Sliding prediction method and device based on force sensor, electronic equipment and storage medium

A force sensor and sliding prediction technology, applied in the field of sensors, can solve the problems of poor adaptability and low accuracy of prediction results, and achieve the effect of improving accuracy and good adaptability

Inactive Publication Date: 2020-02-14
SHENZHEN DORABOT ROBOTICS CO LTD
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[0007] The above technical solutions need to modify and adjust the threshold for sp

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  • Sliding prediction method and device based on force sensor, electronic equipment and storage medium
  • Sliding prediction method and device based on force sensor, electronic equipment and storage medium
  • Sliding prediction method and device based on force sensor, electronic equipment and storage medium

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[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

[0044] In the following description, the use of suffixes such as “module”, “part” or “unit” used to indicate elements is only for facilitating the description of the present invention, and has no specific meaning in itself. Therefore, "module", "part" or "unit" can be used in a mixed manner.

[0045] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence.

[00...

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Abstract

The invention discloses a sliding prediction method and device based on a force sensor, electronic equipment and a storage medium. The method comprises the following steps of collecting a force sensordata signal; serving the force sensor data signal as an input of a long-short-term memory network LSTM, and obtaining an output result after testing the force sensor data signal through an LSTM network training model; and predicting the sliding of the force sensor according to the output result. Through the prediction method disclosed by the invention, the sliding prediction is realized through adata driving learning way for performing training model testing and judgment on the force sensor data signal by combining the LSTM network without performing thread modification and adjusting on a specific object, the better adaptability is provided, and the result accuracy rate is improved; and the judgment is performed according to the force change of the force sensor and before the occurrenceof the relative movement.

Description

technical field [0001] The invention relates to the field of sensors, in particular to a sliding prediction method, device, electronic equipment and storage medium based on a force sensor. Background technique [0002] At present, sliding prediction is the key technology for robots to achieve stable grasping. Predicting the current grasping state through sensor feedback can help control robots to achieve more stable and reliable grasping actions. [0003] At present, sliding prediction can be divided into force, tactile perception and visual perception according to different perception methods. Force and tactile perception Through the force and tactile feedback, since there will be force changes and relative displacements between the object and the sensor when relative sliding occurs, it can be judged according to the time domain and frequency domain information of the data, and can be determined by force, displacement, vibration and other characteristics. determination. V...

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Application Information

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IPC IPC(8): G01L5/00G06N3/04
CPCG01L5/00G06N3/045G06N3/044
Inventor 王涛陈树渠
Owner SHENZHEN DORABOT ROBOTICS CO LTD
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