A control method and device for a mobile operating robot based on a dynamic threshold

Abstract

The application discloses a control method and device of a mobile operation robot based on a dynamic threshold. The control method of the mobile operation robot based on the dynamic threshold comprises the following steps: calculating a maximum working radius of a mechanical arm; acquiring a current working radius of the mechanical arm; if the current working radius of the mechanical arm is less than or equal to the maximum working radius of the mechanical arm, switching to a high-speed moving mode, and increasing a maximum speed of a chassis to a first speed; and if the current working radius of the mechanical arm is greater than the maximum working radius of the mechanical arm, switching to a fixed-point operation mode, and reducing the maximum speed of the chassis to a second speed, wherein the second speed is less than the first speed. The control method can maximize the quick maneuvering capability of the moving chassis under the premise of ensuring the stability of the whole machine against overturning, and effectively balances the contradiction between the operation efficiency and the safety margin.

Description

Technical Field

[0001] This invention belongs to the technical field of mobile operation robots, and specifically relates to a control method and device for a mobile operation robot based on dynamic thresholds. Background Technology

[0002] Mobile grasping robots in related technologies typically integrate a chassis with a multi-axis robotic arm, using LiDAR for obstacle avoidance or area-based speed limiting. When personnel approach the mobile chassis, the robotic arm slows down, with a maximum speed set at 250 mm / s. While this ensures safety under extreme conditions, it severely sacrifices mobility during the retraction phase of the robotic arm, failing to meet the high-speed requirements of modern logistics and production lines. Summary of the Invention

[0003] The purpose of this invention is to provide a control method for a mobile robot based on dynamic thresholds, which can maximize the rapid mobility of the mobile chassis while ensuring the overall anti-tipping stability of the robot, effectively balancing the contradiction between work efficiency and safety margin.

[0004] The present invention also provides a control device for a mobile operating robot based on dynamic thresholds.

[0005] The present invention also provides an electronic device.

[0006] The present invention also provides a non-transitory computer-readable storage medium.

[0007] The technical solution adopted to solve the above-mentioned technical problems is as follows: A control method for a mobile robot based on dynamic thresholds, provided in a first aspect embodiment of the present invention, includes: The mobile robot includes a chassis, a torso mounted on the chassis, and a robotic arm mounted on the torso; the control method includes: The maximum working radius of the robotic arm is calculated based on the anti-overturning moment generated by the counterweight of the chassis and the torso, the moment generated by the load, the moment generated by the robotic arm, the moment generated by the self-weight of the upper part of the torso, and the additional moment generated by the emergency braking inertial force at the center of gravity. Obtain the current working radius of the robotic arm; If the current working radius of the robotic arm is less than or equal to the maximum working radius of the robotic arm, switch to high-speed movement mode and increase the maximum speed of the chassis to the first speed; If the current working radius of the robotic arm is greater than the maximum working radius of the robotic arm, switch to fixed-point operation mode and reduce the maximum speed of the chassis to a second speed, wherein the second speed is less than the first speed.

[0008] According to the control method of a mobile operation robot based on dynamic threshold according to an embodiment of the present invention, the step of calculating the maximum working radius of the robotic arm based on the anti-overturning torque generated by the counterweight of the chassis and the torso, the torque generated by the load, the torque generated by the robotic arm, the torque generated by the self-weight of the upper part of the torso, and the additional torque generated by the emergency braking inertial force at the center of gravity height includes: The anti-overturning moment T1 generated by the counterweight of the chassis and the torso is:

[0009] Where, m b Let m be the weight of the chassis. c For the counterweight of the torso; L c It is half the width of the counterweight of the torso; L is half the support width of the chassis, that is, the distance from the axis of the front wheel of the chassis to the horizontal projection of the center of mass of the mobile operating robot. The torque T2 generated by the load is:

[0010] Where, m l R is the weight of the load, and R is the working radius of the robotic arm; The torque T3 generated by the robotic arm is:

[0011] Where, m a The weight of the robotic arm; The torque T4 generated by the weight of the upper part of the torso is:

[0012] Where, m t The weight of the upper part of the torso, R t The working radius of the upper part of the torso; The additional torque T5 generated by the emergency braking inertial force at the height of the center of gravity is:

[0013] Among them, A max This is the maximum braking deceleration of the chassis; T1≥δ (T2+T3+T4+T5) The maximum working radius R of the robotic arm can be calculated using the above formula. th δ is the safety factor, where δ is greater than 1.

[0014] According to an embodiment of the present invention, the control method for a mobile robot based on a dynamic threshold, before calculating the maximum working radius of the robotic arm based on the anti-overturning torque generated by the counterweight of the chassis and the torso, the torque generated by the load, the torque generated by the robotic arm, the torque generated by the self-weight of the upper part of the torso, and the additional torque generated by the emergency braking inertial force at the center of gravity height, the control method further includes: Obtain the weight of the load.

[0015] According to an embodiment of the present invention, a control method for a mobile robot based on a dynamic threshold further includes: When an emergency stop signal is received, the following steps are executed in parallel via hardware interrupt: Send an emergency braking command to the chassis's drive unit to bring the chassis to a stop at maximum deceleration; A retraction command is sent to the controller of the robotic arm to control the robotic arm to retract to the position of minimum working radius.

[0016] According to an embodiment of the present invention, a control method for a mobile robot based on a dynamic threshold further includes: When an emergency stop signal is received, the current braking state of the chassis and the current pitch angle of the mobile robot are obtained; the current braking state includes at least the braking distance. If the braking distance of the current braking state is greater than the set distance or the current pitch angle is greater than the set angle, then the retraction speed of the robotic arm is increased or the load is released.

[0017] According to the control method for a mobile operation robot based on dynamic threshold according to an embodiment of the present invention, the transition time for the chassis to switch to the high-speed movement mode or the fixed-point operation mode is 100-200ms.

[0018] A second aspect of the present invention provides a control device for a mobile operating robot based on a dynamic threshold, the control device comprising a control module and an acquisition module; The control module is used to calculate the maximum working radius of the robotic arm based on the anti-overturning torque generated by the counterweight of the chassis and the torso, the torque generated by the load, the torque generated by the robotic arm, the torque generated by the self-weight of the upper part of the torso, and the additional torque generated by the emergency braking inertial force at the center of gravity. The acquisition module is used to acquire the current working radius of the robotic arm; The control module is also used to switch to high-speed movement mode and increase the maximum speed of the chassis to the first speed if the current working radius of the robotic arm is less than or equal to the maximum working radius of the robotic arm. The control module is also used to switch to a fixed-point operation mode if the current working radius of the robotic arm is greater than the maximum working radius of the robotic arm, and to reduce the maximum speed of the chassis to a second speed, wherein the second speed is less than the first speed.

[0019] According to an embodiment of the present invention, the control module of the control device for a mobile operation robot based on a dynamic threshold is further configured to obtain the weight of the load before calculating the maximum working radius of the robotic arm based on the anti-overturning torque generated by the counterweight of the chassis and the torso, the torque generated by the load, the torque generated by the robotic arm, the torque generated by the self-weight of the upper part of the torso, and the additional torque generated by the emergency braking inertial force at the center of gravity height.

[0020] A third aspect of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the control method for a mobile operating robot based on a dynamic threshold described in the first aspect of the present invention.

[0021] A fourth aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the control method for a mobile operating robot based on dynamic thresholds described in the first aspect of the present invention.

[0022] The present invention has at least the following beneficial effects: The maximum working radius of the robotic arm is calculated, and the current working radius of the robotic arm is compared with the maximum working radius. If the current working radius of the robotic arm is less than or equal to the maximum working radius, it is determined that the robot is in a state with sufficient stability margin. At this time, it switches to high-speed movement mode and increases the maximum speed of the chassis to the first speed to improve work efficiency. If the current working radius of the robotic arm is less than or equal to the maximum working radius, it immediately switches to fixed-point operation mode and limits the maximum speed of the chassis to a lower second speed to suppress the risk of tipping over caused by excessive extension of the robotic arm. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a flowchart of a control method for a mobile operating robot based on dynamic thresholds provided in an embodiment of the present invention; Figure 2 This is one of the structural diagrams of a mobile operating robot; Figure 3 This is the second structural schematic diagram of a mobile operating robot; Figure 4This is a schematic diagram of a mobile robot in high-speed movement mode. Figure 5 This is a schematic diagram of a mobile robot in stationary mode; Figure 6 It is a dynamic threshold division diagram of the safe operating area and working radius of the mobile robot; Figure 7 This is a schematic diagram of the structure of the control device for a mobile operating robot based on dynamic thresholds provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present invention.

[0024] The following labels are shown in the attached diagram: 110. Chassis; 120. Trunk; 121. Upper trunk; 130. Robotic arm; 140. Casters; 141. Front wheel; 142. Rear wheel; 150. Main controller; 101. Acquisition module; 102. Control module; 201. Processor; 202. Communication interface; 203. Memory; 204. Communication bus. Detailed Implementation

[0025] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0026] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0027] In the description of this invention, the use of terms such as "a number" means one or more, with "more than" meaning two or more. Terms like "greater than," "less than," and "exceeding" are understood to exclude the stated number, while terms like "above," "below," and "within" are understood to include the stated number. The use of terms like "first," "second," and "third" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the number of indicated technical features, or the sequential relationship between indicated technical features.

[0028] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0029] Reference Figures 1 to 7 The following are several embodiments of the control method and apparatus for a mobile operating robot based on dynamic thresholds of the present invention.

[0030] like Figures 1 to 5 As shown, the first aspect of the present invention discloses a control method for a mobile manipulation robot based on dynamic thresholds. The mobile manipulation robot includes a chassis 110, a torso 120 disposed on the chassis 110, and a robotic arm 130 mounted on the torso 120. The control method includes: Step S100: Calculate the maximum working radius of the robotic arm 130 based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity. Step S200: Obtain the current working radius of the robotic arm 130; The encoder values ​​of each joint angle of the robotic arm 130 are read, and the horizontal projection distance of the center of the end effector of the robotic arm 130 in the coordinate system of the chassis 110 is calculated in real time using a forward kinematics model. This distance is the current working radius R. The calculation formula is: R = , where X and Y are the coordinates of the end effector of the robotic arm 130 in the horizontal plane.

[0031] Step S300: If the current working radius of the robotic arm 130 is less than or equal to the maximum working radius of the robotic arm 130, switch to high-speed movement mode and increase the maximum speed of the chassis 110 to the first speed. Step S400: If the current working radius of the robotic arm 130 is greater than the maximum working radius of the robotic arm 130, switch to fixed-point operation mode and reduce the maximum speed of the chassis 110 to the second speed, wherein the second speed is less than the first speed.

[0032] Calculate the maximum working radius of robotic arm 130, and compare the current working radius of robotic arm 130 with the maximum working radius, such as... Figure 4 As shown, if the current working radius of the robotic arm 130 is less than or equal to its maximum working radius, the robot is determined to be in a state with sufficient stability margin. At this time, it switches to high-speed movement mode and increases the maximum speed of the chassis 110 to the first speed to improve work efficiency. Figure 5As shown, if the current working radius of the robotic arm 130 is less than or equal to the maximum working radius of the robotic arm 130, it immediately switches to the fixed-point operation mode and limits the maximum speed of the chassis 110 to a lower second speed to suppress the risk of overturning caused by the excessive extension of the robotic arm 130 by reducing the speed.

[0033] This application incorporates real-time operating conditions such as the robot's dynamic mass distribution, load changes, and emergency braking impacts into its decision-making process. This makes the speed mode switching both forward-looking and responsive, maximizing the rapid mobility of the mobile chassis 110 while ensuring the overall anti-tipping stability of the machine, effectively balancing the contradiction between operational efficiency and safety margin. Figure 6 A dynamic threshold division diagram for the safe operating area and working radius of a mobile robot.

[0034] like Figure 2 As shown, the bottom of the chassis 110 is equipped with movable wheels 140, which drive the movement of the mobile robot through rotation. There are four movable wheels 140: two front wheels 141 and two rear wheels 142. The two front wheels 141 are located on the front side of the chassis 110, and the two rear wheels 142 are located on the rear side of the chassis 110. For the stability of the torso 120, the torso 120 is located in the middle of the chassis 110, and a counterweight is provided on the torso 120. The torso 120 is vertically arranged, and a sliding guide rail is provided on the torso 120. The upper part of the torso 121 is slidably mounted on the sliding rail, and the robotic arm 130 is rotatably connected to the upper part of the torso 121. There are two robotic arms 130, and the working radius of the robotic arm 130 refers to the working radius of the longer robotic arm 130. The joints of the robotic arm 130 are equipped with position encoders and torque sensors. The mobile manipulation robot also includes a main controller 150, which controls the movement of the moving wheels 140 and the robotic arm 130. Furthermore, the mobile manipulation robot includes a lidar, an emergency stop button, and a collision sensor, which are electrically connected to the main controller 150.

[0035] In related technologies, mobile robots typically employ a fixed speed-limiting strategy. This means that regardless of the robotic arm's extension state, the chassis's maximum speed is limited to a conservative value oriented towards the most dangerous conditions (fully extended robotic arm, fully loaded). While this ensures anti-tipping safety under extreme conditions, it severely sacrifices mobility during the transfer phase when the robotic arm retracts and the machine's center of gravity stabilizes, resulting in low equipment utilization and failing to meet the high-speed requirements of modern logistics and production lines. This invention introduces a "working radius threshold" as a mode-switching criterion parameter. When the robotic arm 130 is retracted (i.e., the current working radius is small), the chassis 110 is allowed to operate at its maximum speed for optimal efficiency, balancing safety and efficiency. This invention is logically simple, easy to implement in engineering, and simultaneously releases efficient mobility while ensuring safety under extreme conditions.

[0036] Taking a mobile grasping robot with a weight of 140kg, a maximum load of 10kg, and a maximum radius of 1.35m as an example, its maximum transfer speed can be increased from 0.2m / s in the traditional fixed low-speed solution to 1.0m / s, an increase of 5 times; the transfer time between standard workstations is reduced by 80%.

[0037] In some embodiments, the maximum working radius of the robotic arm 130 is calculated based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity height. The anti-overturning moment T1 generated by the counterweights of chassis 110 and torso 120 is:

[0038] Where, m b For the chassis weight of 110, m c The counterweight is 120 units for the torso; L c It is half the width of the counterweight of the torso 120; L is half the support width of the chassis 110, that is, the distance from the axis of the front wheel 141 of the chassis 110 to the horizontal projection of the center of mass of the mobile robot. The stability of the mobile robot can be improved by utilizing the weight of the chassis 110 and the counterweight of the torso 120. c The width of the counterweight of torso 120 is half that of the counterweight itself; for example, if the counterweight of torso 120 is a cylinder, L c The radius of the counterweight of the torso 120 is given. The mobile manipulator of this invention improves its anti-tipping ability through the weight of the chassis 110 and the counterweight of the torso 120; therefore, through the formula... The maximum anti-overturning moment T1 of the mobile robot can be calculated.

[0039] The torque T2 generated by the load is:

[0040] Where, m l R is the weight of the load, and R is the working radius of the robotic arm 130. By reading the Z-axis force data from the six-dimensional force sensor at the end of the robotic arm 130, and subtracting the weight of the end-effector of the robotic arm 130 from the Z-axis force data, the current load mass m is obtained. l Alternatively, the load mass can be calculated using torque sensors at each joint of the robotic arm 130, combined with the dynamic model of the robotic arm 130.

[0041] The torque T3 generated by the robotic arm 130 is:

[0042] Where, m a The weight of the robotic arm 130; The torque T4 generated by the weight of the upper part of the torso 121 is:

[0043] Where, m t For the weight of the upper part of the torso 121, R t The working radius of the upper part of the torso is 121. The working radius of the upper torso 121 is the horizontal distance from the center of mass of the upper torso 121 to the connection point between the robotic arm 130 and the upper torso 121.

[0044] The additional torque T5 generated by the inertial force during emergency braking at the height of the center of gravity is:

[0045] Among them, A max This is the maximum braking deceleration of the chassis 110; T1≥δ (T2+T3+T4+T5) The maximum working radius R of the robotic arm 130 can be calculated from the above formula. th δ is the safety factor, where δ is greater than 1.

[0046] The load torque T2, the self-torque T3 of the robotic arm 130, and the self-weight torque T4 of the upper torso 121 are respectively expressed with respect to the working radius R and the self-weight m of the robotic arm 130. a and the working radius R of the upper part of the torso 121 t Using the maximum braking deceleration Amax as a variable, it accurately reflects the impact of each component on the overall overturning of the machine under different extension postures; the emergency braking additional torque T5 uses the maximum braking deceleration Amax as a variable to quantify the transient inertial impact, thus covering the most severe dynamic conditions. This is achieved through the inequality T1≥δ The maximum working radius R is calculated using (T2+T3+T4+T5). th This invention constructs a complete overturning boundary equation from both static and dynamic dimensions. It considers not only conventional operating loads but also the additional torque generated by emergency braking, ensuring sufficient redundancy in the resulting radius threshold. Simultaneously, the introduction of a safety factor δ allows the controller to flexibly adjust the level of conservatism based on the actual task risk level, neither excessively restricting the normal operating range nor failing to effectively resist sudden disturbances. This significantly improves the autonomous adaptability and safe operation level of the mobile robot. The maximum working radius can be easily calculated using the above formulas without complex real-time dynamic calculations, enabling reliable operation on standard industrial controllers with low complexity and high reliability.

[0047] For example, reading from the memory, we obtain the chassis weight in m. b The robotic arm weighs 130m and has a weight of 140kg. a The weight is 20 kg, and the upper torso has a weight of 121 m. t It weighs 15kg, with a 120m counterweight on the torso. c The weight is 50kg, the support half-width L of the chassis 110 is 0.45m, and the system center of gravity height H is 0.65m. The working radius R of the center of gravity of the upper torso 121 is... t The maximum braking deceleration Amax of the chassis 110 is 1.0 m / s², which is 0.15 m. 2 The safety factor δ can be taken as 1.5 to cover the errors introduced by model simplification and fluctuations in the road surface friction coefficient. The mobile robot, in its unloaded state, has a load weight of 0, and the calculated maximum working radius R... th The maximum working radius R is 0.8m; the mobile robot, under half-load conditions, has a load weight of 5kg. th The maximum working radius R is 0.7m; the mobile robot, under full load, has a self-weight of 10kg. th The maximum working radius of the robotic arm 130 is 0.6m. If the current working radius of the robotic arm 130 is less than or equal to the maximum working radius of the robotic arm 130, the controller sends a command to the chassis 110 driver to set the upper limit of the speed command to the first speed of 1.0 m / s and the upper limit of the acceleration command a. max Set to 0.5 m / s 2 If the current working radius of the robotic arm 130 is greater than its maximum working radius, the controller sends a command to the chassis 110 to forcibly lower the upper limit of the speed command to the second speed of 0.2 m / s, and the upper limit of the acceleration command a. safe Reduced to 0.1 m / s 2At this point, even if the operator accidentally issues a full-speed movement command, the chassis 110 will only crawl at a low speed of 0.2m / s to ensure the absolute stability of the entire machine under the large radius of extension.

[0048] In some embodiments, before calculating the maximum working radius of the robotic arm 130 based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity height, the control method further includes: Get the weight of the load.

[0049] Obtain the load's self-weight to acquire the load's weight in real time. This is because the load torque T2 is related to the load's self-weight m. l It exhibits a direct linear correlation, using real-time measurement of the load's self-weight to perceive the actual weight being grasped or carried, thus avoiding the calculation of the maximum working radius R. th Whether the maximum working radius is too large or too small, it can adaptively adjust to changes in the work task, ensuring that the switching of the chassis 110 speed mode is always based on the actual physical working conditions, thereby improving the accuracy of the control strategy and environmental adaptability.

[0050] The lighter the load, the larger the calculated maximum working radius R. th The larger the value, the wider the allowable high-speed working range, further refining the balance between safety and efficiency. This allows the mobile robot to operate in the optimal efficiency range that balances safety under different load conditions, such as no load, half load, and full load, avoiding the conservatism of fixed thresholds under all working conditions.

[0051] In some embodiments, the control method further includes: When an emergency stop signal is received, the following steps are executed in parallel via hardware interrupt: An emergency braking command is sent to the drive unit of chassis 110, causing chassis 110 to stop at maximum deceleration; Send a retraction command to the controller of the robotic arm 130 to control the robotic arm 130 to retract to the position of minimum working radius.

[0052] Upon receiving an emergency stop signal, a hardware interrupt is used to execute the braking commands of chassis 110 and the retraction commands of robotic arm 130 in parallel. The hardware interrupt ensures that two critical protective actions are triggered simultaneously within an extremely short deterministic delay: firstly, the chassis 110 decelerates at its maximum speed (e.g., 1 m / s²). 2The robot can brake suddenly to shorten the sliding distance, and on the other hand, drive the robotic arm 130 to quickly retract to the position of minimum working radius to reduce the height of the overall center of gravity and the overturning moment. This ensures that in the most critical emergency, the robot can simultaneously curb the deterioration of the danger from two dimensions: "deceleration and stabilization" and "arm retraction and torque reduction". This greatly enhances the robustness of the mobile operation robot against sudden impacts.

[0053] Upon receiving an emergency stop signal, the chassis 110 stops operating and the robotic arm 130 retracts, both commands, are initiated within the same interrupt service cycle. The main controller 150 sends an Emergency StopFrame to the chassis 110 driver. This frame is inserted into the transmission queue with the highest priority within a bus cycle (typically 1ms). Upon receiving it, the driver immediately disables the motor power stage and simultaneously puts the braking resistor into the circuit to brake the motor. This process, from triggering to motor power-off, takes less than or equal to 3ms. Within the same interrupt service cycle, the main controller 150 writes the node speed commands for the "retracting arm" joint trajectory, pre-stored in the main controller 150, into the command registers of the servo drivers for each joint of the robotic arm 130. The commands to stop the chassis 110 and retract the robotic arm 130 are sent and executed simultaneously, without any order of command sequence.

[0054] When the robotic arm 130 retracts, the "retraction" trajectory is preset offline. The trajectory generation method starts from the current joint angle of the robotic arm 130 and ends at the safe retraction posture. It uses fifth-order polynomial interpolation to plan the joint space trajectory, ensuring the continuity of position, velocity, and acceleration. The total trajectory duration is set to 500ms, and the maximum speed of each joint is limited to 60% of the rated speed to ensure a smooth retraction process without impact. During execution, the main controller 150 reads the joint angle command corresponding to the current moment at a period of 10ms and issues it. If the chassis 110 has completely stopped during the retraction process and there is no risk of tipping over (the pitch angle change rate is monitored in real time by the IMU; if the pitch angle change rate is <0.5° / s and lasts for 100ms), the retraction trajectory can be terminated in advance to reduce wear on the transmission mechanism of the robotic arm 130.

[0055] While the chassis 110 performs an emergency stop, the robotic arm 130 simultaneously performs a retraction action, which gradually reduces the overturning moment generated by the load and the weight of the robotic arm 130 during the braking process of the mobile robot. This reduces the peak value of the overturning moment from the source, and significantly improves the safety margin of the system in emergency situations.

[0056] In some embodiments, the control method further includes: When an emergency stop signal is received, the current braking status of the chassis 110 and the current pitch angle of the mobile robot are obtained; the current braking status includes at least the braking distance. If the braking distance in the current braking state is greater than the set distance or the current pitch angle is greater than the set angle, then increase the retraction speed of the robotic arm 130 or release the load.

[0057] During emergency stop, this invention uses braking distance and pitch angle as dynamic feedback evaluation parameters. When the actual braking distance exceeds the set value, it indicates insufficient ground adhesion or excessive initial velocity. When the pitch angle exceeds the set angle, it indicates that the vehicle body has a significant tilting trend. This invention determines that the efficiency of conventional emergency stop actions is insufficient and increases the arm retraction speed to accelerate the center of gravity retraction. In extreme conditions, it can even decisively perform load shedding, effectively avoiding the risk of failure of a single fixed action under extreme boundary conditions and providing additional safety redundancy for the robot.

[0058] During the emergency stop execution, the main controller 150 continuously monitors the moving speed of the chassis 110 and the pitch angle of the moving robot at a frequency of not less than 100Hz; it monitors the real-time speed of the chassis 110 through encoder feedback and monitors the pitch angle and angular velocity in real time through the IMU.

[0059] After an emergency stop is executed, if the speed of chassis 110 drops below 0.05 m / s and the robotic arm 130 has retracted to R ≤ 0.35 m, the mobile robot switches to fixed-point operation mode, reducing the maximum speed of chassis 110 to the second speed and sending an emergency stop event report and a recovery ready signal to the host computer. After the operator confirms that the site is safe, the emergency stop state can be cleared through a reset operation, and the system resumes normal operation. Dynamic monitoring and active adjustment (adaptive arm retraction speed) during the braking process further enhances the safety margin under extreme conditions; active arm retraction at the end of braking allows the overturning force arm generated by the load and the arm's own weight to decrease synchronously and rapidly, reducing the peak overturning moment at its source, effectively reducing the risk of overturning during emergency stops, and significantly improving the safety margin in emergency situations.

[0060] In some embodiments, the transition time for the chassis 110 to switch to high-speed movement mode or stationary operation mode is 100-200ms.

[0061] The transition time for the chassis 110 to switch between high-speed movement mode and fixed-point operation mode is 100-200ms, so that the speed command is completed in the form of a smooth ramp rather than a step change, avoiding shock.

[0062] A second aspect of the present invention provides a control device for a mobile robot based on a dynamic threshold, such as... Figure 7 As shown, the control device includes a control module 102 and an acquisition module 101; The control module 102 is used to calculate the maximum working radius of the robotic arm 130 based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity. The acquisition module 101 is used to acquire the current working radius of the robotic arm 130; The control module 102 is also used to switch to high-speed movement mode and increase the maximum speed of chassis 110 to the first speed if the current working radius of robotic arm 130 is less than or equal to the maximum working radius of robotic arm 130. The control module 102 is also used to switch to a fixed-point operation mode if the current working radius of the robotic arm 130 is greater than the maximum working radius of the robotic arm 130, and to reduce the maximum speed of the chassis 110 to a second speed, wherein the second speed is less than the first speed.

[0063] In some embodiments, the control module 102 is further configured to obtain the weight of the load before calculating the maximum working radius of the robotic arm 130 based on the anti-overturning torque generated by the counterweight of the chassis 110 and the torso 120, the torque generated by the load, the torque generated by the robotic arm 130, the torque generated by the weight of the upper torso 121, and the additional torque generated by the emergency braking inertial force at the center of gravity height.

[0064] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include: a processor 201, a communication interface 202, a memory 203, and a communication bus 204, wherein the processor 201, the communication interface 202, and the memory 203 communicate with each other via the communication bus 204. The processor 201 can call logical instructions in the memory 203 to execute the control method for a mobile manipulation robot based on dynamic thresholds according to the first aspect embodiment; the method includes: The maximum working radius of the robotic arm 130 is calculated based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper part of the torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity. Obtain the current working radius of the robotic arm 130; If the current working radius of the robotic arm 130 is less than or equal to the maximum working radius of the robotic arm 130, switch to high-speed movement mode and increase the maximum speed of the chassis 110 to the first speed; If the current working radius of the robotic arm 130 is greater than the maximum working radius of the robotic arm 130, switch to fixed-point operation mode and reduce the maximum speed of the chassis 110 to a second speed, wherein the second speed is less than the first speed.

[0065] A fourth aspect of the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, when executed by a processor 201, the computer program implements the control method for a mobile manipulating robot based on a dynamic threshold according to the first aspect embodiment; the method includes: The maximum working radius of the robotic arm 130 is calculated based on the anti-overturning moment generated by the counterweight of the chassis 110 and the torso 120, the moment generated by the load, the moment generated by the robotic arm 130, the moment generated by the self-weight of the upper part of the torso 121, and the additional moment generated by the emergency braking inertial force at the center of gravity. Obtain the current working radius of the robotic arm 130; If the current working radius of the robotic arm 130 is less than or equal to the maximum working radius of the robotic arm 130, switch to high-speed movement mode and increase the maximum speed of the chassis 110 to the first speed; If the current working radius of the robotic arm 130 is greater than the maximum working radius of the robotic arm 130, switch to fixed-point operation mode and reduce the maximum speed of the chassis 110 to a second speed, wherein the second speed is less than the first speed.

[0066] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A control method for a mobile robot based on dynamic thresholds, characterized in that, The mobile robot includes a chassis, a torso mounted on the chassis, and a robotic arm mounted on the torso; the control method includes: The maximum working radius of the robotic arm is calculated based on the anti-overturning moment generated by the counterweight of the chassis and the torso, the moment generated by the load, the moment generated by the robotic arm, the moment generated by the self-weight of the upper part of the torso, and the additional moment generated by the emergency braking inertial force at the center of gravity. Obtain the current working radius of the robotic arm; If the current working radius of the robotic arm is less than or equal to the maximum working radius of the robotic arm, switch to high-speed movement mode and increase the maximum speed of the chassis to the first speed; If the current working radius of the robotic arm is greater than the maximum working radius of the robotic arm, switch to fixed-point operation mode and reduce the maximum speed of the chassis to a second speed, wherein the second speed is less than the first speed.

2. The control method for a mobile robot based on dynamic thresholds according to claim 1, characterized in that, The calculation of the maximum working radius of the robotic arm, based on the anti-overturning moment generated by the counterweight of the chassis and the torso, the moment generated by the load, the moment generated by the robotic arm, the moment generated by the self-weight of the upper part of the torso, and the additional moment generated by the emergency braking inertial force at the center of gravity, includes: The anti-overturning moment T1 generated by the counterweight of the chassis and the torso is: Where, m b Let m be the weight of the chassis. c For the counterweight of the torso; L c It is half the width of the counterweight of the torso; L is half the support width of the chassis, that is, the distance from the axis of the front wheel of the chassis to the horizontal projection of the center of mass of the mobile operating robot. The torque T2 generated by the load is: Where, m l R is the weight of the load, and R is the working radius of the robotic arm; The torque T3 generated by the robotic arm is: Where, m a The weight of the robotic arm; The torque T4 generated by the weight of the upper part of the torso is: Where, m t The weight of the upper part of the torso, R t The working radius of the upper part of the torso; The additional torque T5 generated by the emergency braking inertial force at the height of the center of gravity is: Among them, A max This is the maximum braking deceleration of the chassis; T1≥δ (T2+T3+T4+T5) The maximum working radius R of the robotic arm can be calculated using the above formula. th δ is the safety factor, where δ is greater than 1.

3. The control method for a mobile robot based on dynamic thresholds according to claim 1, characterized in that, Before calculating the maximum working radius of the robotic arm based on the anti-overturning moment generated by the counterweight of the chassis and the torso, the moment generated by the load, the moment generated by the robotic arm, the moment generated by the self-weight of the upper part of the torso, and the additional moment generated by the emergency braking inertial force at the center of gravity height, the control method further includes: Obtain the weight of the load.

4. The control method for a mobile robot based on dynamic thresholds according to claim 1, characterized in that, The control method further includes: When an emergency stop signal is received, the following steps are executed in parallel via hardware interrupt: Send an emergency braking command to the chassis's drive unit to bring the chassis to a stop at maximum deceleration; A retraction command is sent to the controller of the robotic arm to control the robotic arm to retract to the position of minimum working radius.

5. The control method for a mobile robot based on dynamic thresholds according to claim 1, characterized in that, The control method further includes: When an emergency stop signal is received, the current braking state of the chassis and the current pitch angle of the mobile robot are obtained; the current braking state includes at least the braking distance. If the braking distance of the current braking state is greater than the set distance or the current pitch angle is greater than the set angle, then the retraction speed of the robotic arm is increased or the load is released.

6. The control method for a mobile robot based on dynamic thresholds according to claim 1, characterized in that, The transition time for the chassis to switch to the high-speed movement mode or the fixed-point operation mode is 100-200ms.

7. A control device for a mobile robot based on dynamic thresholds, characterized in that, The control device includes a control module and an acquisition module; The control module is used to calculate the maximum working radius of the robotic arm based on the anti-overturning moment generated by the counterweight of the chassis and torso, the moment generated by the load, the moment generated by the robotic arm, the moment generated by the self-weight of the upper part of the torso, and the additional moment generated by the emergency braking inertial force at the height of the center of gravity. The acquisition module is used to acquire the current working radius of the robotic arm; The control module is also used to switch to high-speed movement mode and increase the maximum speed of the chassis to the first speed if the current working radius of the robotic arm is less than or equal to the maximum working radius of the robotic arm. The control module is also used to switch to a fixed-point operation mode if the current working radius of the robotic arm is greater than the maximum working radius of the robotic arm, and to reduce the maximum speed of the chassis to a second speed, wherein the second speed is less than the first speed.

8. The control device for a mobile robot based on a dynamic threshold according to claim 7, characterized in that, The control module is also used to obtain the weight of the load before calculating the maximum working radius of the robotic arm based on the anti-overturning torque generated by the counterweight of the chassis and the torso, the torque generated by the load, the torque generated by the robotic arm, the torque generated by the self-weight of the upper part of the torso, and the additional torque generated by the emergency braking inertial force at the center of gravity height.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the control method for a mobile operating robot based on dynamic thresholds as described in any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for a mobile operating robot based on dynamic thresholds as described in any one of claims 1 to 6.

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