Robot high-precision servo driving and multi-mode sensing fusion control method

Abstract

The invention discloses a robot high-precision servo driving and multi-modal sensing fusion control method, which specifically comprises the following operation steps of: installing multi-modal sensors, including a navigation positioning sensor, a visual monitoring sensor, an infrared sensor, a pressure sensor and a torque sensor, on a robot, and monitoring the robot in multiple aspects; data collected by the multi-mode sensor is collected and processed in a centralized mode, the position of the robot and the center position of the target are calculated, and the state of the robot is determined through data fusion; a coordinate data set and a robot state image are established based on data collected by the multi-modal sensor. According to the robot high-precision servo driving and multi-mode sensing fusion control method, data collected by the multi-mode sensor are collected and processed in a centralized mode, the position and state of the robot are determined through data fusion, and therefore the robot is better driven and controlled, and precise movement of the robot is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-precision servo drive control of robots, and in particular to a high-precision servo drive and multimodal sensing fusion control method for robots. Background Art

[0002] The robot's high-precision servo drive and multi-modal sensor fusion control method is a method for robot servo drive control. With the vigorous development of robots, the types of servo drives are becoming more and more abundant, mainly in the form of electric drive, hydraulic drive, wire drive, pneumatic and some composite materials. The function of the servo drive is mainly to achieve precise movement of the robot, so that each joint can produce precise output position and torque. After receiving the position instruction, each servo of the robot can respond to the command in real time. The coordinated operation of multiple servos can produce flexible movements like humans. With the continuous development of science and technology, people's requirements for robot's high-precision servo drive and multi-modal sensor fusion control methods are also getting higher and higher.

[0003] The existing robot servo drive control has certain drawbacks when used. First, the existing robot servo drive control has a relatively simple structure when performing robot monitoring, and cannot monitor the robot's status and position in real time, so it cannot accurately servo drive and control the robot, which is not conducive to people's use. In addition, the existing robot servo drive control cannot monitor and control the robot's walking, driving and robotic arm well, which brings certain adverse effects to people's use process. For this reason, we propose a robot high-precision servo drive and multimodal sensing fusion control method. Summary of the Invention

[0004] Technical problems solved: In response to the shortcomings of the existing technology, the present invention provides a high-precision servo drive and multimodal sensor fusion control method for robots, which centrally collects and processes data collected by multimodal sensors, and determines the robot's position and status through data fusion, thereby better driving and controlling the robot and achieving precise movement of the robot, which can effectively solve the problems in the background technology.

[0005] Technical solution: To achieve the above purpose, the technical solution adopted by the present invention is: a robot high-precision servo drive and multimodal sensing fusion control method, which specifically includes the following operating steps: S1: Multimodal sensing monitoring: Multimodal sensors are installed on the robot, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, to monitor the robot in many aspects; S2: Data calculation and processing: Centrally collect and process the data collected by multimodal sensors, calculate the robot position and target center position, and determine the robot status through data fusion; S3: Parameter model establishment: Establish a coordinate data set and robot state image based on the data collected by the multimodal sensor, and simulate the robot's movements; S4: Robot servo drive control: After the robot parameter simulation is confirmed to be correct, the robot is controlled with high precision through the robot servo drive system and the robot control system, and the robot is comprehensively managed; S5: Robot intelligent control execution: Through multi-modal information organization and interaction, algorithm control and adjustment are carried out to control the robot's walking, driving and robotic arm, which can be remotely managed through the background.

[0006] As a preferred technical solution of the present application, a multimodal sensor monitoring system, a central processing system, a target center computing system, a position data analysis system, a wireless communication system, a background terminal system, a robot control system, a robot servo drive system and a robot integrated management system are set in the S1-S5 steps. The multimodal sensor monitoring system is connected to the central processing system, the target center computing system, the position data analysis system and the robot integrated management system, and the central processing system is connected to the robot control system and the robot servo drive system.

[0007] As a preferred technical solution of the present application, the multimodal sensor monitoring system includes a navigation and positioning module, a visual monitoring module, an infrared monitoring module, a pressure monitoring module, a torque monitoring module, a data acquisition and classification module, a remote wireless transmission module, a data fusion module, a database and data output module. The navigation and positioning module, the visual monitoring module, the infrared monitoring module, the pressure monitoring module, and the torque monitoring module are all connected to the data acquisition and classification module, the data acquisition and classification module is connected to the remote wireless transmission module, the remote wireless transmission module is connected to the data fusion module, and the data fusion module is connected to the database and the data output module.

[0008] As a preferred technical solution of the present application, the output ends of the navigation and positioning module, visual monitoring module, infrared monitoring module, pressure monitoring module, and torque monitoring module are all connected to the input end signal of the data acquisition and classification module, and the output end of the data acquisition and classification module is connected to the input end signal of the data fusion module through a remote wireless transmission module.

[0009] As a preferred technical solution of the present application, a servo drive module is arranged inside the robot control system, and the robot control system is connected to a multimodal data acquisition module, a data fusion module, a parameter model module, and a robot intelligent control execution module.

[0010] As a preferred technical solution of the present application, a bidirectional signal connection is established between the robot control system and the multimodal data acquisition module, the data fusion module, the parameter model module and the robot intelligent control execution module, and the robot control system is driven by a servo drive module.

[0011] As a preferred technical solution of the present application, the robot intelligent control execution module includes a multimodal information collation and interaction module, a central control module, a power supply module, an algorithm control module, an algorithm debugging module, a background management module, a walking control module, a drive control module and a robotic arm control module. A data collector is set inside the central control module, and a wireless transmission module is set between the central control module and the background management module.

[0012] As a preferred technical solution of the present application, the output end of the multimodal information collation and interaction module is signal-connected to the input end of the central control module, and the output end of the central control module controls the walking control module, the driving control module and the robotic arm control module.

[0013] Beneficial effects: Compared with the prior art, the present invention provides a high-precision servo drive and multi-modal sensor fusion control method for robots, which has the following beneficial effects: the high-precision servo drive and multi-modal sensor fusion control method for robots centrally collects and processes the data collected by multi-modal sensors, determines the position and state of the robot through data fusion, thereby better driving and controlling the robot and realizing the precise movement of the robot. Multi-modal sensors, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, are installed on the robot to monitor the robot in many aspects; the data collected by the multi-modal sensors are centrally collected and processed, and the calculation is carried out. The robot position and target center position are determined through data fusion to determine the robot state; based on the data collected by the multimodal sensor, a coordinate data set and a robot state image are established, and the robot action is simulated; after the robot parameter simulation is confirmed to be correct, the robot is controlled with high precision through the robot servo drive system and the robot control system, and the robot is comprehensively managed; through the multimodal information sorting and interaction, algorithm control and adjustment are performed to control the robot's walking, driving and robotic arm, which can be remotely managed through the background. The entire robot high-precision servo drive and multimodal sensor fusion control method has a simple structure, is easy to operate, and has better results than traditional methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall flow of the robot's high-precision servo drive and multimodal sensing fusion control method of the present invention.

[0015] Figure 2This is a schematic diagram of the overall system structure of the robot's high-precision servo drive and multimodal sensing fusion control method of the present invention.

[0016] Figure 3 It is a structural schematic diagram of the multimodal sensor monitoring system in the robot high-precision servo drive and multimodal sensing fusion control method of the present invention.

[0017] Figure 4 It is a structural schematic diagram of the robot control system in the robot high-precision servo drive and multimodal sensing fusion control method of the present invention.

[0018] Figure 5 This is a structural diagram of the robot intelligent control execution module in the robot high-precision servo drive and multimodal sensing fusion control method of the present invention. DETAILED DESCRIPTION

[0019] The technical scheme of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but it will be understood by those skilled in the art that the following described embodiments are part of embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. Those who do not specify specific conditions in the embodiments are carried out according to normal conditions or the conditions recommended by the manufacturer. Those whose reagents or instruments are not specified by the manufacturer are conventional products that can be purchased commercially.

[0020] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0022] like Figure 1-5 As shown in FIG, the robot high-precision servo drive and multimodal sensing fusion control method specifically includes the following steps: S1: Multimodal sensing monitoring: Multimodal sensors are installed on the robot, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, to monitor the robot in many aspects; S2: Data calculation and processing: Centrally collect and process the data collected by multimodal sensors, calculate the robot position and target center position, and determine the robot status through data fusion; S3: Parameter model establishment: Establish a coordinate data set and robot state image based on the data collected by the multimodal sensor, and simulate the robot's movements; S4: Robot servo drive control: After the robot parameter simulation is confirmed to be correct, the robot is controlled with high precision through the robot servo drive system and the robot control system, and the robot is comprehensively managed; S5: Robot intelligent control execution: Through multi-modal information organization and interaction, algorithm control and adjustment are carried out to control the robot's walking, driving and robotic arm, which can be remotely managed through the background.

[0023] Furthermore, in steps S1-S5, a multimodal sensor monitoring system, a central processing system, a target center computing system, a position data analysis system, a wireless communication system, a background terminal system, a robot control system, a robot servo drive system and a robot integrated management system are set up. The multimodal sensor monitoring system is connected to the central processing system, the target center computing system, the position data analysis system and the robot integrated management system, and the central processing system is connected to the robot control system and the robot servo drive system.

[0024] Furthermore, the multimodal sensor monitoring system includes a navigation and positioning module, a visual monitoring module, an infrared monitoring module, a pressure monitoring module, a torque monitoring module, a data acquisition and classification module, a remote wireless transmission module, a data fusion module, a database and data output module. The navigation and positioning module, the visual monitoring module, the infrared monitoring module, the pressure monitoring module, and the torque monitoring module are all connected to the data acquisition and classification module, the data acquisition and classification module is connected to the remote wireless transmission module, the remote wireless transmission module is connected to the data fusion module, and the data fusion module is connected to the database and the data output module.

[0025] Furthermore, the output ends of the navigation and positioning module, the visual monitoring module, the infrared monitoring module, the pressure monitoring module, and the torque monitoring module are all connected to the input end signal of the data acquisition and classification module, and the output end of the data acquisition and classification module is connected to the input end signal of the data fusion module through the remote wireless transmission module.

[0026] Furthermore, a servo drive module is provided inside the robot control system, and the robot control system is connected to a multimodal data acquisition module, a data fusion module, a parameter model module, and a robot intelligent control execution module.

[0027] Furthermore, a bidirectional signal connection is established between the robot control system and the multimodal data acquisition module, the data fusion module, the parameter model module and the robot intelligent control execution module, and the robot control system is driven by the servo drive module.

[0028] Furthermore, the robot intelligent control execution module includes a multimodal information sorting and interaction module, a central control module, a power supply module, an algorithm control module, an algorithm debugging module, a background management module, a walking control module, a drive control module and a robotic arm control module. A data collector is set inside the central control module, and a wireless transmission module is set between the central control module and the background management module.

[0029] Furthermore, the output end of the multimodal information sorting and interaction module is connected to the input end signal of the central control module, and the output end of the central control module controls the walking control module, the driving control module and the robotic arm control module. Example

[0030] Multimodal sensors, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, are installed on the robot to monitor the robot in many aspects. The robot coordinate data is monitored to be (754, 482), and the position of the target center is monitored to be (747, 480). The robot is moved to (747, 481). At this time, the robot is located in front of the target center. The infrared sensor monitors the position of the robot arm and the target center to be 88 cm. The robot arm is moved through the visual monitoring sensor to monitor that the target center is made of plastic. The torque sensor monitors the movement angle of the robot arm until the infrared sensor monitors that the distance between the robot arm and the target center is 0. At this time, the robot arm clamps the target center until the pressure sensor monitors a pressure of 10N. The robot arm moves the target center. Example

[0031] Multimodal sensors, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, are installed on the robot to monitor the robot in multiple aspects. The robot coordinate data is monitored to be (752, 485), and the position of the target center is monitored to be (749, 487). The robot is moved to (749, 486). At this time, the robot is located in front of the target center. The infrared sensor monitors the position of the robot arm and the target center to be 70 cm. The robot arm is moved through the visual monitoring sensor to monitor that the target center is made of light metal. The torque sensor monitors the movement angle of the robot arm until the infrared sensor monitors that the distance between the robot arm and the target center is 0. At this time, the robot arm clamps the target center until the pressure sensor monitors a pressure of 120N. The robot arm then moves the target center. Example

[0032] Multimodal sensors, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, are installed on the robot to monitor the robot in many aspects. The robot coordinate data is monitored to be (741, 487), and the position of the target center is monitored to be (758, 473). The robot is moved to (758, 472). At this time, the robot is located in front of the target center. The infrared sensor monitors the position of the robot arm and the target center to be 77 cm. The robot arm is moved through the visual monitoring sensor to detect that the target center is made of heavy metal. The torque sensor monitors the movement angle of the robot arm until the infrared sensor monitors that the distance between the robot arm and the target center is 0. At this time, the robot arm clamps the target center until the pressure sensor monitors a pressure of 230N. The robot arm then moves the target center.

[0033] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used solely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "include," "comprise," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes 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 apparatus. In the absence of further limitations, an element defined by the phrase "includes a..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0034] The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A robot high-precision servo drive and multimodal sensing fusion control method, characterized by: The specific steps include the following: S1: Multimodal sensing monitoring: Multimodal sensors are installed on the robot, including navigation and positioning sensors, visual monitoring sensors, infrared sensors, pressure sensors, and torque sensors, to monitor the robot in many aspects; S2: Data calculation and processing: Centrally collect and process the data collected by multimodal sensors, calculate the robot position and target center position, and determine the robot status through data fusion; S3: Parameter model establishment: Establish a coordinate data set and robot state image based on the data collected by the multimodal sensor, and simulate the robot's movements; S4: Robot servo drive control: After the robot parameter simulation is confirmed to be correct, the robot is controlled with high precision through the robot servo drive system and the robot control system, and the robot is comprehensively managed; S5: Robot intelligent control execution: Through multi-modal information organization and interaction, algorithm control and adjustment are carried out to control the robot's walking, driving and robotic arm, which can be remotely managed through the background.

2. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 1 is characterized in that: In the steps S1-S5, a multimodal sensor monitoring system, a central processing system, a target center computing system, a position data analysis system, a wireless communication system, a background terminal system, a robot control system, a robot servo drive system and a robot integrated management system are set up. The multimodal sensor monitoring system is connected to the central processing system, the target center computing system, the position data analysis system and the robot integrated management system, and the central processing system is connected to the robot control system and the robot servo drive system.

3. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 2, characterized in that: The multimodal sensor monitoring system includes a navigation and positioning module, a visual monitoring module, an infrared monitoring module, a pressure monitoring module, a torque monitoring module, a data acquisition and classification module, a remote wireless transmission module, a data fusion module, a database and a data output module. The navigation and positioning module, the visual monitoring module, the infrared monitoring module, the pressure monitoring module and the torque monitoring module are all connected to the data acquisition and classification module, the data acquisition and classification module is connected to the remote wireless transmission module, the remote wireless transmission module is connected to the data fusion module, and the data fusion module is connected to the database and the data output module.

4. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 3 is characterized by: The output ends of the navigation and positioning module, visual monitoring module, infrared monitoring module, pressure monitoring module, and torque monitoring module are all connected to the input end signal of the data acquisition and classification module, and the output end of the data acquisition and classification module is connected to the input end signal of the data fusion module through the remote wireless transmission module.

5. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 2, characterized in that: A servo drive module is provided inside the robot control system, and the robot control system is connected with a multimodal data acquisition module, a data fusion module, a parameter model module, and a robot intelligent control execution module.

6. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 5, characterized in that: The robot control system is connected to the multimodal data acquisition module, the data fusion module, the parameter model module and the robot intelligent control execution module by bidirectional signals, and the robot control system is driven by the servo drive module.

7. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 5, characterized in that: The robot intelligent control execution module includes a multimodal information collation and interaction module, a central control module, a power supply module, an algorithm control module, an algorithm debugging module, a background management module, a walking control module, a drive control module and a robotic arm control module. A data collector is set inside the central control module, and a wireless transmission module is set between the central control module and the background management module.

8. The robot high-precision servo drive and multimodal sensing fusion control method according to claim 7, characterized in that: The output end of the multimodal information collating and interactive module is signal-connected to the input end of the central control module, and the output end of the central control module controls the walking control module, the driving control module and the robotic arm control module.

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