Tool head pose adjusting method and device and readable storage medium

Abstract

The invention discloses a tool head pose adjusting method and device and a readable storage medium. Laser distance sensors are used for detecting the distance value of laser points, at least one planecan be constructed by the laser points, accordingly, various planes corresponding to to-be-detected parts can be determined, the comprehensive normal vector of various planes is calculated, pose parameters of a robot tool head are calculated through the pose expression, and accordingly the pose of the tool head is adjusted. By means of the tool head pose adjusting method and device and the readable storage medium, the pose parameters of the to-be-adjusted pose of the tool head can be accurately determined, and accordingly the operation efficiency of a moxa-moxibustion instrument is improved;and in addition, the cost of the laser distance sensors is low, when the robot operates, precision is high, real-time performance is high, and the robot can adapt to the tool head and human body contact type scene or the scene where a certain distance is kept from the human body.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method, a device and a readable storage medium for adjusting the pose of a tool head. Background technique [0002] With the development of robot technology, the performance and safety of robots have been greatly improved, and the emergence of human-machine collaborative robots has marked that it is feasible for humans and robots to work together. The rapid development of modern industry in the past ten years, and the popularization and application of robots have also made the cost of robots rapidly approach the affordable level of consumers in the past two years. As a type of robot, a personal care robot includes a tool head with nursing functions (massage, moxibustion, makeup, beauty, etc.) installed at the end of the robot arm. The tool head is in direct contact with the human body being cared for or keeps a specific distance and position for nursing work. [0003] At prese...

AI Technical Summary

Problems solved by technology

The above solutions all have unsatisfactory aspects, for example, the robot of the machine vision solution is expensive, the robot vision solution requires special light source irradiation, the scanning time and coordinate generation time are long, the real-time performance is poor, and the large size of the camera is not conducive to integration in the tool head , and exposed the customer's private parts; the robot of the contact multi-axis force sensor solution is expensive, and is only suitable for the scene where the tool head is in contact with the human body, and has no forward-looking guidance on the tool head pose; the robot of the radar solution is expensive and has low accuracy. Poor, large blind area, susceptible to interference, and the radiation of radar waves for a long time has potential risks to human health

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