Determining null bias of a hydraulic valve of a robot

• US 10,052,768 B1
• Filed: 12/28/2015
• Issued: 08/21/2018
• Est. Priority Date: 12/28/2015
• Status: Active Grant

• Current Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Original Assignee: Boston Dynamics, Inc. (SoftBank Group Corp.)
• Inventors: Rose, Michael Scott, Jackowski, Zachary John
• Primary Examiner(s): Lazo, Thomas E
• Assistant Examiner(s): Nguyen, Dustin T
• Application Number:
  US14/980,196
• Time in Patent Office: 967 Days
• Field of Search: 700282, 73 172, 73 116, 60328, 60393
• CPC Class Codes: B25J 9/14 fluid
• CPC Class Codes: B25J 9/20 fluidic
• CPC Class Codes: F15B 19/002 Calibrating
• CPC Class Codes: F15B 2211/3111 the pump port being closed in the centre position, e.g. so-called closed centre
• CPC Class Codes: F15B 2211/327 electrically or electronically
• CPC Class Codes: F15B 2211/6309 the pressure being a pressure source supply pressure
• CPC Class Codes: F15B 2211/6313 the pressure being a load pressure
• CPC Class Codes: F15B 2211/6336 representing a state of the output member, e.g. position, speed or acceleration
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/22 Fluid motor

Abstract

An example method includes identifying an operating state at which a velocity of a hydraulic actuator configured to operate a movable member of a robot is less than a threshold velocity and an actuator force is less than a threshold force, determining a valve command that corresponds to the operating state, such that the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, and the valve includes a spool movable within a body of the valve, and the valve command causes the spool to move within the body of the valve to a position that induces the operating state, and determining a null bias signal based on the valve command.

Claims

1. A method comprising:

identifying, by a controller of a robot, an operating state at which (i) a velocity of a hydraulic actuator configured to operate a movable member of the robot is less than a threshold velocity, (ii) a force applied, or experienced, by the hydraulic actuator is less than a threshold force, and (iii) a pressure level of hydraulic fluid at a source of pressurized fluid is above a threshold pressure level;

determining a valve command that corresponds to the operating state, wherein the valve command is provided to a valve configured to control flow to and from the hydraulic actuator, wherein the valve includes a spool movable within a body of the valve, and wherein the valve command causes the spool to move within the body of the valve to a position that induces the operating state; and

determining a null bias signal based on the valve command, wherein the null bias signal, when provided to the valve, places the spool at a null position at which the spool substantially blocks fluid flow through the body.

2. The method of claim 1, wherein the operating state is one operating state among a plurality of operating states identified by the controller, wherein at each operating state of the plurality of operating states (i) the velocity of the hydraulic actuator is less than the threshold velocity, (ii) the force applied, or experienced, by the hydraulic actuator is less than the threshold force, and (iii) the pressure level of hydraulic fluid at the source of pressurized fluid is above the threshold pressure level, the method further comprising:

determining a plurality of valve commands that respectively correspond to the plurality operating states, wherein determining the null bias signal is based on the plurality of valve commands.

3. The method of claim 2, wherein determining the null bias signal comprises:

applying a moving average filter to the plurality of valve commands.

4. The method of claim 2, further comprising:

determining largest valve command in the plurality of valve commands; and

determining smallest valve command in the plurality of valve commands, wherein determining the null bias signal is based on the largest valve command and the smallest valve command.

5. The method of claim 2, further comprising:

assigning respective weights to the plurality of valve commands, wherein larger weights are assigned to more recent valve commands compared to weights assigned to older valve commands, and wherein determining the null bias signal is based on the assigned weights.

6. The method of claim 2, wherein determining the null bias signal comprises:

excluding a subset of valve commands based on when the subset of valve commands were provided to the valve.

7. The method of claim 1, wherein the controller is configured to access a previously stored value for the null bias signal, the method further comprising:

updating the stored value of the null bias signal in response to determining the null bias signal based on the valve command.

8. The method of claim 7, further comprising:

determining a null bias signal shift based on a comparison between the previously stored value for the null bias signal and the updated value for the null bias signal.

9. The method of claim 8, further comprising:

determining that the null bias signal shift exceeds a predetermined threshold shift; and

responsively, determining whether the robot is due for maintenance based at least on a magnitude of the null bias signal shift.

10. A robot comprising:

at least one movable member;

a hydraulic system comprising at least (i) a hydraulic actuator configured to operate the movable member, (ii) a valve configured to control flow to and from the hydraulic actuator, and (iii) a source of pressurized hydraulic fluid; and

a controller configured to perform operations comprising;

identifying a plurality of operating states, wherein at each operating state of the plurality of operating states (i) a velocity of the hydraulic actuator is less than a threshold velocity, (ii) a force applied, or experienced, by the hydraulic actuator is less than a threshold force, and (iii) a pressure level of hydraulic fluid at the source of pressurized hydraulic fluid is above a threshold pressure level;

determining a plurality of valve commands that respectively correspond to the plurality operating states, wherein the valve includes a spool movable within a body of the valve, and wherein each valve command of the plurality of the valve commands causes the spool to move within the body of the valve to a position that induces a respective operating state of the plurality of operating states; and

determining a null bias signal based on the plurality of valve commands, wherein the null bias signal, when provided to the valve, places the spool at a null position at which the spool substantially blocks fluid flow through the body of the valve.

11. The robot of claim 10, wherein determining the null bias signal comprises:

applying a moving average filter to the plurality of valve commands.

12. The robot of claim 10, wherein the operations further comprise:

determining largest valve command from the plurality of valve commands; and

determining smallest valve command from the plurality of valve commands, wherein determining the null bias signal is based on the largest valve command and the smallest valve command.

13. The robot of claim 10, wherein the operations further comprise:

assigning respective weights to the plurality of valve commands, wherein larger weights are assigned to more recent valve commands compared to weights assigned to older valve commands, and wherein determining the null bias signal is based on the assigned weights.

14. The robot of claim 10, wherein determining the null bias signal comprises:

excluding a subset of valve commands based on when the subset of valve commands were provided to the valve.

15. The robot of claim 10, wherein the controller is configured to access a previously stored value for the null bias signal, and wherein the operations further comprise:

updating the stored value of the null bias signal in response to determining the null bias signal based on the plurality of valve commands.

16. The robot of claim 15, wherein the operations further comprise:

determining a null bias signal shift based on a comparison between the previously stored value for the null bias signal and the updated value for the null bias signal.

17. The robot of claim 16, wherein the operations further comprise:

determining that the null bias signal shift exceeds a predetermined threshold shift; and

responsively, determining whether the robot is due for maintenance based at least on a magnitude of the null bias signal shift.

18. A method comprising:

providing a signal to a valve to cause a spool to move within a body of the valve to allow a work port disposed on the body of the valve to be in fluid communication with a source of pressurized fluid configured to supply hydraulic fluid at a first pressure level such that a pressure level at the work port is substantially equal to the first pressure level;

gradually changing the signal to the valve so as to cause the spool to gradually move in a first direction within the body of the valve until the pressure level at the work port reaches a second pressure level that is lower than the first pressure level, wherein the pressure level at the work port reaches the second pressure level at a first value of the signal;

maintaining the signal at the first value for a particular period of time so as to allow the pressure level at the work port to decrease below the second pressure level;

gradually changing the signal to the valve so as to cause the spool to gradually move in a second direction opposite the first direction until the pressure level at the work port again reaches the second pressure level, wherein the pressure level at the work port reaches the second pressure level again at a second value of the signal; and

determining a null bias signal based on the first value and the second value, wherein the null bias signal, when provided to the valve, places the spool at a null position at which the spool substantially blocks fluid flow through the body of the valve.

19. The method of claim 18, wherein the second pressure level is half the first pressure level.

20. The method of claim 18, wherein providing the signal to cause the pressure level at the work port to be substantially equal to the first pressure level causes the spool to move to one side of the body of the valve, and wherein gradually changing the signal to cause the spool to gradually move in the first direction causes the spool to move toward a center position within the body.