Quick disassembly and assembly interface control method and system based on admittance controller
By employing a parameterized docking strategy and mechanical structure design for the admittance controller, rapid assembly and disassembly of the UAV interface were achieved, enhancing multi-task adaptability and stability while reducing maintenance costs.
Patent Information
- Application Number
- CN202511515195.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-22
- Publication Date
- 2026-01-23
AI Technical Summary
Existing drone lifting interfaces are insufficient to meet the flexibility, maintainability, and security requirements of dynamic tasks, multi-task switching, and multiple power supply/signal standards scenarios. They also cannot achieve rapid module replacement, locking and fixing, or reliable power supply and signal transmission.
A parameterized docking strategy based on an admittance controller is adopted. The admittance controller adaptively adjusts the connection during the stages of no contact, contact initiation, unstable contact, and stable contact. Combined with the guide cone, guide groove, locking pin, locking groove, locking ring, and central functional interface, unified management of mechanical locking, power supply, and signal transmission is achieved.
It enhances adaptability and flexibility to multi-tasking, multi-load, and multi-environment scenarios, improves the robustness, stability, and cross-system scalability of the interface, and reduces maintenance costs.
Smart Images
Figure CN121386473A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot control, and in particular to a quick disassembly and assembly interface control method and system based on an admittance controller. BACKGROUND
[0002] In recent years, with the wide application of unmanned aerial vehicles in logistics, rescue, surveying and other fields, and the increasing demand for collaborative work of mobile robots equipped with mechanical arms (such as quadruped robots, robot dogs, etc.), higher requirements are put forward for the fixed connection interface of the carrying end. The existing unmanned aerial vehicle hoisting interface is mostly a fixed structure with single function, which is difficult to meet the flexibility, maintainability and safety requirements in dynamic tasks, multi-task switching and multi-power / signal standard scenarios. In order to realize quick module replacement, quick locking and fixing between different systems, and reliable power supply and signal transmission, a quick disassembly and assembly interface with active control capability is urgently needed, which can realize mechanical coupling and electrical / signal coupling in a short time, and has comprehensive performance such as scalability, vibration resistance and environmental resistance. SUMMARY
[0003] To solve the above problems in the prior art, the present application provides a quick disassembly and assembly interface control method and system based on an admittance controller. The present application realizes adaptive adjustment in the stages of no contact, contact start, unstable contact and stable contact through the parameterized docking strategy based on the admittance controller, significantly improving the adaptability and flexibility to multi-task, multi-load and multi-environment scenarios. Secondly, by adjusting the admittance controller, the robustness and stability of the docking are improved, as well as the scalability and production universality across systems. Finally, the quick disassembly and assembly interface device can realize unified management of mechanical locking, power supply and signal transmission, improving the working efficiency of the interface device and reducing the maintenance cost. To achieve the above purpose, the technical solution is as follows:
[0004] On the one hand, the present application provides a quick disassembly and assembly interface control method based on an admittance controller, which comprises: S1, setting initial admittance parameter values and initial desired contact forces according to the quick disassembly and assembly interface device to obtain an initial admittance controller; S2, controlling the quick disassembly and assembly interface device in a no-contact state through the initial admittance controller according to the relative position of the quick disassembly and assembly interface device; S3, adjusting the quick disassembly and assembly interface device through the initial admittance controller according to the quick disassembly and assembly interface device in the no-contact state to obtain a quick disassembly and assembly interface device in a contact start state; S4, adjusting the quick disassembly and assembly interface device through the initial admittance controller according to the quick disassembly and assembly interface device in the contact start state to obtain a quick disassembly and assembly interface device in an unstable contact state; S5, adjusting the initial admittance controller according to the unstable contact state of the quick disassembly and assembly interface device to obtain an adjusted admittance controller; S6, adjusting the quick disassembly and assembly interface device in the stable contact state according to the adjusted admittance controller; S7, judging the quick disassembly and assembly interface device in the stable contact state according to a judging criterion, if the judging criterion is an abnormal state, the quick disassembly and assembly interface device is terminated, if the judging criterion is a normal state, the quick disassembly and assembly interface device is completed.
[0005] Optionally, the quick disassembly and assembly interface device comprises: a guide cone for guiding two quick disassembly and assembly interface devices in a positioning position; a guide groove for accommodating the guide cone and providing a positioning channel; a locking pin for locking two quick disassembly and assembly interface devices in a positioning position; a locking groove for accommodating the locking pin and ensuring the stability of the quick disassembly and assembly interface device; a locking ring for forming a locking force between two quick disassembly and assembly interface devices in a positioning position; a central functional interface for electrically connecting two quick disassembly and assembly interface devices in a positioning position.
[0006] Optionally, the guide cone is adjacent to the guide groove, the locking groove is arranged on the outer surface of the guide cone, and the locking pin is clamped into the locking groove by rotating the locking ring.
[0007] Optionally, the central functional interface adopts a spring needle and a touch pad as a connection mode.
[0008] Optionally, the parameters of the initial admittance controller comprise a damping parameter.
[0009] Optionally, the state judging method of the quick disassembly and assembly interface device in the unstable contact state comprises: using a sliding window, if the variance of the contact force and the moment of the quick disassembly and assembly interface device in the window exceeds a set stable threshold, the quick disassembly and assembly interface device is judged to be in an unstable contact state.
[0010] Optionally, the judging criterion comprises: if the contact force and the moment of the quick disassembly and assembly interface device exceed a set safety threshold, the quick disassembly and assembly interface device is judged to be in an abnormal state; if the contact force and the moment of the quick disassembly and assembly interface device do not exceed the set safety threshold, the quick disassembly and assembly interface device is judged to be in a normal state.
[0011] In another aspect, the present application provides a quick disassembly and assembly interface control system based on an admittance controller, which is applied to a quick disassembly and assembly interface control method based on an admittance controller, and the system comprises: An initialization module is configured to set initial admittance parameter values and initial expected contact force according to the quick disassembly and assembly interface device, and obtain an initial admittance controller; A non-contact state module is configured to control the initial admittance controller according to a relative position of the quick disassembly and assembly interface device, and obtain a non-contact state of the quick disassembly and assembly interface device; A contact start state module is configured to control and adjust the quick disassembly and assembly interface device through the initial admittance controller according to the non-contact state of the quick disassembly and assembly interface device, and obtain a contact start state of the quick disassembly and assembly interface device; A non-stable contact state module is configured to control and adjust the quick disassembly and assembly interface device through the initial admittance controller according to the contact start state of the quick disassembly and assembly interface device, and obtain a non-stable contact state of the quick disassembly and assembly interface device; A parameter adjustment module is configured to adjust parameters of the initial admittance controller according to the non-stable contact state of the quick disassembly and assembly interface device, and obtain an adjusted admittance controller; A stable contact state module is configured to adjust the non-stable contact state of the quick disassembly and assembly interface device according to the adjusted admittance controller, and obtain a stable contact state of the quick disassembly and assembly interface device; An interface device assembly module is configured to judge whether the quick disassembly and assembly interface device is in an abnormal state or a normal state according to the stable contact state of the quick disassembly and assembly interface device, and terminate assembly of the quick disassembly and assembly interface device if the quick disassembly and assembly interface device is in the abnormal state, or complete the assembly of the quick disassembly and assembly interface device if the quick disassembly and assembly interface device is in the normal state.
[0012] Compared with the prior art, the technical scheme of the present application has at least the following beneficial effects: On the one hand, the above-mentioned scheme implements self-adaptive adjustment in the non-contact, contact start, non-stable contact, and stable contact stages through the parameterized docking strategy based on the admittance controller, significantly improves the adaptability and flexibility to multi-task, multi-load, and multi-environment scenarios; on the second hand, the robustness, stability, and expansibility and production universality of docking are improved through the adjustment of the admittance controller; on the third hand, the quick disassembly and assembly interface device can realize unified management of mechanical locking, power supply, and signal transmission, improves the working efficiency of the interface device and reduces the maintenance cost. BRIEF DESCRIPTION OF DRAWINGS
[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0014] Figure 1This is a flowchart of an embodiment of the rapid disassembly and assembly interface control method based on an admittance controller of the present invention; Figure 2 This is a system block diagram of an embodiment of the quick-release interface control system based on an admittance controller of the present invention. Detailed Implementation
[0015] The technical solution of the present invention will now be described with reference to the accompanying drawings.
[0016] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.
[0017] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.
[0018] like Figure 1 The flowchart shown is an embodiment of the quick-release interface control method based on an admittance controller according to the present invention. The present invention provides a quick-release interface control method based on an admittance controller, which is implemented by a quick-release interface control system based on an admittance controller. The method includes: S1. Based on the quick-release interface device, set the initial admittance parameter value and the initial desired contact force to obtain the initial admittance controller; Specifically, the quick-release interface device includes: A guide cone is used to guide the two quick-release interface devices into the positioning position. The guide groove is used to accommodate the guide cone and provide a positioning channel; Locking pins are used to lock the two quick-release interface devices that are connected. A locking groove is provided to accommodate the locking pin and ensure the stability of the quick-release interface device. A locking ring is used to create a locking force between the two quick-release interface devices that are mated together. The central functional interface is used to electrically connect the two quick-release interface devices.
[0019] Specifically, the guide cone is adjacent to the guide groove, and the locking groove is located on the outer surface of the guide cone. By rotating the locking ring, the locking pin is engaged with the locking groove.
[0020] Specifically, the central functional interface uses a spring pin and a contact pad as the connection method.
[0021] Specifically, the parameters of the initial admittance controller include: damping parameters.
[0022] S2. Based on the relative position of the quick-release interface device, the initial admittance controller is used for control to obtain a contactless quick-release interface device. Specifically, the force, torque, position, velocity, and acceleration data of the interface can be defined as follows: (1) in, It is the first The force and torque vectors at each moment are given by linear forces. and torque composition, , and The first The pose vector, velocity vector, and acceleration vector at each moment.
[0023] This contactless state ( S 1) The status determination method for the quick-release interface device includes: Contact force modulus and moment modulus Below the preset threshold and ,Right now (2).
[0024] S3. Based on the contactless state of the quick-release interface device, the quick-release interface device is adjusted by the initial admittance controller to obtain the contact-starting state of the quick-release interface device. Specifically, this contact start state ( S 2) The status determination method for the quick-release interface device includes: When the contact force and torque modulus reach the contact force threshold, it is determined to be the contact initiation state, i.e. (3).
[0025] S4. Based on the quick-release interface device in the initial contact state, the quick-release interface device is adjusted by the initial admittance controller to obtain a quick-release interface device in an unstable contact state. Specifically, this unstable contact state ( S 3) The status determination method for the quick-release interface device includes: If the contact force variance and torque variance of the quick-release interface device within the sliding window exceed the set stability threshold, it is judged as an unstable contact state.
[0026] Furthermore, when the contact force fluctuates significantly, the variance of the contact force within a sliding window is used. and torque variance As a measure of contact stability, if the variance of contact force and torque exceeds a set threshold... and If so, it is judged as an unstable contact, that is... (4).
[0027] S5. Based on the quick-release interface device in the unstable contact state, adjust the parameters of the initial admittance controller to obtain the adjusted admittance controller. S6. Based on the adjusted admittance controller, adjust the quick-release interface device in the unstable contact state to obtain the quick-release interface device in the stable contact state. Specifically, this stable contact state ( S 4) The status determination method for the quick-release interface device includes: The contact force changes tend to stabilize, and the contact force variance is less than the stability threshold, i.e. (5).
[0028] S7. Based on the stable contact state of the quick-release interface device, if the judgment criterion determines that the state is abnormal, the assembly of the quick-release interface device is terminated; if the state is determined to be normal, the assembly of the quick-release interface device is completed.
[0029] Specifically, the judgment criteria include: if the contact force and torque of the quick-release interface device exceed the set safety threshold, it is judged as an abnormal state; if the contact force and torque of the quick-release interface device do not exceed the set safety threshold, it is judged as a normal state.
[0030] Furthermore, the assembly is complete ( S 5): Based on a stable contact state, judgment is made by comprehensively analyzing changes in pose, velocity, and acceleration. When the change in pose... linear velocity modulus angular velocity modulus linear acceleration modulus angular acceleration modulus All are less than the set threshold , , , and When assembly is complete, it is determined that the assembly is finished.
[0031] (6).
[0032] Abnormal state (S 6) When the system detects a contact force exceeding the safe range and torque When this happens, it is determined that an abnormality has occurred. (7).
[0033] like Figure 2 The diagram shown is a system block diagram of an embodiment of the quick-assembly and disassembly interface control system based on an admittance controller according to the present invention. The present invention provides a quick-assembly and disassembly interface control system based on an admittance controller, which is applied to a quick-assembly and disassembly interface control method based on an admittance controller. The system includes: an initialization module, a no-contact state module, a contact start state module, an unstable contact state module, a parameter adjustment module, a stable contact state module, and an interface device assembly module. Specifically, The initialization module is used to set the initial admittance parameter value and the initial expected contact force according to the quick-release interface device, so as to obtain the initial admittance controller; The contactless state module is used to control the quick-release interface device in a contactless state by means of the initial admittance controller based on the relative position of the quick-release interface device. The contact start state module is used to control and adjust the quick-release interface device according to the contactless state through the initial admittance controller to obtain the quick-release interface device in the contact start state. An unstable contact state module is used to adjust the quick-release interface device according to the contact start state through the initial admittance controller to obtain a quick-release interface device in an unstable contact state. The parameter adjustment module is used to adjust the parameters of the initial admittance controller according to the quick-release interface device under the unstable contact state, so as to obtain the adjusted admittance controller. A stable contact state module is used to adjust the quick-release interface device in the unstable contact state according to the adjusted admittance controller, so as to obtain a quick-release interface device in a stable contact state. The interface device assembly module is used to determine the quick-release interface device based on the stable contact state. If the determination is an abnormal state, the assembly of the quick-release interface device is terminated; if the determination is a normal state, the assembly of the quick-release interface device is completed.
[0034] The application provides a quick dismounting interface control method and system based on an admittance controller, which realizes self-adaptive adjustment in non-contact, contact start, non-stable contact and stable contact stages through a parameterized docking strategy based on the admittance controller, significantly improves the adaptability and flexibility to multi-task, multi-load and multi-environment scenarios, adjusts the admittance controller, improves the robustness and stability of docking, and improves the expansibility and production universality of cross-systems.
[0035] It can be understood that the application is described by the above embodiments, which should not be interpreted as a limitation on the embodiments and scope of the application. Those skilled in the art can make various changes or equivalent replacements to the features and embodiments without departing from the spirit and scope of the application. In addition, under the guidance of the application, the features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the application. Therefore, the application is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the application are within the scope of the application.
Claims
1. A rapid disassembly and assembly interface control method based on an admittance controller, characterized in that, The method includes: S1. Based on the quick-release interface device, set the initial admittance parameter value and the initial desired contact force to obtain the initial admittance controller; S2. Based on the relative position of the quick-release interface device, the initial admittance controller is used for control to obtain a contactless quick-release interface device. S3. Based on the contactless state quick-release interface device, the quick-release interface device is adjusted by the initial admittance controller to obtain the contact-starting quick-release interface device. S4. Based on the quick-release interface device in the contact start state, the quick-release interface device is adjusted by the initial admittance controller to obtain a quick-release interface device in an unstable contact state. S5. Based on the quick-release interface device in the unstable contact state, adjust the parameters of the initial admittance controller to obtain the adjusted admittance controller. S6. Based on the adjusted admittance controller, adjust the quick-release interface device in the unstable contact state to obtain the quick-release interface device in the stable contact state. S7. Based on the stable contact state of the quick-release interface device, if the judgment criterion determines that the state is abnormal, the assembly of the quick-release interface device is terminated; if the state is determined to be normal, the assembly of the quick-release interface device is completed.
2. The rapid disassembly and assembly interface control method based on admittance controller according to claim 1, characterized in that, The quick-release interface device includes: A guide cone is used to guide the two quick-release interface devices into the positioning position. Guide groove, used to accommodate the guide cone and provide a positioning channel; Locking pins are used to lock the two quick-release interface devices that are connected. A locking groove is provided to accommodate the locking pin and ensure the stability of the quick-release interface device. A locking ring is used to create a locking force between the two quick-release interface devices that are mated together; The central functional interface is used to electrically connect the two quick-release interface devices.
3. The rapid disassembly and assembly interface control method based on admittance controller according to claim 2, characterized in that, The guide cone is adjacent to the guide groove, and the locking groove is disposed on the outer surface of the guide cone. By rotating the locking ring, the locking pin is engaged into the locking groove.
4. The rapid disassembly and assembly interface control method based on admittance controller according to claim 2, characterized in that, The central functional interface uses a spring pin and a contact pad as the connection method.
5. The rapid disassembly and assembly interface control method based on admittance controller according to claim 1, characterized in that, The parameters of the initial admittance controller include: damping parameters.
6. The rapid disassembly and assembly interface control method based on admittance controller according to claim 1, characterized in that, The method for determining the state of the quick-release interface device in an unstable contact state includes: If the contact force variance and torque variance of the quick-release interface device within the sliding window exceed the set stability threshold, it is judged as an unstable contact state.
7. The rapid disassembly and assembly interface control method based on admittance controller according to claim 1, characterized in that, The judgment criteria include: if the contact force and torque of the quick-release interface device exceed the set safety threshold, it is judged as an abnormal state; if the contact force and torque of the quick-release interface device do not exceed the set safety threshold, it is judged as a normal state.
8. A rapid disassembly and assembly interface control system based on an admittance controller, used to implement the rapid disassembly and assembly interface control method based on an admittance controller as described in any one of claims 1-7, characterized in that, The system includes: The initialization module is used to set the initial admittance parameter value and the initial expected contact force according to the quick-release interface device, so as to obtain the initial admittance controller; The contactless state module is used to control the quick-release interface device in a contactless state by means of the initial admittance controller based on the relative position of the quick-release interface device. The contact start state module is used to control and adjust the quick-release interface device according to the contactless state through the initial admittance controller to obtain the quick-release interface device in the contact start state. An unstable contact state module is used to adjust the quick-release interface device according to the contact start state through the initial admittance controller to obtain a quick-release interface device in an unstable contact state. The parameter adjustment module is used to adjust the parameters of the initial admittance controller according to the quick-release interface device under the unstable contact state, so as to obtain the adjusted admittance controller. A stable contact state module is used to adjust the quick-release interface device in the unstable contact state according to the adjusted admittance controller, so as to obtain a quick-release interface device in a stable contact state. The interface device assembly module is used to determine the quick-release interface device assembly based on the stable contact state. If the determination is an abnormal state, the assembly of the quick-release interface device is terminated; if the determination is a normal state, the assembly of the quick-release interface device is completed.