CN111897323A - Robot emergency stop control method, device and storage medium based on proximity perception - Google Patents

Abstract

The invention discloses a robot emergency stop control method based on proximity perception. The robot emergency stop control method includes: receiving data sent by a proximity sensor electronic skin, and calculating the distance between the robot and a grounded conductor according to the data; When the distance between the robot and the ground conductor reaches a preset threshold, a corresponding trigger signal is generated; according to the trigger signal, a control signal is output to control the robot to decelerate. The robot emergency stop control method based on proximity sensing proposed in the present invention can predict the speed of the robot when the robot collides with the grounding conductor according to the proximity sensing electronic skin, and then combine the quality information of the robot and the grounding conductor to obtain the collision The generated collision force is finally controlled according to the collision force and the set impedance to achieve collision buffering and stopping. In addition, the present invention also provides a robot emergency stop control device and a storage medium based on proximity perception.

Description

Robot emergency stop control method, device and storage medium based on proximity perception

technical field

The invention relates to the field of robots, in particular to a method, device and storage medium for emergency stop control of a robot based on proximity perception.

Background technique

A robot is a product that integrates cybernetics, mechatronics, computers, materials and bionics. It can accept human commands, run pre-arranged computer programs, and act according to principles and programs formulated with artificial intelligence technology to assist or Replacing human jobs.

In actual use, humans and robots may be required to work together to complete a certain task. When humans and robots work together, it is necessary to ensure that the robot has sufficient safety to avoid collision between the robot and the human body, thus threatening the life safety of the human body.

To this end, existing robots employ contact collision detection based on current loops to trigger the robot to stop. However, the traditional collision detection method relies on the current change caused by the contact between the human and the robot to trigger the robot to stop. When the robot is triggered to stop, the human and the robot have collided. In some scenarios, this collision has already caused a human body. harm.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to propose a robot emergency stop control method based on proximity perception, so as to solve the safety problem existing in the existing robot.

In order to achieve the above purpose, the present invention proposes a robot emergency stop control method based on proximity perception, including:

Receive the data sent by the proximity sensor electronic skin, and calculate the distance between the robot and the grounded conductor according to the data; when the distance between the robot and the grounded conductor reaches a preset threshold, generate a corresponding trigger signal; according to the The trigger signal outputs a control signal to control the robot to decelerate.

Preferably, the step of outputting a control signal according to the trigger signal to control the robot to decelerate the movement includes: during the deceleration movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounded conductor to obtain The estimated collision speed when the robot collides with the ground conductor; obtain the robot mass information and the ground conductor mass information, and perform operations on the estimated collision speed, the robot mass information, and the ground conductor mass information to obtain The transient collision force when the robot collides with the grounded conductor; obtains the transient allowable force when the grounded conductor is in transient contact with the robot, and controls the robot to descend according to the transient collision force and the transient allowable force of the grounded conductor. fast or emergency stop.

Preferably, the calculating the estimated collision speed, the preset mass information of the robot, and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor includes: Calculate the mass information and the mass information of the ground conductor to obtain the reduced mass of the robot and the ground conductor; calculate the reduced mass and the estimated collision speed to obtain the transient collision force when a collision occurs .

Preferably, the reduced mass is calculated according to the following formula:

其中：μ为折合质量；m_H为接地导电体的有效质量；m_R为机器人的有效质量；按以下公式计算所述暂态碰撞力：

其中，F为暂态碰撞力，k为接地导电体的有效弹性系数，E为机器人与接地导电体碰撞时所传递的能量，其计算公式为：

其中，v_ref为机器人的初始运动速度。

Among them: μ is the equivalent mass; m _H is the effective mass of the grounded conductor; m _R is the effective mass of the robot; the transient collision force is calculated according to the following formula:

Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transferred when the robot collides with the grounded conductor. The calculation formula is:

Among them, _vref is the initial motion speed of the robot.

Preferably, the step of controlling the deceleration or emergency stop of the robot according to the transient collision force and the transient allowable force of the grounding conductor includes: establishing an impedance model of the grounding conductor according to the following formula, and controlling the robot to move according to the impedance model : F=K*X+B*X'+M*X"; among them, F is the transient collision force; X, X', X" are the target position, motion speed and deceleration of the robot motion planned by the impedance model, respectively ; K, B, and M are the stiffness, damping, and mass matrices of the grounding conductor respectively; the deceleration value is calculated and obtained according to the following formula: X"=(F-K*X+B*X')/M.

The present invention further provides a robot emergency stop control device based on proximity sensing, comprising: a receiving module for receiving data sent by the proximity sensing electronic skin, and calculating the distance between the robot and the grounded conductor according to the data; The trigger output module is used to generate a corresponding trigger signal when the distance between the robot and the ground conductor reaches a preset threshold; the control module is used to output a control signal according to the trigger signal to control the robot to decelerate.

Preferably, the control module includes: a speed calculation unit, which is used to calculate the initial movement speed of the robot and the distance between the robot and the grounding conductor during the deceleration movement of the robot, so as to obtain the robot and the grounding conductor. The estimated collision speed when a collision occurs; the collision force calculation unit is used to obtain the mass information of the robot and the mass information of the grounding conductor, and calculate the estimated collision speed, the mass information of the robot and the mass information of the grounding conductor to obtain Obtain the transient collision force when the robot collides with the grounding conductor; the control unit is used to obtain the transient allowable force when the grounding conductor is in transient contact with the robot. The state allows the force to control the robot to slow down or stop suddenly.

Preferably, the collision force calculation unit includes: a first calculation sub-unit for calculating the mass information of the robot and the mass information of the grounding conductor to obtain the reduced mass of the robot and the grounding conductor; a second The operation subunit is configured to perform operation on the reduced mass and the estimated collision speed, so as to obtain the transient collision force when a collision occurs.

Preferably, the first operation subunit calculates the converted mass according to the following formula:

其中，F为暂态碰撞力，k为接地导电体的有效弹性系数，E为机器人与接地导电体碰撞时所传递的能量，其计算公式为：Wherein: μ is the equivalent mass; m _H is the effective mass of the ground conductor; m _R is the effective mass of the robot; the second operation subunit calculates the transient collision force according to the following formula:

Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transferred when the robot collides with the grounded conductor. The calculation formula is:

Among them, _vref is the initial motion speed of the robot.

The present invention also provides a storage medium, where a computer program is stored in the storage medium, and when the processor executes the computer program, the method for controlling an emergency stop of a robot based on proximity perception described in the foregoing embodiments is implemented.

The present invention receives the real-time detection data of the proximity sensor electronic skin, monitors the data, and outputs a trigger signal and a control signal when the distance between the robot and the grounding conductor reaches a preset threshold, so that the robot decelerates according to the control signal. Movement to achieve a rapid stop. It can realize the emergency stop control before the collision, avoid the damage to the ground conductor caused by the collision of the robot, and also improve the safety of the collaborative robot.

Description of drawings

1 is a flowchart of a first embodiment of a robot emergency stop control method based on proximity perception according to the present invention;

Fig. 2 is the working principle schematic diagram of the proximity sensory electronic skin proposed by the present invention;

3 is a flowchart of a second embodiment of a robot emergency stop control method based on proximity perception according to the present invention;

4 is a flowchart of a third embodiment of a robot emergency stop control method based on proximity perception according to the present invention;

FIG. 5 is a functional block diagram of a robot emergency stop control device based on proximity perception according to the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present invention, but should not be construed as a limitation of the present invention. Based on the embodiments of the present invention, those of ordinary skill in the art do not make any creative work premise. All other embodiments obtained below belong to the protection scope of the present invention.

The present invention proposes a robot emergency stop control method based on proximity perception. In one embodiment, referring to FIG. 1 , the robot emergency stop control method includes:

Step S10, receiving the data sent by the proximity sensor electronic skin, and calculating the distance between the robot and the grounding conductor according to the data;

In this embodiment, an industrial robot is used as an example for the robot, and a human body is used as an example for the grounded conductor, so as to illustrate the method for emergency stop control of a robot based on proximity sensing proposed by the present invention. It should be noted that an industrial robot is used as an example for the robot, and a human body is used as an example for the grounded conductor, which is only an example and not a limitation.

The proximity sensor electronic skin involved in this embodiment adopts the principle of self-capacitance distance detection to measure the distance between the grounded conductor and the proximity sensor electronic skin. The working principle of the proximity sensor electronic skin is described in detail below (see Figure 2 for details):

Proximity-sensing e-skin includes an array of distributed sensing elements. When a human body part or other grounded conductor approaches the sensor, the capacitance value at Cx is changed due to the effect of capacitance. More specifically, according to the capacitance calculation formula C=εS/4πkd, it can be known that the grounded conductor can be calculated under the premise that the capacitance value C, the dielectric constant ε, the facing area S of the two capacitor plates, and the electrostatic force constant k are known. (Human hand) the distance d from the detection electrode.

Step S20, when the distance between the robot and the ground conductor reaches a preset threshold, generate a corresponding trigger signal;

Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration motion.

The distance between the human body and the robot is detected in real time through the proximity sensor electronic skin. When the distance between the human body and the robot reaches the preset distance value, it indicates that the human body has entered the motion area of the robot. collision, resulting in injury to the human body. To this end, the robot will generate a trigger signal when it detects that its distance from the human body reaches a preset value, and send the trigger signal to the robot's controller, so that the controller can control the robot to decelerate or stop suddenly according to the trigger signal. measure.

In one embodiment, referring to FIG. 3 , the step of outputting a control signal according to the trigger signal to control the robot to perform deceleration motion includes:

Step S31, during the deceleration movement of the robot, calculate the initial movement speed of the robot and the distance between the robot and the grounding conductor to obtain an estimated collision speed when the robot collides with the grounding conductor;

Step S32, obtaining the robot mass information and the grounding conductor mass information, and performing operations on the estimated collision speed, the robot mass information and the grounding conductor mass information, so as to obtain the transient collision force when the robot collides with the grounding conductor;

Step S33 , obtaining the transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to decelerate or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.

The formula V _t ² -V ₀ ² =2as, where V _t is the final speed of the robot, that is, the speed when the robot collides with the human body, V ₀ is the initial speed of the robot, a is the deceleration of the robot, and s is the speed of the robot and the human body. The distance between the human bodies, s is obtained by quadratic integration of a. Therefore, when the initial motion speed of the robot and the distance between the robot and the human body are known, the calculation is performed according to the formula V _t ² -V ₀ ² =2as, and the estimated collision speed when the robot collides with the human body can be obtained.

It should be noted that the robot mass information and grounding conductor mass information are preset in the robot's database. When the transient collision force calculation program needs to be executed, the robot's processor will retrieve this information from the database. For the processor to calculate the transient collision force when the robot collides with the grounded conductor.

After obtaining the estimated collision speed when the robot collides with the human body, the operation is performed according to the estimated collision speed and the preset robot mass information and human body mass information to obtain the transient collision force when the robot collides with the human body. It can be understood that, according to the principle of energy conservation, the energy generated when the robot collides with the human body will all be converted into the transient collision force between the robot and the human body. The transient collision force mentioned here refers to the collision between the robot and the human body. In an instant, the force the robot acts on the human body.

After obtaining the transient collision force when the robot collides with the human body, the robot is controlled to slow down or stop suddenly according to the maximum transient allowable force that the human body can bear. Specifically, if the transient collision force when the robot collides with the human body is far greater than the transient allowable force that the human body can bear, the robot is controlled to make an emergency stop to prevent the robot from causing damage to the human body. If the transient collision force when the robot collides with the human body is less than or equal to the transient allowable force that the human body can bear, the robot can be controlled to decelerate.

The transient allowable force involved here is the maximum impact force that each part of the human body can withstand. If the impact force is greater than the set transient allowable force, it will cause serious damage to the human body. The transient allowable force that can be endured by each part of the human body is stored in the robot in advance, so that different transient allowable force data can be called for calculation according to the actual situation.

It should be noted that for the human body, the maximum transient allowable force of each part of the human body is different, and the maximum transient allowable force of each part of the human body can be found in the following table:

In another embodiment, referring to FIG. 4 , calculating the estimated collision speed and the preset mass information of the robot and the mass information of the grounded conductor to obtain the transient collision force when the robot collides with the grounded conductor includes:

Step S321, perform calculation on the preset quality information of the robot and the quality information of the grounding conductor to obtain the reduced mass of the robot and the grounding conductor;

In step S322, the reduced mass and the estimated collision speed are calculated to obtain the transient collision force when the collision occurs.

In Newtonian mechanics, the reduced mass, also called the reduced mass, is the "effective" inertial mass that appears in the two-body problem, which is a physical quantity whose dimension is mass, which enables the two-body problem to be transformed into a one-body problem. In this embodiment, the reduced mass is to convert the effective mass of the robot and the effective mass of the human body, so that the two-body problem based on the effective mass of the robot and the effective mass of the human body is transformed into a one-body problem of the reduced reduced mass.

It should be noted that for the human body, the effective mass of different parts of the human body will be different, see the following table for details:

body area Effective elastic coefficient k(N/mm) Effective mass m_H(kg) skull and forehead 150 4.4 face 75 4.4 neck 50 1.2 back and shoulders 35 40 Chest 25 40 abdomen 10 40 pelvis 25 40 upper arm and elbow joint 30 3 Forearm and wrist joint 40 2 hand and fingers 75 0.6

In this embodiment, the reduced mass is calculated according to the following formula:

Among them: μ is the equivalent mass; m _H is the effective mass of the ground conductor; m _R is the effective mass of the robot.

It should be noted that the effective mass does not represent the real mass, but represents a proportional coefficient between the external force and the acceleration when the electron in the energy band is subjected to an external force (in the quasi-classical approximation, the crystal electron has an acceleration a under the action of the external force F*. *, so m*=F*/a* defined with reference to Newton’s second law is called inertial mass). The definition can be as follows: a negative effective mass means that the lattice does negative work to the electrons, that is, the electrons need to supply energy to the lattice, and the energy supplied by the electrons to the lattice is greater than the work done by the external field to the electrons. The effective mass summarizes the action of the potential field inside the semiconductor, so that the action of the internal potential field can not be involved when solving the motion law of electrons in the semiconductor under the action of external force. Concept: The acceleration of electrons in the crystal is related to the applied force, and the effect of the internal force in the crystal is included. The formula expresses: Ft=MV'-MV0, it is generally considered that the instant V' after the action is approximately zero, so the above formula can be simplified to Ft=-MV0 (the negative sign indicates that F and V0 are reversed).

In this embodiment, the effective mass of the robot is calculated according to the following formula:

m _R =M/2+m _L

Among them, m _L is the payload of the robot system including tools and workpieces; m _R is the effective mass of the robot, and M is the total mass of the moving parts of the robot.

After calculating the equivalent mass, calculate the energy transferred when the robot collides with the human body according to the following formula:

Among them, _vref is the initial motion speed of the robot.

Finally, the transient impact force is calculated according to the following formula:

Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transferred when the robot collides with the grounded conductor.

即可计算得到能量E。因为折合质量所涉及到的人体有效质量通过表1即可查询得到，而折合质量所涉及到的机器人有效质量根据已有的机器人质量信息，并按照公式：m_R＝M/2+m_L即可计算得到，所以，在已知预估碰撞速度的前提下，再结合折合质量，即可计算能量E。It is understandable that under the premise of knowing the estimated collision speed, according to the formula:

The energy E can be calculated. Because the effective mass of the human body involved in the reduced mass can be obtained by querying in Table 1, and the effective mass of the robot involved in the reduced mass is based on the existing robot quality information and according to the formula: m _R =M/2+m _L namely can be calculated, therefore, on the premise of known estimated collision velocity, combined with the reduced mass, the energy E can be calculated.

即可计算得到机器人与人体碰撞时所产生的暂态碰撞力。On the premise that the energy E is obtained by calculation, look up the effective elastic coefficient of the corresponding body part in Table 1, according to the formula:

The transient collision force generated when the robot collides with the human body can be calculated.

After calculating the transient collision force generated when the robot collides with the human body, compare the calculated transient collision force with the maximum transient allowable force that the human body can bear to determine the transient collision force generated by the pre-collision. Whether the collision force is greater than the maximum transient allowable force that the body part can withstand. Among them, the maximum allowable transient force of the human body can be inquired through Table 2. For example, the maximum allowable transient force of the neck is 150×2=300N, the maximum allowable transient force of the back and shoulders is 210×2=420N, and the maximum allowable transient force of the chest is 210×2=420N. The maximum transient allowable force is 140×2=280N, and the maximum transient allowable force on the abdomen is 110×2=220N.

In yet another embodiment, the step of controlling the robot to decelerate or stop suddenly according to the transient impact force and the transient allowable force of the grounding conductor includes:

The impedance model of the grounded conductor is established according to the following formula, and the robot is controlled to move according to the impedance model:

F=K*X+B*X'+M*X";

Among them, F is the collision force;

X, X', X" are the preset position, preset speed and preset deceleration of the robot respectively;

K, B, M are the stiffness parameter, damping parameter and mass matrix parameter of the obstacle, respectively;

The deceleration is calculated according to the following formula:

X"=(F-K*X+B*X')/M;

Integrate the deceleration to get the preset position of the robot.

It should be noted that the preset speed is obtained by integrating the preset deceleration, and the preset position is obtained by integrating the preset speed, and the three variables are related to each other.

Based on the foregoing proposed robot emergency stop control method based on proximity perception, the present invention also proposes a robot emergency stop control device based on proximity perception. Referring to FIG. 5 , the robot emergency stop control device includes:

The receiving module 10 is used for receiving the data sent by the proximity sensor electronic skin, and calculating the distance between the robot and the ground conductor according to the data;

The trigger output module 20 is used to generate a corresponding trigger signal when the distance between the robot and the ground conductor reaches a preset threshold;

The control module 30 is configured to output a control signal according to the trigger signal, so as to control the robot to perform deceleration motion.

In one embodiment, the control module 30 proposed by the present invention includes:

The speed calculation unit 31 is used to calculate the initial motion speed of the robot and the distance between the robot and the grounding conductor during the deceleration movement of the robot, so as to obtain the estimated collision speed when the robot collides with the grounding conductor;

The collision force calculation unit 32 is used to obtain the mass information of the robot and the quality information of the grounded conductor, and to calculate the estimated collision speed, the mass information of the robot and the mass information of the grounded conductor, so as to obtain the temporary moment when the robot collides with the grounded conductor. state collision force;

The control unit 33 is configured to obtain the transient allowable force when the grounded conductor is in transient contact with the robot, and control the robot to decelerate or stop suddenly according to the transient collision force and the transient allowable force of the grounded conductor.

In another embodiment, the collision force calculation unit 32 proposed by the present invention includes:

The first operation subunit 321 is used to perform operation on the preset quality information of the robot and the quality information of the grounding conductor, so as to obtain the reduced mass of the robot and the grounding conductor;

The second operation sub-unit 322 is configured to perform operation on the reduced mass and the estimated collision speed, so as to obtain the transient collision force when the collision occurs.

In yet another embodiment, the first operation subunit 321 calculates the reduced mass according to the following formula:

Among them: μ is the equivalent mass;

m _H is the effective mass of the ground conductor;

m _R is the effective mass of the robot;

The second operation subunit 322 calculates the transient impact force according to the following formula:

Among them, F is the transient collision force, k is the effective elastic coefficient of the grounded conductor, and E is the energy transferred when the robot collides with the grounded conductor. The calculation formula is:

Among them, _vref is the initial motion speed of the robot.

In yet another embodiment, the control module 30 further includes an impedance model establishing unit 34 for establishing an impedance model of the grounded conductor according to the following formula, and controlling the robot to move according to the impedance model:

F=K*X+B*X'+M*X";

Among them, F is the transient collision force;

X, X', X" are the target position, movement speed and deceleration of the robot movement planned by the impedance model;

K, B, and M are the stiffness, damping, and mass matrices of the grounding conductor, respectively;

The deceleration value is calculated according to the following formula:

X"=(F-K*X+B*X')/M.

Based on the foregoing proposed robot emergency stop control method based on proximity perception, the present invention also proposes a robot emergency stop control system based on proximity perception. The robot emergency stop control system includes:

memory for storing computer programs;

The processor is configured to implement the steps of the robot emergency stop control method based on proximity perception in the above-mentioned various embodiments when processing the computer program, and the robot emergency stop control method at least includes the following steps:

Step S10, receiving the data sent by the proximity sensor electronic skin, and calculating the distance between the robot and the grounding conductor according to the data;

Step S20, when the distance between the robot and the ground conductor reaches a preset threshold, generate a corresponding trigger signal;

Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration motion.

Based on the foregoing proposed robot emergency stop control method based on proximity perception, the present invention also provides a storage medium, where a computer program is stored in the storage medium. Steps of a perceived robot emergency stop control method, the robot emergency stop control method at least comprising the following steps:

Step S10, receiving the data sent by the proximity sensor electronic skin, and calculating the distance between the robot and the grounding conductor according to the data;

Step S20, when the distance between the robot and the ground conductor reaches a preset threshold, generate a corresponding trigger signal;

Step S30, outputting a control signal according to the trigger signal to control the robot to perform deceleration motion.

In the several embodiments provided in this application, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, may be located in one place, or may be distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically alone, or two or more modules may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules.

If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

The above descriptions are only part or preferred embodiments of the present invention, and neither the text nor the accompanying drawings can therefore limit the scope of protection of the present invention. Under the overall conception of the present invention, the contents of the description and the accompanying drawings of the present invention can be used. Equivalent structural transformations made, or direct/indirect applications in other related technical fields are all included in the protection scope of the present invention.

Claims (10)

1. A robot sudden stop control method based on proximity perception is characterized by comprising the following steps:

receiving data sent by the electronic skin of the proximity sense, and calculating the distance between the robot and the grounding conductor according to the data;

when the distance between the robot and the grounding conductor reaches a preset threshold value, generating a corresponding trigger signal;

and outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.

2. The robot emergency stop control method according to claim 1, wherein the step of outputting a control signal according to the trigger signal to control the robot to perform a deceleration motion comprises:

in the process of decelerating movement of the robot, calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor to obtain the estimated collision speed when the robot collides with the grounding conductor;

acquiring robot quality information and grounding conductor quality information, and calculating the estimated collision speed, the robot quality information and the grounding conductor quality information to acquire transient collision force when the robot collides with the grounding conductor;

and acquiring transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force.

3. The method of claim 2, wherein the calculating the estimated collision velocity and the preset robot mass information and the mass information of the ground conductor to obtain the transient collision force when the robot collides with the ground conductor comprises:

calculating the quality information of the robot and the quality information of the grounding conductor to obtain the reduced mass of the robot and the grounding conductor;

and calculating the reduced mass and the estimated collision speed to obtain the transient collision force when collision occurs.

4. The robot emergency stop control method according to claim 3, wherein the reduced mass is calculated according to the following formula:

wherein: mu is reduced mass;

m_His the effective mass of the grounded conductor;

m_Ris the effective mass of the robot;

calculating the transient impact force according to the following formula:

wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:

wherein v is_refIs the initial movement speed of the robot.

5. The robot scram control method according to claim 4, wherein the step of controlling robot deceleration or scram according to the transient collision force and the transient allowable force of the grounding conductor comprises:

establishing an impedance model of the grounding conductor according to the following formula, and controlling the robot to move according to the impedance model:

F＝K*X+B*X’+M*X”；

wherein F is the transient impact force;

x, X' are the target position, movement speed and deceleration of the robot movement planned by the impedance model respectively;

k, B and M are respectively a rigidity matrix, a damping matrix and a mass matrix of the grounding conductor;

the deceleration value is obtained by calculating according to the following formula:

X”＝(F-K*X+B*X’)/M。

6. a robot sudden stop control device based on proximity perception is characterized by comprising:

the receiving module is used for receiving data sent by the electronic skin of the proximity sense and calculating the distance between the robot and the grounding conductor according to the data;

the trigger output module is used for generating a corresponding trigger signal when the distance between the robot and the grounding conductor reaches a preset threshold value;

and the control module is used for outputting a control signal according to the trigger signal so as to control the robot to perform deceleration movement.

7. The robot scram control device of claim 6, wherein the control module comprises:

the speed calculation unit is used for calculating the initial movement speed of the robot and the distance between the robot and the grounding conductor in the process of deceleration movement of the robot so as to obtain the estimated collision speed when the robot collides with the grounding conductor;

the collision force calculation unit is used for acquiring robot mass information and grounding conductor mass information, and calculating the estimated collision speed, the robot mass information and the grounding conductor mass information to acquire transient collision force when the robot collides with the grounding conductor;

and the control unit is used for acquiring the transient allowable force when the grounding conductor is in transient contact with the robot, and controlling the robot to slow down or stop suddenly according to the transient collision force and the transient allowable force of the grounding conductor.

8. The robot scram control device according to claim 6, wherein the collision force arithmetic unit includes:

the first operation subunit is used for calculating the quality information of the robot and the quality information of the grounding conductor so as to obtain the reduced quality of the robot and the grounding conductor;

and the second computing subunit is used for computing the reduced mass and the estimated collision speed so as to obtain the transient collision force during collision.

9. The sudden stop control device of a robot according to claim 8, wherein the first computing subunit calculates the reduced mass according to the following formula:

wherein: mu is reduced mass;

m_His the effective mass of the grounded conductor;

m_Ris the effective mass of the robot;

the second computing subunit calculates the transient impact force according to the following formula:

wherein, F is the transient collision force, k is the effective elastic coefficient of the grounding conductor, E is the energy transferred when the robot collides with the grounding conductor, and the calculation formula is as follows:

wherein v is_refIs the initial movement speed of the robot.

10. A storage medium storing a computer program, wherein a processor executes the computer program to implement the method for controlling sudden stop of a robot based on proximity perception according to any one of claims 1 to 5.

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