PID control algorithm.

[0146] It is understandable that if the current natural frequency of the magnetorheological damper is within the resonance range corresponding to the natural frequency of the material to be transported, it means that the magnetorheological damper is likely to resonate with the material to be transported at the current natural frequency. At this time, in order to reduce the vibration of the handling robot when handling the material to be transported, the current current of the magnetorheological damper can be adjusted in advance to change the stiffness of the magnetorheological damper, thereby changing the current natural frequency of the magnetorheological damper, thereby avoiding the resonance range corresponding to the natural frequency of the material to be transported. Then, when the handling robot subsequently transports the material to be transported, the probability of resonance is reduced, thereby being able to adapt to the vibration reduction requirements of the material to be transported. In this way, safe handling can be achieved and handling efficiency can be improved.

[0147] In practical applications, an initial current can be set for the magnetorheological damper. The current value of the initial current is a default value set by relevant technicians. If the current natural frequency of the magnetorheological damper is outside the resonance range corresponding to the natural frequency of the material to be transported when the handling robot moves to the preset pickup position, the current of the magnetorheological damper is kept unchanged.

[0148] Furthermore, in practical applications, a magnetorheological damper can be composed of an excitation coil and a magnetorheological material. Adjusting the current flowing through the magnetorheological damper is equivalent to adjusting the coil current of the excitation coil. The magnetorheological material can be a magnetorheological fluid, a magnetorheological elastomer, or the like. The embodiments of this application do not limit the specific structure of the magnetorheological damper.

[0149] In one implementation, the cross-sectional view of the magnetorheological damper is as follows: Figure 2 As shown, the magnetorheological damper includes a base 201, a lower excitation magnet 202, a lower plane PCB (Printed Circuit Board) coil 203, a magnetorheological elastomer 204, an upper plane PCB coil 205, an upper excitation magnet 206 and a table 207;

[0150] The lower excitation magnet 202 is disposed above the base 201 . The center of the upper surface of the lower excitation magnet 202 has a protrusion. The lower planar PCB coil 203 is sleeved on the protrusion of the lower excitation magnet 202 through the through hole in the center. Figure 2 The space where the protrusion at the center of the upper surface of the middle lower excitation magnet 202 is located is the through-hole at the center of the lower PCB coil 203. The magnetorheological elastomer 204 is positioned above the lower PCB coil 203, and the upper PCB coil 205 is positioned above the magnetorheological elastomer 204. The upper excitation magnet 206 is plugged into the through-hole at the center of the upper PCB coil 205 via the protrusion at the center of the lower surface. Figure 2The space where the protrusion at the center of the lower surface of the upper excitation magnet 206 is located is the through hole at the center of the upper planar PCB coil 205. The table 207 is arranged above the upper excitation magnet 206. In addition, a housing 208 is also provided on the side of the base 201 to the table 207.

[0151] In this implementation, the upper and lower planar PCB coils are distinguished by their relative position. By adjusting the current flowing through the planar PCB coils, the magnetic field can be adjusted, thereby varying the MR damper's damping parameters, such as stiffness and natural frequency. Due to their thinner size, MR dampers constructed using these coils are compact and can be used in a wider range of handling robots, making them suitable for a wide range of scenarios.

[0152] It can be understood that by providing a through hole in the center of the planar PCB coil, the planar PCB coil can be fixed on the excitation body, and the protrusion in the center of the excitation body is inserted into the through hole in the center of the planar PCB coil, which can improve the magnetic conductivity effect, so that when the current changes, the magnetic field can change significantly, thereby improving the vibration reduction sensitivity of the magnetorheological damper.

[0153] In the solution provided by the embodiments of the present application, if the current natural frequency of the MR damper is within the resonance range corresponding to the natural frequency of the material being handled, it indicates that the MR damper will resonate with the material being handled when operating at the current natural frequency. In this case, adjusting the current of the MR damper can change the current stiffness of the MR damper, thereby changing the natural frequency of the MR damper after adjustment. When the natural frequency of the MR damper after adjustment is outside the resonance range, adjusting the current of the MR damper is stopped, so that the current natural frequency of the MR damper avoids the frequency range that resonates with the material being handled. This allows the handling robot to reduce resonance when handling the material and thus adapt to the vibration reduction requirements of the material being handled. Furthermore, since different types of materials being handled have different natural frequencies and corresponding resonance ranges, this solution can determine the current to which the MR damper should be adjusted based on the resonance range corresponding to the natural frequency of the material being handled. Therefore, this solution can meet the vibration reduction requirements of different types of materials being handled.

[0154] Optionally, in another embodiment of the present application, the transport robot is further provided with a vibration detection device for detecting vibration data representing the vibration state of the transport robot; Figure 1 Based on the embodiment shown, Figure 3 As shown, the above vibration reduction method may further include steps S301-S302:

[0155] S301, when a preset detection time is reached, determining whether the vibration data detected by the vibration detection device meets a first safety condition;

[0156] S302: If the condition is not satisfied, adjust the current of the magnetorheological damper so that the vibration data detected by the vibration detection device after the adjustment meets the second safety condition.

[0157] In this embodiment, steps S301 and S302 may be performed after the transport robot has completed grabbing the material to be transported, that is, steps S301 and S302 may be performed when the transport robot is loaded with material. Alternatively, steps S301 and S302 may be performed when the transport robot is empty.

[0158] The first safety condition and the second safety condition both represent conditions that enable the transport robot to operate safely. The first safety condition serves as a criterion for determining whether current adjustment is necessary, while the second safety condition serves as a condition for stopping current adjustment. In practical applications, the first and second safety conditions can be the same or different.

[0159] The preset detection moment can be a detection moment determined according to a predetermined period, which can be 100ms, 200ms, etc. At this time, the vibration detection device can periodically collect vibration data of the handling robot and determine whether the vibration data detected by the vibration detection device meets the first safety condition.

[0160] Exemplarily, the vibration detection device may include one or more of a displacement-type vibration detection sensor, a velocity-type vibration detection sensor, and an acceleration-type vibration detection sensor. Accordingly, the vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration, and excitation frequency. The embodiments of the present application do not limit the specific type of vibration detection device. In actual applications, the vibration detection device can be set on the chassis of the handling robot to detect the vibration data of the handling robot.

[0161] It is understood that if the acquired vibration data does not meet the first safety condition, it indicates a high level of vibration, requiring vibration reduction. To do this, the current in the magnetorheological damper can be adjusted to adjust its stiffness. When the stiffness of the magnetorheological damper changes, the current vibration data of the handling robot will also change. At this point, the current vibration data of the handling robot can be acquired again, and the determination of whether the new vibration data meets the second safety condition can be continued. Current adjustment is stopped until the acquired vibration data meets the second safety condition. At this point, the vibration level of the handling robot is reduced, achieving a vibration reduction effect. If the acquired vibration data meets the first safety condition, vibration data detection continues.

[0162] In one implementation, the vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration, and excitation frequency;

[0163] When the vibration data detected by the vibration detection device includes displacement, the first safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the first safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the first safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the first safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold; wherein, when no material is placed in the storage space, the overall natural frequency is the natural frequency of the magnetorheological damper, and when material is placed in the storage space, the overall natural frequency is the natural frequency of the whole composed of the magnetorheological damper and the material placed in the storage space;

[0164] and / or,

[0165] When the vibration data detected by the vibration detection device includes displacement, the second safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the second safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the second safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the second safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than the preset threshold.

[0166] In one implementation, the preset threshold is a threshold at which the magnetorheological damper achieves vibration isolation. It is understood that when the transmissibility T satisfies T<1, the magnetorheological damper achieves vibration isolation. The transmissibility describes the ratio of vibration energy transmitted through the magnetorheological damper and is expressed as:

[0167]

[0168] Where T is the transmissibility, f is the excitation frequency, and f n is the current overall natural frequency, ξ is the overall damping coefficient, ξ1 is the damping coefficient of the material to be transported, and ξ2 is the current damping ratio of the magnetorheological shock absorber. When T<1 is satisfied, At this time, the preset threshold is

[0169] When there is no material in the storage space, the current overall natural frequency is the current natural frequency of the magnetorheological damper. When there is material in the storage space, the current overall natural frequency can be obtained by solving the following formula:

[0170]

[0171] Among them, f n is the current overall natural frequency, k1 is the stiffness of the material to be transported, k2 is the current stiffness of the magnetorheological damper, m1 is the mass of the material to be transported, and m2 is the mass of the magnetorheological damper.

[0172] It is understood that, if the vibration data detected by the vibration detection device includes multiple items of displacement, velocity, acceleration, and excitation frequency, the first safety condition also includes multiple items. In this case, if any one of the first safety conditions is not met, the first safety condition is not met. For example, if the vibration data includes displacement and velocity, and the first safety condition includes: the displacement is less than a preset displacement, and the velocity is less than a preset speed, in this case, if the condition that the displacement is less than the preset displacement or the condition that the velocity is less than the preset speed is not met, the first safety condition is not met.

[0173] It is understood that in actual applications, the preset threshold, preset displacement, preset speed and preset acceleration can be set by relevant technicians based on experience, and the embodiments of this application are not limited to this. For example, the preset displacement can be set to 50mm, the preset speed can be set to 2m / s, and the preset acceleration can be set to 3m / s. 2 ,etc.

[0174] For example, if the second safety condition is that the ratio of the obtained excitation frequency to the current overall natural frequency is not less than a preset threshold, the method of adjusting the current of the magnetorheological damper may include: setting the current less than or equal to Any frequency of is set as the target value of the natural frequency to be adjusted, and the PID control algorithm is input to adjust the current of the magnetorheological damper using the PID control algorithm. Where f is the excitation frequency.

[0175] For example, if the second safety condition is that the detected displacement is less than a preset displacement, the method for adjusting the current of the magnetorheological damper may include inputting any value less than the preset displacement as a target value into a PID control algorithm to adjust the current of the magnetorheological damper using the PID control algorithm. If the second condition is that the detected speed is less than a preset speed, or the detected acceleration is less than a preset acceleration, the adjustment method is similar to the adjustment method when the second safety condition is that the detected displacement is less than the preset displacement, and will not be further described here.

[0176] It is understandable that by collecting vibration data in real time through vibration detection equipment and adjusting the stiffness of the magnetorheological shock absorber based on the vibration data as reference feedback, vibration reduction can be effectively achieved.

[0177] In order to better understand the solution provided in the embodiment of the present application, a vibration reduction method provided in the embodiment of the present application is introduced below with reference to a specific example.

[0178] The vibration reduction method provided in this example is applied to the control unit in the handling robot (corresponding to the main control unit mentioned above), such as Figure 4 As shown, the active vibration reduction structure of the handling robot is composed of a vibration detection unit, an active vibration reduction unit, an object information recognition unit, and a control unit. The vibration detection unit is composed of a vibration detection sensor (including but not limited to displacement, velocity, and acceleration vibration detection sensors) and a controller, which processes the data collected by the vibration detection sensor and feeds it back to the control unit. The active vibration reduction unit is composed of a planar magnetorheological elastomer damper (corresponding to the magnetorheological damper mentioned above) and a controller, which controls the current flow in the planar magnetorheological elastomer damper. The object information recognition unit (corresponding to the image acquisition device mentioned above) is an image recognition sensor such as a barcode reader camera or a binocular camera.

[0179] The planar magnetorheological elastic body vibration damper is composed of a base, a lower excitation body, a lower plane PCB coil, a magnetorheological elastic body, an upper plane PCB coil, an upper excitation body, a table and a shell. The cross-sectional view is shown in FIG. Figure 2 The control logic of the plane magnetorheological elastomer shock absorber is as follows: Figure 5 As shown, the following steps are included:

[0180] S501, basic initialization;

[0181] When starting to work, basic initialization is first performed, that is, an initial current is set for the planar magnetorheological elastomer vibration damper so that the planar magnetorheological elastomer vibration damper has an initial natural frequency. The magnitude of the initial current is a preset default current value.

[0182] S502, obtaining vibration state parameters of the current application scenario;

[0183] The controller of the active vibration reduction unit reads the vibration state parameters of the current application scenario (corresponding to the natural frequency or vibration data of the material to be transported mentioned above).

[0184] S503, adjusting the PCB coil current;

[0185] S504, converting the current into a vibration reduction state parameter;

[0186] S505: Whether the vibration reduction state parameters are adapted to the vibration state parameters of the current application scenario; if so, execute step S506; if not, return to step S503;

[0187] S506, stop adjusting the PCB coil current.

[0188] By adjusting the PCB coil current in real time, the current is converted into a vibration damping state parameter (corresponding to the current natural frequency of the magnetorheological damper mentioned above). This current is then compared with the vibration state parameter of the current application scenario to determine whether the vibration damping state parameter is compatible with the vibration state parameter of the current application scenario. If so, adjustment of the PCB coil current is stopped; if not, the process returns to the step of adjusting the PCB coil current. During the adjustment of the PCB coil current, the currents of the upper and lower PCB coils remain consistent.

[0189] like Figure 6A Figure 1 shows a schematic diagram of a handling robot. A vibration detection sensor is mounted on the robot's chassis, identifying the robot's vibration signals by measuring displacement, velocity, or acceleration. A planar magnetorheological elastomer damper is mounted on the bottom of the loading and unloading actuator assembly, which also serves as a material storage location. The planar magnetorheological elastomer damper isolates the transferred items from vibration, protecting them from damage during transport. An image recognition sensor is mounted on the loading and unloading actuator assembly to identify information such as the type and quality of the material being handled.

[0190] like Figure 6B The figure shows another type of transport robot. Figure 6B The left and right images in the figure show the overall schematic diagram of the handling robot from different perspectives. The handling robot is equipped with multiple material storage locations. Planar magnetorheological elastomer vibration dampers are installed at the bottom of each material storage location and at the bottom of the loading and unloading actuator assembly. A vibration detection sensor is mounted on the handling robot's chassis, and an image recognition sensor is installed on the loading and unloading actuator assembly.

[0191] The control logic of the handling robot to achieve vibration reduction is as follows Figure 7 As shown, steps S701-S711 are included.

[0192] S701, basic initialization;

[0193] When the handling robot begins operation, it first performs basic initialization, including supplying an initial current to the planar magnetorheological elastomer damper to establish its initial natural frequency. Furthermore, the handling robot can also set a threshold for stable operation, such as an amplitude threshold (corresponding to the preset displacement, as described above), a velocity threshold (corresponding to the preset velocity, as described above), and an acceleration threshold (corresponding to the preset acceleration, as described above).

[0194] S702: Is the pickup operation performed? If yes, go to step S703; if no, go to step S707;

[0195] The control unit can read the working status of the transport robot to determine whether the transport robot is currently performing a picking operation.

[0196] S703, the image recognition sensor reads the material information of the material to be transported, and calculates the natural frequency of the material to be transported based on the material information;

[0197] When the handling robot performs a picking operation and runs to the preset picking position, the image recognition sensor can perform image recognition based on the information code set on the material to be handled to obtain material information such as mass, stiffness, and damping.

[0198] S704: Is the ratio of the natural frequency of the material to be transported to the current natural frequency of the planar magnetorheological elastomer vibration absorber greater than or equal to 2.5? If not, execute step S705; if so, execute step S706;

[0199] S705, the active vibration reduction unit adjusts the PCB coil current and calculates the natural frequency of the plane magnetorheological elastomer vibration damper after the current adjustment; and returns to step S704;

[0200] In this example, a PID control algorithm is used for adjustment. That is, based on the judgment conditions in S704, the target value to which the natural frequency of the planar magnetorheological elastomer vibration damper needs to be adjusted is determined, and then the target value is used as the input of the PID control algorithm. The PID control algorithm continuously performs feedback adjustment based on the difference between the input and the actual output to adjust the natural frequency of the planar magnetorheological elastomer vibration damper to the target value.

[0201] It is understandable that when the PCB coil current changes, the magnetic field strength will change, thereby changing the stiffness of the planar magnetorheological elastomer vibration damper, causing the current natural frequency of the planar magnetorheological elastomer vibration damper to change.

[0202] By adjusting the current on the planar PCB coil, the natural frequency of the planar magnetorheological elastomer vibration absorber is adjusted to match the natural frequency of the material to be transported. That is, the ratio of the natural frequency of the material to be transported to the current natural frequency of the planar magnetorheological elastomer vibration absorber is made less than 2.5, thereby avoiding the operating frequency that is likely to resonate with the material to be transported, thereby reducing the probability of resonance.

[0203] S706, stop adjusting the PCB coil current;

[0204] At this time, the current after the adjustment is stopped, as well as the natural frequency of the plane magnetorheological elastomer vibration absorber and the natural frequency of the transport robot calculated using the current can be saved.

[0205] S707, periodically detecting vehicle body vibration and collecting amplitude, velocity, acceleration, and excitation frequency;

[0206] The vibration detection sensor can directly collect the amplitude (corresponding to the displacement mentioned above), velocity, acceleration and excitation frequency of the handling robot body vibration.

[0207] S708: Is there a large vibration of the vehicle body? If so, execute step S709; if not, return to step S707;

[0208] Significant vehicle body vibration can be determined by determining whether the amplitude is greater than an amplitude threshold, the velocity is greater than a velocity threshold, or the acceleration is greater than an acceleration threshold. If the amplitude is greater than the amplitude threshold, the velocity is greater than the velocity threshold, or the acceleration is greater than the acceleration threshold, this indicates significant vehicle body vibration. When the vibration detection unit detects significant vehicle body vibration, the control unit adjusts the current in the PCB coil in real time based on the vibration data it receives, thereby controlling the stiffness of the planar magnetorheological elastomer damper, achieving the desired vibration reduction effect and meeting the vibration reduction requirements for various material handling applications.

[0209] S709, the active vibration reduction unit adjusts the PCB coil current and calculates the natural frequency of the vibration reduction system after the current adjustment (corresponding to the overall natural frequency mentioned above);

[0210] When loaded with material, the natural frequency of the vibration damping system is the natural frequency of the material being transported and the planar MRE damper. Changes in the PCB coil current alter the stiffness of the MRE damper, causing the current natural frequency of the MRE damper to change, and thus the natural frequency of the vibration damping system. This is achieved using a PID control algorithm. Based on the criteria determined in S710, the target value for the vibration damping system's natural frequency is determined. This target value is then used as input to the PID control algorithm, which continuously adjusts the natural frequency of the vibration damping system to the target value through feedback.

[0211] S710, Is the ratio of the excitation frequency to the natural frequency of the vibration reduction system greater than or equal to If yes, execute step S711, if no, return to step S709;

[0212] If the vehicle body does not experience significant vibration under the current vibration reduction state parameters, the vibration reduction state parameters are adapted to the current working conditions; otherwise, they are not adapted.

[0213] S711, stop adjusting the PCB coil current.

[0214] It can be seen that this scheme proposes a planar magnetorheological elastomer vibration damper using a PCB coil as an excitation coil, which makes the overall structural size of the vibration damper thinner and expands its application range; it proposes an active vibration reduction scheme based on the combination of visual recognition of material information and vibration signal detection. The active vibration reduction system consists of three parts: an object information recognition unit, a vibration detection unit, and an active vibration reduction unit, which provide mutual feedback. The material information collected by the image recognition sensor and the vibration signal collected by the vibration detection unit are compared and adjusted in real time to adjust the vibration characteristics of the planar magnetorheological elastomer vibration damper, thereby broadening the types of materials that can be transported and meeting the handling needs of materials of different specifications.

[0215] Corresponding to the above method embodiment, the present application embodiment also provides a transport robot, such as Figure 8 As shown, it includes an image acquisition device 810, a main control unit 820 and a magnetorheological damper 830, and the magnetorheological damper 830 is arranged at the bottom of the storage space for placing materials;

[0216] An image acquisition device 810 is used to collect material information of the material to be transported when the transport robot moves to a preset pickup position;

[0217] A main control unit 820 is configured to execute any of the above-mentioned vibration reduction methods;

[0218] The magnetorheological damper 830 is configured to operate under the control of the main control unit.

[0219] Among them, the specific functional implementations of the image acquisition device, the main control unit and the magnetorheological vibration damper have been introduced in the above method embodiments and will not be repeated here.

[0220] Optionally, the handling robot further includes a vibration detection device; the vibration detection device is used to detect vibration data representing the vibration state of the handling robot.

[0221] The specific functional implementation of the vibration detection device has been introduced in the above method embodiment and will not be repeated here.

[0222] Optionally, the image acquisition device is a binocular camera for acquiring the material and size of the material to be transported, or a code reading camera for identifying an information code representing material information set on the material to be transported.

[0223] The specific functional implementation of the image acquisition device has been introduced in the above method embodiment and will not be repeated here.

[0224] Corresponding to the above method embodiment, the embodiment of the present application further provides a vibration reduction device, which is applied to the main control unit of a handling robot. The handling robot is also provided with an image acquisition device and a magnetorheological vibration damper, and the magnetorheological vibration damper is provided at the bottom of the storage space for placing materials; Figure 9 As shown, the device includes:

[0225] An acquisition module 910 is configured to acquire material information of the material to be transported captured by the image acquisition device when the transport robot moves to a preset pickup position;

[0226] The natural frequency determination module 920 is used to determine the natural frequency of the material to be transported based on the acquired material information;

[0227] The first adjustment module 930 is configured to adjust the current of the magneto-rheological damper if the current natural frequency of the magneto-rheological damper is within a resonance range corresponding to the natural frequency of the material to be transported, so that the natural frequency of the magneto-rheological damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range represents a frequency range that resonates with the material to be transported.

[0228] Optionally, the transport robot is further provided with a vibration detection device for detecting vibration data representing a vibration state of the transport robot; the device further comprises:

[0229] a judgment module, configured to judge whether the vibration data detected by the vibration detection device meets a first safety condition when a preset detection time is reached;

[0230] The second adjustment module is configured to adjust the current of the magnetorheological damper if the condition is not satisfied, so that the vibration data detected by the vibration detection device after the adjustment satisfies the second safety condition.

[0231] Optionally, the vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration and excitation frequency;

[0232] In a case where the vibration data detected by the vibration detection device includes displacement, the first safety condition includes: the detected displacement is less than a preset displacement; in a case where the vibration data detected by the vibration detection device includes speed, the first safety condition includes: the detected speed is less than a preset speed; in a case where the vibration data detected by the vibration detection device includes acceleration, the first safety condition includes: the detected acceleration is less than a preset acceleration; in a case where the vibration data detected by the vibration detection device includes excitation frequency, the first safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold; wherein, in a case where no material is placed in the storage space, the overall natural frequency is the natural frequency of the magnetorheological damper, and in a case where material is placed in the storage space, the overall natural frequency is the natural frequency of the whole composed of the magnetorheological damper and the material placed in the storage space;

[0233] and / or,

[0234] When the vibration data detected by the vibration detection device includes displacement, the second safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the second safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the second safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the second safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold.

[0235] Optionally, the resonance interval represents a frequency interval greater than a specified frequency, the specified frequency is a ratio of the natural frequency of the material to be transported to a predetermined coefficient, and the predetermined coefficient is greater than or equal to 2.5.

[0236] Optionally, the image acquisition device is a binocular camera, and the material information includes material and size;

[0237] The acquisition module 910 includes: a first acquisition submodule for acquiring the material and size of the material to be transported captured by the binocular camera;

[0238] The natural frequency determination module 920 includes: a first calculation submodule, used to calculate the mass and stiffness of the material to be transported based on the acquired material and size; a second calculation submodule, used to calculate the natural frequency of the material to be transported based on the mass, stiffness and damping coefficient represented by the acquired material.

[0239] Optionally, the image acquisition device is a barcode reader camera, and the material to be transported is provided with an information code representing the material and size; the acquisition module 910 includes: a second acquisition submodule for acquiring the material and size of the material to be transported obtained by the barcode reader camera identifying the information code; the natural frequency determination module 920 includes: a third calculation submodule for calculating the mass and stiffness of the material to be transported based on the acquired material and size; and a fourth calculation submodule for calculating the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the acquired damping coefficient representing the material;

[0240] or,

[0241] The image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material information, and the material information includes the natural frequency of the material to be transported; the acquisition module 910 is specifically used to obtain the material information obtained by the code reading camera identifying the information code; the natural frequency determination module 920 is specifically used to determine the natural frequency of the material to be transported from the acquired material information.

[0242] In the technical solution of this application, the operations of acquiring, storing, using, processing, transmitting, providing and disclosing material information, vibration damping parameters, vibration data and other data involved are all carried out with the user's authorization.

[0243] The present application also provides an electronic device, such as Figure 10 As shown, including:

[0244] Memory 1001, used for storing computer programs;

[0245] The processor 1002 is configured to implement any of the above-mentioned vibration reduction methods when executing the program stored in the memory 1001;

[0246] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1002, the communication interface, and the memory 1001 communicate with each other via the communication bus.

[0247] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0248] The communication interface is used for communication between the above electronic device and other devices.

[0249] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0250] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0251] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned vibration reduction methods are implemented.

[0252] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any vibration reduction method in the above embodiments.

[0253] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0254] 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 the existence of any such 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, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0255] Each embodiment in this specification is described in a related manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the handling robot, device, electronic device, computer-readable storage medium, and computer program product embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0256] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A vibration reduction method, characterized in that: A main control unit is applied to a handling robot, wherein the handling robot is further provided with an image acquisition device and a magnetorheological damper, wherein the magnetorheological damper is provided at the bottom of a storage space for placing materials; the method comprises: When the transport robot moves to a preset pickup position, the material information of the material to be transported acquired by the image acquisition device is acquired; Based on the acquired material information, determine the natural frequency of the material to be transported; If the current natural frequency of the magneto-rheological damper is within a resonance range corresponding to the natural frequency of the material to be transported, the current of the magneto-rheological damper is adjusted so that the natural frequency of the magneto-rheological damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range represents a frequency range that resonates with the material to be transported.

2. The method according to claim 1, characterized in that The transport robot is further provided with a vibration detection device for detecting vibration data representing a vibration state of the transport robot; the method further comprises: When a preset detection time is reached, determining whether the vibration data detected by the vibration detection device meets a first safety condition; If not, the current of the magnetorheological damper is adjusted so that the vibration data detected by the vibration detection device after the adjustment meets the second safety condition.

3. The method according to claim 2, characterized in that The vibration data detected by the vibration detection device includes at least one of displacement, velocity, acceleration and excitation frequency; In a case where the vibration data detected by the vibration detection device includes displacement, the first safety condition includes: the detected displacement is less than a preset displacement; in a case where the vibration data detected by the vibration detection device includes speed, the first safety condition includes: the detected speed is less than a preset speed; in a case where the vibration data detected by the vibration detection device includes acceleration, the first safety condition includes: the detected acceleration is less than a preset acceleration; in a case where the vibration data detected by the vibration detection device includes excitation frequency, the first safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold; wherein, in a case where no material is placed in the storage space, the overall natural frequency is the natural frequency of the magnetorheological damper, and in a case where material is placed in the storage space, the overall natural frequency is the natural frequency of the whole composed of the magnetorheological damper and the material placed in the storage space; and / or, When the vibration data detected by the vibration detection device includes displacement, the second safety condition includes: the detected displacement is less than the preset displacement; when the vibration data detected by the vibration detection device includes speed, the second safety condition includes: the detected speed is less than the preset speed; when the vibration data detected by the vibration detection device includes acceleration, the second safety condition includes: the detected acceleration is less than the preset acceleration; when the vibration data detected by the vibration detection device includes excitation frequency, the second safety condition includes: the ratio of the detected excitation frequency to the current overall natural frequency is not less than a preset threshold.

4. The method according to claim 1, wherein The resonance interval represents a frequency interval greater than a specified frequency, and the specified frequency is a ratio of the natural frequency of the material to be transported to a predetermined coefficient, and the predetermined coefficient is greater than or equal to 2.

5.

5. The method according to any one of claims 1 to 4, characterized in that The image acquisition device is a binocular camera, and the material information includes material and size; The obtaining of material information of the material to be transported acquired by the image acquisition device includes: Obtaining the material and size of the material to be transported captured by the binocular camera; The determining of the natural frequency of the material to be transported based on the acquired material information includes: Calculate the mass and stiffness of the material to be transported based on the acquired material and size; The natural frequency of the material to be transported is calculated according to the mass and stiffness of the material to be transported and the damping coefficient represented by the acquired material.

6. The method according to any one of claims 1 to 4, characterized in that The image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material and size; The obtaining of material information of the material to be transported acquired by the image acquisition device includes: Obtaining the material and size of the material to be transported obtained by the code reading camera identifying the information code; The determining of the natural frequency of the material to be transported based on the acquired material information includes: Calculate the mass and stiffness of the material to be transported based on the acquired material and size; Calculating the natural frequency of the material to be transported based on the mass and stiffness of the material to be transported and the damping coefficient characterized by the obtained material; or, The image acquisition device is a code reading camera, and the material to be transported is provided with an information code representing the material information, and the material information includes the natural frequency of the material to be transported; The obtaining of material information of the material to be transported acquired by the image acquisition device includes: Obtaining material information obtained by the code reading camera identifying the information code; The determining of the natural frequency of the material to be transported based on the acquired material information includes: From the acquired material information, the natural frequency of the material to be transported is determined.

7. A transport robot, characterized in that: It includes an image acquisition device, a magnetorheological damper and a main control unit, wherein the magnetorheological damper is arranged at the bottom of the storage space for placing materials; The image acquisition device is used to collect material information of the material to be transported when the transport robot moves to the preset pickup position; The main control unit is used to execute the method according to any one of claims 1 to 6; The magnetorheological damper is used to work under the control of the main control unit.

8. The transport robot according to claim 7, characterized in that: Also included are vibration detection devices; The vibration detection device is used to detect vibration data representing the vibration state of the transport robot.

9. The transport robot according to claim 7 or 8, characterized in that: The image acquisition device is a binocular camera for acquiring the material and size of the material to be transported, or a code reading camera for identifying an information code representing material information set on the material to be transported.

10. The transport robot according to claim 7 or 8, characterized in that: The magnetorheological vibration damper comprises a base, a lower excitation magnet, a lower plane PCB coil, a magnetorheological elastomer, an upper plane PCB coil, an upper excitation magnet and a table; The lower excitation magnet is arranged above the base, and there is a protrusion in the center of the upper surface of the lower excitation magnet. The lower plane PCB coil is sleeved on the protrusion of the lower excitation magnet through the through hole in the center. The magnetorheological elastomer is arranged above the lower plane PCB coil, and the upper plane PCB coil is arranged above the magnetorheological elastomer. The upper excitation magnet is inserted into the through hole in the center of the upper plane PCB coil through the protrusion in the center of the lower surface, and the table is arranged above the upper excitation magnet.

11. A vibration damping device, characterized in that: A main control unit for a transport robot, wherein the transport robot is further provided with an image acquisition device and a magnetorheological damper, wherein the magnetorheological damper is provided at the bottom of a storage space for placing materials; the device comprises: an acquisition module, configured to acquire material information of the material to be transported captured by the image acquisition device when the transport robot moves to a preset pickup position; A natural frequency determination module, used to determine the natural frequency of the material to be transported based on the acquired material information; The first adjustment module is configured to adjust the current of the magneto-rheological vibration damper if the current natural frequency of the magneto-rheological vibration damper is within a resonance range corresponding to the natural frequency of the material to be transported, so that the natural frequency of the magneto-rheological vibration damper after adjustment is outside the resonance range, thereby providing vibration reduction preparation for transporting the material to be transported; wherein the resonance range represents a frequency range that resonates with the material to be transported.

Images