CN-116394309-B - Robot load position detection method, device, robot and storage medium

Abstract

The application relates to a robot load position detection method, a robot load position detection device, a robot, a storage medium and a computer program product. The method comprises the steps of detecting current of a driving motor of a leg structure of a robot, determining that a corresponding load position generated by external force exists on a load plane of the robot when detecting preset change of the current of the driving motor of the leg structure of the robot, enabling the leg structure to be connected with a machine body of the robot through the driving motor, enabling the machine body to be provided with the load plane, obtaining a current value of the driving motor when the preset change occurs, and determining the corresponding load position generated by the external force acting on the load plane of the robot based on the obtained current value. The method can automatically detect the load position and is suitable for various robot application scenes.

Inventors

• ZHANG DI
• YU YANAN
• Liao Xuanhong

Assignees

• 东莞市本末科技有限公司

Dates

Publication Date

20260512

Application Date

20230331

Claims (10)

1. 1. A method for detecting a load position of a robot, the method comprising: Detecting the current of a driving motor of a leg structure of the robot, wherein the driving motor comprises a hip driving motor and a knee driving motor; When detecting that the current of a driving motor of a leg structure of a robot changes in a preset manner, determining that a corresponding load position generated by external force exists on a load plane of the robot, wherein the leg structure is connected with a machine body of the robot through the driving motor, the machine body is provided with the load plane, the load plane is a rectangle with a first side length and a second side length, the first side length is the side length of the machine body, which is connected with a first side of the load plane, corresponding to one side of the leg structure, and the second side length is the side length of a second side, which is different from the first side, of the load plane, the load position is represented by a coordinate system formed by the first side and the second side, and the load position comprises a first dimension coordinate corresponding to the first side and a second dimension coordinate corresponding to the second side; acquiring a current value of the driving motor when the preset change occurs; The method comprises the steps of respectively determining respective motor torque according to respective current values of a hip driving motor and a knee driving motor, determining supporting force of supporting legs for supporting the machine body based on the motor torque of the knee driving motor, determining the external force according to the supporting force, determining the first dimension coordinate according to the motor torque of the hip driving motor and the external force, determining the second dimension coordinate according to the supporting force and the second side length, and determining corresponding load positions generated by the external force acting on the load plane of the robot based on the first dimension coordinate and the second dimension coordinate.
2. 2. The method of claim 1 wherein the hip drive motor is configured to drive movement of the body and the knee drive motor is configured to drive movement of a support leg of the leg structure relative to the hip drive motor to cause the leg structure to support the body to the ground.
3. 3. The method of claim 1, wherein the leg structure includes a first walk and a second walk disposed on opposite sides of the machine; the driving motor of the first walking part is respectively connected with the machine body and the remote end of the first supporting leg of the first walking part, and the driving motor of the second walking part is respectively connected with the machine body and the remote end of the second supporting leg of the second walking part; the driving motor of the first walking part comprises a first hip driving motor and a first knee driving motor, the first hip driving motor is respectively connected with the machine body and the first knee driving motor, and the first knee driving motor is respectively connected with the first hip driving motor and the remote ends of the first supporting legs; The driving motor of the second walking part comprises a second hip driving motor and a second knee driving motor, the second hip driving motor is respectively connected with the machine body and the second knee driving motor, and the second knee driving motor is respectively connected with the second hip driving motor and the remote ends of the second supporting legs.
4. 4. The method of claim 3, wherein the first hip drive motor is coupled to the body and the first knee drive motor, respectively, the first knee drive motor is coupled to the first hip drive motor and the distal end of the first support leg, respectively, comprising: the rotor of the first hip driving motor is connected with the machine body, the rotor of the first knee driving motor is connected with the stator of the first hip driving motor and the far-end of the first connecting rod of the first supporting leg, the stator of the first knee driving motor is connected with the far-end of the third connecting rod of the first supporting leg, the first connecting rod of the first supporting leg and the second connecting rod of the first supporting leg are rotatably connected between the near-end of the second connecting rod of the first supporting leg and the far-end of the second connecting rod of the first supporting leg, the far-end of the second connecting rod of the first supporting leg is rotatably connected with the near-end of the third connecting rod of the first supporting leg, and the near-end of the second connecting rod of the first supporting leg is connected with the rotating shaft of the wheel of the first supporting leg; the second hip driving motor is connected with the machine body and the second knee driving motor respectively, the second knee driving motor is connected with the second hip driving motor and the remote end of the second supporting leg respectively, and the second hip driving motor comprises: The driving motor of the second walking part comprises a second hip driving motor and a second knee driving motor, wherein a rotor of the second hip driving motor is connected with the machine body, a rotor of the second knee driving motor is connected with a stator of the second hip driving motor and a far-end of a first connecting rod of the second supporting leg, a stator of the first knee driving motor is connected with a far-end of a third connecting rod of the second supporting leg, the first connecting rod of the second supporting leg and the second connecting rod of the second supporting leg are rotatably connected between a near-end of the second connecting rod of the second supporting leg and a far-end of the second connecting rod of the second supporting leg, the far-end of the second connecting rod of the second supporting leg is rotatably connected with a near-end of the third connecting rod of the second supporting leg, and the near-end of the second connecting rod of the second supporting leg is connected with a rotating shaft of a wheel of the second supporting leg.
5. 5. The method of claim 3, wherein the load plane is a rectangle including a first side length and a second side length, the first side length being a side length of a first side of the load plane corresponding to a side of the body to which the leg structure is attached, the second side length being a side length of a second side of the load plane different from the first side, the load position being represented by a coordinate system of the first side and the second side, the load position including a first dimension coordinate corresponding to the first side and a second dimension coordinate corresponding to the second side, the determining, based on the obtained current values, a corresponding load position resulting from the external force acting on the load plane of the robot comprising: determining respective motor torques according to respective current values of the first hip drive motor, the second hip drive motor, the first knee drive motor and the second knee drive motor; Determining a first supporting force of the first supporting leg supporting the machine body based on the motor torque of the first knee driving motor, and determining a second supporting force of the second supporting leg supporting the machine body based on the motor torque of the second knee driving motor; determining the external force according to the first supporting force and the second supporting force; Determining the first dimension coordinate according to the motor torque of the first hip driving motor, the motor torque of the second hip driving motor and the external force; determining the second dimension coordinate according to the first supporting force, the second supporting force and the second side length; based on the first and second dimensional coordinates, a respective load position generated by the external force acting on the load plane of the robot is determined.
6. 6. A robot load position detection apparatus, the apparatus comprising: The system comprises a current detection module, a load plane, a load position and a load position, wherein the current detection module is used for determining that a corresponding load position generated by external force exists on the load plane when detecting that the current of a driving motor of a leg structure of a robot is subjected to preset change, the leg structure is connected with a machine body of the robot through the driving motor, the machine body is provided with the load plane, the current value of the driving motor when the preset change occurs is obtained, the driving motor comprises a hip driving motor and a knee driving motor, the load plane is a rectangle with a first side length and a second side length, the first side length is the side length of the first side of the load plane corresponding to one side of the machine body connected with the leg structure, the second side length is the side length of the load plane corresponding to the second side of the load plane, the load position is represented by a coordinate system formed by the first side and the second side, and the load position comprises a first dimension coordinate corresponding to the first side and a second dimension coordinate corresponding to the second side; The load position determining module is used for determining respective motor torque according to respective current values of the hip driving motor and the knee driving motor, determining supporting force of supporting legs for supporting the machine body based on the motor torque of the knee driving motor, determining the external force according to the supporting force, determining the first dimension coordinate according to the motor torque of the hip driving motor and the external force, determining the second dimension coordinate according to the supporting force and the second side length, and determining a corresponding load position generated by the external force acting on the load plane of the robot based on the first dimension coordinate and the second dimension coordinate.
7. 7. The apparatus of claim 6 wherein said hip drive motor is configured to drive movement of said body and said knee drive motor is configured to drive movement of a support leg of said leg structure relative to said hip drive motor to cause said leg structure to support said body to the ground.
8. 8. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of any one of claims 1 to 5.
9. 9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
10. 10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 5.

Description

Robot load position detection method, device, robot and storage medium Technical Field The present application relates to the field of robot technologies, and in particular, to a method and apparatus for detecting a load position of a robot, a storage medium, and a computer program product. Background The robot is a machine capable of executing various tasks through programming and control, has the basic characteristics of sensing, decision making, executing and the like, can assist or even replace human beings to complete dangerous, heavy and complex work, and improves the work efficiency and quality. With the development of economy and society, the application scene of the robot is wider and wider. In some scenarios, the robot may carry the object to reduce human consumption of carrying, and during the carrying of the object by the robot, the object may move away from the load area of the robot due to various factors, so that the robot cannot complete the carrying. In the prior art, when an object is observed to move by a manual observation robot, the object returns to the original position by an instruction control robot so that the robot continues to carry the object, or a plurality of pressure sensors are arranged below a load plane to sense the position or the weight of the object on the load plane, the accuracy requirement of the pressure sensors is high, and one of the pressure sensors is difficult to repair after being damaged, so that the cost of the robot is greatly increased. However, by manually observing whether the articles carried by the robot move, due to factors such as fatigue, burnout and the like which may occur in human beings, the condition that the observation is not timely is possible, the load position of the articles carried by the robot cannot be timely known, and the articles still leave the load area of the robot. Disclosure of Invention In view of the foregoing, it is desirable to provide a robot load position detection method, apparatus, robot, computer-readable storage medium, and computer program product capable of automatically detecting a load position. In a first aspect, the present application provides a method for detecting a load position of a robot. The method comprises the following steps: Detecting the current of a driving motor of a leg structure of the robot; When detecting that the current of a driving motor of a leg structure of the robot changes in a preset manner, determining that a load plane of the robot has a corresponding load position generated by external force; acquiring a current value of the driving motor when the preset change occurs; Based on the obtained current values, respective load positions generated by the external force acting on the load plane of the robot are determined. In a second aspect, the application further provides a load position detection device. The device comprises: the system comprises a current detection module, a load plane, a motor and a control module, wherein the current detection module is used for determining that a corresponding load position generated by external force exists on the load plane when detecting that the current of a driving motor of a leg structure of the robot is subjected to preset change; And the load position determining module is used for determining a corresponding load position generated by the external force acting on the load plane of the robot based on the acquired current value. In a third aspect, the application also provides a robot. The robot comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the following steps when executing the computer program: Detecting the current of a driving motor of a leg structure of the robot; When detecting that the current of a driving motor of a leg structure of the robot changes in a preset manner, determining that a load plane of the robot has a corresponding load position generated by external force; acquiring a current value of the driving motor when the preset change occurs; Based on the obtained current values, respective load positions generated by the external force acting on the load plane of the robot are determined. In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of: Detecting the current of a driving motor of a leg structure of the robot; When detecting that the current of a driving motor of a leg structure of the robot changes in a preset manner, determining that a load plane of the robot has a corresponding load position generated by external force; acquiring a current value of the driving motor when the preset change occurs; Based on the obtained current values, respective load positions generated by the external force acting on the load plane of the robot are determined. In a fifth aspect, the present applicatio