Sampling method, sampling device, readable storage medium and robot

Abstract

The present application proposes a sampling method, a sampling device, a readable storage medium and a robot. The sampling method is used for a robot, the robot includes a sampling component, a sampling load and a first sensor, the sampling component is used to drive the sampling load to sample a target object, and the sampling method includes: obtaining a first matrix, a second matrix and a third matrix, the first matrix is ​​associated with the inertia of the sampling component driving the sampling load in the process of running, the second matrix is ​​associated with the configuration of the sampling component, and the third matrix is ​​associated with the configuration and motion spin of the sampling component; according to the first matrix, the second matrix and the third matrix, a first correction value is determined; in the process of the sampling component driving the sampling load to sample, the first detection value collected by the first sensor is corrected according to the first correction value to obtain a second detection value; based on the second detection value, the sampling component is controlled to sample a target detection area in the target object.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular, to a sampling method, a sampling device, a readable storage medium and a robot. Background Art

[0002] In the prior art, in the impedance control of the automatic sampling robot, since only the influence of the gravity term of the sampling load on the impedance control is considered during the control process, it is impossible to achieve precise force control of the sampling, resulting in poor user comfort. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present application is to propose a sampling method.

[0005] A second aspect of the present application is to provide a sampling device.

[0006] The third aspect of the present application is to provide a sampling device.

[0007] A fourth aspect of the present application is to provide a readable storage medium.

[0008] The fifth aspect of the present application is to provide a robot.

[0009] A sixth aspect of the present application is to provide a computer program product.

[0010] In view of this, according to the first aspect of the present application, a sampling method is proposed for a robot, the robot comprising a sampling component, a sampling load and a first sensor, the sampling component being used to drive the sampling load to sample a target object, the sampling method comprising: obtaining a first matrix, a second matrix and a third matrix, the first matrix being associated with the inertia of the sampling component in the process of driving the sampling load to run, the second matrix being associated with the configuration of the sampling component, and the third matrix being associated with the configuration of the sampling component and the motion spinor; determining a first correction value based on the first matrix, the second matrix and the third matrix; in the process of the sampling component driving the sampling load to sample, correcting a first detection value collected by the first sensor based on the first correction value to obtain a second detection value; based on the second detection value, controlling the sampling component to sample a target detection area in the target object.

[0011] This technical solution provides a sampling method for a robot, wherein the robot includes a sampling component, a sampling load and a first sensor, wherein the sampling component includes a robotic arm of the robot, the sampling load includes components such as a cotton swab, a camera, and a rangefinder, and the first sensor is a force sensor for collecting the resistance value experienced by the robot.

[0012] It should be noted that during the impedance control process of the robot, it is necessary to detect the resistance value of the robot, but components such as the sampling component, sampling load and the first sensor will interfere with the detected resistance value, resulting in the inability to achieve precise force control of the sampling.

[0013] In the present technical solution, the sampling device obtains the first matrix, the second matrix and the third matrix of the robot, among which the first matrix is ​​the inertia parameter matrix synthesized by the mass, center of mass, principal moment of inertia and inertia product of the sampling load, which is associated with the inertia of the sampling component in the process of driving the sampling load, the second matrix and the third matrix are the angle parameter matrices of the sampling component, which are associated with the configuration of the sampling component, and the third matrix is ​​also associated with the parameters such as the motion spin of the sampling component. The first correction value calculated by the first matrix, the second matrix and the third matrix can correct the first detection value collected by the first sensor, avoiding the problem of low control accuracy caused by impedance control of the robot according to the first detection value.

[0014] It should be noted that the principal moment of inertia is the moment of the inertia force of a rigid body rotating around the principal axis on that axis, and the product of inertia is the symmetry of the mass distribution of the rigid body with respect to the coordinate axis (coordinate plane), which is related to the centrifugal moment exhibited when the rigid body rotates around an asymmetric axis.

[0015] The sampling device determines a first correction value of the robot based on robot parameters such as a first matrix, a second matrix and a third matrix, wherein the first correction value is an influence value of the sampling load on a value collected by the first sensor.

[0016] During the process of the sampling device controlling the sampling component to perform sampling, the sampling component can drive the sampling load to move and control the first sensor to collect the first detection value. At the same time, the sampling device can correct the first detection value to the second detection value according to the first correction value, wherein the first detection value is the original resistance value collected by the first sensor, and the second detection value is the precise resistance value after calibration of the first detection value.

[0017] The sampling device uses the second detection value as a control reference to control the sampling component to perform a sampling operation on a target detection area in the target object, wherein the target object is a human body and the target detection area is the inner wall of the human mouth and throat.

[0018] The sampling method in the present technical solution obtains parameter matrices such as the first matrix, the second matrix and the third matrix to determine the first correction value generated by the sampling load on the robot, and then corrects the first detection value to the second detection value according to the first correction value, and then controls the sampling component according to the second detection value, thereby avoiding the influence of the sampling load on the measurement value of the first sensor, ensuring precise force control of the sampling component during the sampling process, improving the sampling success rate of the robot, and ensuring the comfort of the user during the sampling process.

[0019] According to the above sampling method of the present application, the following additional technical features may also be provided:

[0020] In the above technical solution, obtaining the first matrix includes: obtaining the mass parameters of the sampling load and the inertia parameters of the sampling component; determining the first matrix according to the mass parameters and the inertia parameters; wherein the mass parameters include at least one of the following: the mass value of the sampling load, the center of mass coordinates of the sampling load; and the inertia parameters include at least one of the following: the principal moment of inertia of the sampling component, the inertia product of the sampling component.

[0021] In this technical solution, the sampling device obtains the mass parameters of the sampling load and the inertia parameters of the sampling component, wherein the mass parameters of the sampling load include the mass value of the sampling load, the coordinates of the center of mass of the sampling load and other parameters, and the inertia parameters of the sampling component include the principal moment of inertia of the sampling component and the inertia product of the sampling component. The sampling device determines the first matrix of the robot by combining the mass parameters of the sampling load and the inertia parameters of the sampling component.

[0022] The sampling method in the present technical solution determines the first matrix of the robot by sampling the mass parameters of the load and the inertia parameters of the sampling component, thereby ensuring the accuracy of the parameters of the first matrix of the robot, and further ensuring the accuracy of the first correction value of the robot determined by the first matrix.

[0023] In the above technical solution, before obtaining the first matrix, the second matrix and the third matrix, it includes: obtaining the configuration parameters and velocity spinor of the sampling component; wherein the configuration parameters include at least one of the following: the joint posture matrix, the position parameters of the joint coordinate system relative to the sampling component coordinate system.

[0024] In this technical solution, the second matrix needs to be determined according to the configuration parameters of the sampling component, and the third matrix is ​​determined according to the configuration parameters and velocity spinor of the sampling component, so it is necessary to obtain the configuration parameters and velocity spinor of the sampling component before determining the second matrix and the third matrix. Among them, the configuration parameters of the sampling component include the joint posture matrix and the position parameters of the joint coordinate system relative to the sampling component coordinate system.

[0025] It should be noted that the joint posture matrix of the sampling component is the direction parameter matrix of the joints in the sampling component, and the velocity spinor of the sampling component is the posture angular velocity vector of the sampling component.

[0026] In the present technical solution, the configuration parameters and motion rotation quantities of the sampling component are obtained before obtaining the second matrix and the third matrix, thereby ensuring that the second matrix can be determined based on the configuration parameters and that the third matrix can be determined based on the configuration parameters and the motion rotation quantities, thereby ensuring the accuracy of the first correction value of the robot determined by the second matrix and the third matrix.

[0027] In the above technical solution, obtaining the second matrix includes: determining the joint rotation direction parameters of each joint in the sampling component according to the joint posture matrix and joint direction vector of each joint in the sampling component; determining the second matrix according to the joint rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0028] In this technical solution, the sampling device obtains the joint posture matrix and joint direction vector of each joint in the sampling component, and then determines the joint rotation direction parameters of each joint in the sampling component based on the above data.

[0029] The sampling device calculates the second matrix of the robot according to the joint rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0030] The sampling method in the technical solution calculates the second matrix of the robot based on the joint rotation direction parameters of each joint combined with the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system, thereby ensuring the accuracy of the first correction value of the robot.

[0031] In the above technical solution, obtaining the third matrix includes: performing antisymmetric matrixing on the velocity spinor to obtain the fourth matrix; determining the third matrix based on the fourth matrix, the joint rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0032] In this technical solution, the sampling device obtains the velocity spinor of the sampling component, performs antisymmetric matrixing on the velocity spinor, and calculates the fourth matrix of the sampling component, wherein the fourth matrix is ​​a parameter matrix after the antisymmetric matrixing of the velocity spinor of the sampling component.

[0033] The sampling device calculates the third matrix of the sampling component based on the fourth matrix, combined with the joint rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0034] The sampling method in the technical solution calculates the third matrix of the robot according to the configuration parameters and velocity spinor of the sampling component, thereby ensuring the data accuracy of the third matrix of the robot and further ensuring the accuracy of the first correction value of the robot.

[0035] In the above technical solution, the first correction value is determined according to the first matrix, the second matrix and the third matrix, including: obtaining the position parameters, centrifugal force plus Coriolis force term and gravity term of the sampling load; and calculating the first correction value according to the first matrix, the second matrix, the third matrix, the position parameters, the centrifugal force plus Coriolis force term and the gravity term.

[0036] In this technical solution, the sampling device obtains the position parameters of the sampling load, the centrifugal force plus the Coriolis force term and the gravity term. It should be noted that the Coriolis force term describes the offset of the linear motion of a particle performing linear motion in a rotating system due to inertia relative to the rotating system.

[0037] The sampling device calculates the first correction value according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term.

[0038] The sampling method in the present technical solution calculates the first correction value according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term, thereby ensuring the data accuracy of the first correction value of the robot, and correcting the first detection value of the first sensor according to the first correction value, thereby ensuring precise control of the force of the sampling component of the robot and realizing the sampling action of small force.

[0039] In the above technical solution, the first sensor is used to collect the force value of the sampling component; based on the second detection value, the sampling component is controlled to sample the target detection area in the target object, including: according to the preset force value and the second detection value of the sampling component, the impedance of the sampling component is controlled to sample the target object, and the preset force value is associated with the running time of the sampling component.

[0040] In this technical solution, the sampling device obtains a preset force value and a second detection value of the sampling component, and performs impedance control on the sampling component according to the target force value and the second detection value, thereby controlling the sampling component to sample the target object, wherein the preset force value of the sampling component is a force value set in advance.

[0041] Specifically, the preset force value is determined according to the running time of the sampling component, and the preset force value is a standard force value set in advance. In the process of controlling the sampling component, the running parameters of the sampling component are adjusted to make the second detection value close to the preset force value.

[0042] During the force control process of sampling, the force closed-loop impedance control system collects the first detection value through the first sensor, and corrects the first detection value through the first correction value to obtain the second detection value. In each servo cycle, the difference between the second detection value and the expected cotton swab contact force (preset force value) at the sampling moment is calculated to determine the error value. Through the closed-loop impedance controller output control quantity, the movement of the sampling component is adjusted in real time to reduce the error within a time limit, so as to achieve the effect that the sampling contact force of the sampling cotton swab is consistent with the expected contact force during the actual sampling process.

[0043] The sampling method in the present technical solution controls the impedance of the sampling component according to the preset force value and the second detection value of the sampling component, thereby ensuring precise control of the robot, improving the sampling success rate of the robot, and thereby improving the sampling comfort of the user.

[0044] In the above technical solution, after controlling the sampling component to sample the target detection area in the target object based on the second detection value, it also includes: obtaining the first number of times the sampling component samples the target object; when the first number is less than the preset number, returning to execute the step of controlling the sampling component to sample the target object based on the second detection value.

[0045] In this technical solution, the sampling device controls the sampling component to sample the target detection area in the target object according to the second detection value, and obtains the first number and the preset number of the sampling component. It should be noted that the first number is the number of effective feedbacks accumulated after the component contacts the target object, and the preset number is the set number of feedbacks at which sampling can start.

[0046] After the sampling component starts to contact the target object, the sampling device obtains the first number. When the first number is greater than the preset number, it means that the sampling component and the target object are in good contact, and the sampling device controls the sampling component to start the sampling process. When the first number is less than the preset number, it means that the sampling component and the target object are not in full contact, and the sampling component is separated from the target object. The sampling device controls the sampling component to stop sampling and re-obtain the first number of the sampling component until the first number is greater than the preset number.

[0047] The sampling method in the present technical solution controls the sampling component to re-sample the target object when the first number is less than the preset number, thereby avoiding the situation where the sampling component of the robot is separated from the target object, ensuring that the robot can complete the sampling process of the target, improving the sampling completion degree of the robot, and thus improving the sampling experience of the user.

[0048] In the above technical solution, obtaining the first count of the sampling component for the target object includes: obtaining the second detection value of the first sensor in each operation cycle during the operation of the sampling component; determining the number of operation cycles that meet the preset conditions during the operation of the sampling component as the second number; determining the number of operation cycles that do not meet the preset conditions during the operation of the sampling component as the third number; determining the difference between the second number and the third number as the first number; wherein the preset conditions include: within the operation cycle, the second detection value is greater than a preset threshold.

[0049] It should be noted that the operation cycle is the servo cycle during the operation of the sampling component.

[0050] In this technical solution, the sampling device controls the operation of the sampling component to obtain the second detection value of the first sensor in each servo cycle, and sets the condition that the second detection value is greater than a preset threshold value in the servo cycle as a preset condition.

[0051] During the operation of the sampling component, the sampling device will count the number of servo cycles that meet the preset conditions and set it as the second number. At the same time, it will count the number of servo cycles that do not meet the preset conditions and set it as the third number. It should be noted that when the preset conditions are met, it means that the force between the sampling component and the target object is good, otherwise it means that the force between the sampling component and the target object is insufficient.

[0052] The sampling device calculates the difference between the second number and the third number and sets it as the first number.

[0053] The sampling method in the present technical solution calculates the first number by counting the second number and the third number, thereby ensuring the accuracy of the first number of the sampling component, thereby avoiding the situation where the sampling component of the robot is separated from the target object, and ensuring that the robot can complete the sampling process of the target.

[0054] In the above technical solution, the sampling load includes a shooting device and a ranging device. Based on the second detection value, before controlling the sampling component to sample the target detection area in the target object, it also includes: capturing a first image of the target object through the shooting device; obtaining first coordinate information of the target detection area in the first image, the first coordinate information including position information of the target detection area; capturing depth information of the target detection area through the ranging device; and determining second coordinate information based on the first coordinate information and the depth information, the second coordinate information being used to indicate the target detection area.

[0055] In this technical solution, the sampling load is composed of a shooting device and a ranging device. The sampling device controls the shooting device to capture images of the target object to obtain a first image, wherein the first image is a global image of the target detection area of ​​the target object.

[0056] The sampling device determines first coordinate information of a target detection area in the first image based on the first image, wherein the first coordinate information includes position information of the target detection area.

[0057] The sampling device controls the distance measuring device to measure the depth of the target object and obtain the depth information of the target detection area.

[0058] The sampling device determines second coordinate information according to the first coordinate information and the depth information, wherein the second coordinate information includes coordinate information of each position point in the target detection area.

[0059] The sampling method in the present technical solution determines the second coordinate information through the first coordinate information and the depth information, and then controls the sampling component according to the sampling point determined by the second coordinate information, thereby achieving accurate acquisition of sampling points that meet the sampling standard requirements for different individuals.

[0060] According to a second aspect of the present application, a sampling device is proposed for a robot, the robot comprising a sampling component, a sampling load and a first sensor, the sampling component being used to drive the sampling load to sample a target object, the sampling device comprising: an acquisition module, used to acquire a first matrix, a second matrix and a third matrix, the second matrix being associated with the configuration of the sampling component, the third matrix being associated with the configuration of the sampling component and the motion spinor; a determination module, used to determine a first correction value based on the first matrix, the second matrix and the third matrix; a correction module, used to correct a first detection value collected by the first sensor according to the first correction value to obtain a second detection value during the process of the sampling component driving the sampling load to sample; a sampling module, used to control the sampling component to sample a target detection area in the target object based on the second detection value.

[0061] In this technical solution, a sampling device is provided for a robot, wherein the robot includes a sampling component, a sampling load and a first sensor, wherein the sampling component includes a robot arm, the sampling load includes components such as a cotton swab, a camera, and a rangefinder, and the first sensor is a force sensor for collecting the resistance value experienced by the robot. It should be noted that during the impedance control process of the robot, the resistance value experienced by the robot needs to be detected, but components such as the sampling component, the sampling load and the first sensor will interfere with the detected resistance value, resulting in the inability to achieve precise force control of the sampling.

[0062] In the present technical solution, the acquisition module acquires the robot's first matrix, second matrix, third matrix and other parameters, wherein the first matrix is ​​an inertia parameter matrix synthesized by the mass, center of mass, principal moment of inertia and inertia product of the sampling load, and is associated with the inertia of the sampling component in the process of driving the sampling load. The second matrix and the third matrix are angle parameter matrices of the sampling component, and are associated with the configuration of the sampling component. In addition, the third matrix is ​​also associated with parameters such as the motion spinor of the sampling component.

[0063] It should be noted that the principal moment of inertia is the moment of the inertia force of a rigid body rotating around the principal axis on that axis, and the product of inertia is the symmetry of the mass distribution of the rigid body with respect to the coordinate axis (coordinate plane), which is related to the centrifugal moment exhibited when the rigid body rotates around an asymmetric axis.

[0064] The determination module determines a first correction value of the robot based on robot parameters such as a first matrix, a second matrix, and a third matrix, wherein the first correction value is an influence value of the sampling load on a value collected by the first sensor.

[0065] In the process of controlling the sampling component to perform sampling, the sampling component can drive the sampling load to move and control the first sensor to collect the first detection value. At the same time, the correction module can correct the first detection value to the second detection value according to the first correction value, wherein the first detection value is the original resistance value collected by the first sensor, and the second detection value is the precise resistance value after calibration of the first detection value.

[0066] The sampling module uses the second detection value as a control reference to control the sampling component to perform a sampling operation on a target detection area in the target object, wherein the target object is a human body and the target detection area is the inner wall of the human mouth and throat.

[0067] The sampling device in the present technical solution obtains parameter matrices such as the first matrix, the second matrix and the third matrix to determine the first correction value generated by the sampling load on the robot, and then corrects the first detection value to the second detection value according to the first correction value, and then controls the sampling component according to the second detection value, thereby avoiding the influence of the sampling load on the measurement value of the first sensor, ensuring precise force control of the sampling component during the sampling process, improving the sampling success rate of the robot, and ensuring the comfort of the user during the sampling process.

[0068] According to the third aspect of the present application, a sampling device is proposed, comprising a processor and a memory, wherein a program or instruction is stored in the memory, and when the program or instruction is executed by the processor, the steps of the sampling method in any of the above technical solutions are implemented. Therefore, the sampling device has all the beneficial effects of the sampling method in any of the above technical solutions, which will not be repeated here.

[0069] According to the fourth aspect of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, a sampling method as in any of the above technical solutions is implemented. Therefore, the readable storage medium has all the beneficial effects of the sampling method in any of the above technical solutions, which will not be repeated here.

[0070] According to the fifth aspect of the present application, a robot is proposed, comprising: a sampling device as defined in the above second aspect, or a sampling device as defined in the above third aspect, or a readable storage medium as defined in the above fourth aspect, and thus has all the beneficial technical effects of the sampling device defined in the above second aspect, or the sampling device defined in the above third aspect, or the readable storage medium defined in the above fourth aspect, and no further details will be given here.

[0071] According to the above sampling method of the present application, the following additional technical features may also be provided:

[0072] In the above technical solution, the robot also includes: a sampling component; a sampling load connected to the sampling component; a first sensor, the sampling component is used to drive the sampling load to sample the target object; wherein the sampling load includes a shooting device and a ranging device.

[0073] The robot in the present application realizes the control of the sampling component, avoids the interference of the sampling load on the movement of the sampling component, ensures the precise force control of the sampling component during the sampling process, improves the sampling success rate of the robot, and ensures the comfort of the user during the sampling process.

[0074] According to the sixth aspect of the present application, a computer program product is proposed, including a computer program, and when the computer program is executed by a processor, the sampling determination method proposed in the above technical solution of the present application is implemented. Therefore, the computer program product has all the beneficial effects of the sampling method proposed in the above technical solution of the present application, which will not be repeated here.

[0075] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0077] Figure 1 One of the flow charts of the sampling method in the first embodiment of the present application is shown;

[0078] Figure 2 The second flowchart of the sampling method in the first embodiment of the present application is shown;

[0079] Figure 3 The third flowchart of the sampling method in the first embodiment of the present application is shown;

[0080] Figure 4 The fourth flowchart of the sampling method in the first embodiment of the present application is shown;

[0081] Figure 5 FIG5 shows a fifth flow chart of the sampling method in the first embodiment of the present application;

[0082] Figure 6 FIG6 shows a sixth flow chart of the sampling method in the first embodiment of the present application;

[0083] Figure 7 FIG7 shows a flow chart of the sampling method in the first embodiment of the present application;

[0084] Figure 8 FIG8 shows a flow chart of the sampling method in the first embodiment of the present application;

[0085] Fig. 9 shows a structural block diagram of a sampling device in a second embodiment of the present application;

[0086] Fig.10 shows a structural block diagram of a sampling device in a third embodiment of the present application;

[0087] Fig.11 A schematic diagram of the structure of a robot in a fifth embodiment of the present application is shown;

[0088] Fig.12 A schematic diagram of the motion trajectory of the robot in the fifth embodiment of the present application is shown. DETAILED DESCRIPTION

[0089] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0090] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0091] Combine the following Figures 1 to 12 , the sampling method, sampling device, readable storage medium and robot provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0092] The technical solution of the sampling method provided by the present application can be implemented by a sampling device, which can also be determined according to actual use requirements and is not specifically limited here. In order to more clearly describe the sampling method provided by the present application, the sampling device is used as the implementation subject for explanation below.

[0093] Embodiment 1:

[0094] like Figure 1 As shown, a sampling method is provided in the first embodiment of the present application, which is used for a robot. The robot includes a sampling component, a sampling load and a first sensor. The sampling component is used to drive the sampling load to sample a target object. The sampling method includes:

[0095] Step 102, obtaining a first matrix, a second matrix and a third matrix, wherein the first matrix is ​​associated with the inertia of the sampling component in the process of driving the sampling load, the second matrix is ​​associated with the configuration of the sampling component, and the third matrix is ​​associated with the configuration of the sampling component and the motion spinor;

[0096] Step 104, determining a first correction value according to the first matrix, the second matrix and the third matrix;

[0097] Step 106, in the process of the sampling component driving the sampling load to perform sampling, the first detection value collected by the first sensor is corrected according to the first correction value to obtain a second detection value;

[0098] Step 108: Based on the second detection value, control the sampling component to sample the target detection area in the target object.

[0099] In this embodiment, a sampling method is provided for a robot, wherein the robot includes a sampling component, a sampling load and a first sensor. The sampling component includes a robotic arm of the robot, the sampling load includes components such as a cotton swab, a camera, and a rangefinder, and the first sensor is a force sensor for collecting the resistance value experienced by the robot.

[0100] It should be noted that during the impedance control process of the robot, it is necessary to detect the resistance value of the robot, but components such as the sampling component, sampling load and the first sensor will interfere with the detected resistance value, resulting in the inability to achieve precise force control of the sampling.

[0101] In this embodiment, the sampling device obtains the first matrix, the second matrix and the third matrix of the robot, wherein the first matrix is ​​an inertia parameter matrix synthesized by the mass, center of mass, principal moment of inertia and inertia product of the sampling load, and is associated with the inertia of the sampling component in the process of driving the sampling load, the second matrix and the third matrix are the angle parameter matrices of the sampling component, and are associated with the configuration of the sampling component. In addition, the third matrix is ​​also associated with parameters such as the motion spin of the sampling component. The first correction value calculated by the first matrix, the second matrix and the third matrix can correct the first detection value collected by the first sensor, and avoid the problem of low control accuracy caused by impedance control of the robot according to the first detection value.

[0102] It should be noted that the principal moment of inertia is the moment of the inertia force of a rigid body rotating around the principal axis on that axis, and the product of inertia is the symmetry of the mass distribution of the rigid body with respect to the coordinate axis (coordinate plane), which is related to the centrifugal moment exhibited when the rigid body rotates around an asymmetric axis.

[0103] Specifically, the sampling device determines a first correction value of the robot based on robot parameters such as a first matrix, a second matrix, and a third matrix, wherein the first correction value is an influence value of the sampling load on a value collected by the first sensor.

[0104] Specifically, the formula for obtaining the second detection value by correcting the first detection value by the first correction value is as follows:

[0105] F imp =F reading -F ee ;------(1)

[0106] Among them, F imp is the second detection value, F reading is the first detection value, F ee is the first correction value.

[0107] Specifically, during the sampling process, the sampling device controls the sampling component to perform sampling. The sampling component can drive the sampling load to move and control the first sensor to collect the first detection value. At the same time, the sampling device can correct the first detection value to a second detection value based on the first correction value. The first detection value is the original resistance value collected by the first sensor, and the second detection value is the precise resistance value after calibration of the first detection value.

[0108] Specifically, the sampling device uses the second detection value as a control reference to control the sampling component to perform a sampling operation on a target detection area in the target object, wherein the target object is a human body and the target detection area is the inner wall of the human mouth and throat.

[0109] The sampling method in this embodiment obtains parameter matrices such as the first matrix, the second matrix and the third matrix to determine the first correction value generated by the sampling load on the robot, and then corrects the first detection value to the second detection value based on the first correction value, and then controls the sampling component based on the second detection value, thereby avoiding the influence of the sampling load on the measurement value of the first sensor, ensuring precise force control of the sampling component during the sampling process, improving the sampling success rate of the robot, and ensuring the comfort of the user during the sampling process.

[0110] like Figure 2 As shown, in any of the above embodiments, obtaining the first matrix includes:

[0111] Step 202, obtaining the mass parameters of the sampling load and the inertia parameters of the sampling component;

[0112] Step 202, determining a first matrix according to the mass parameter and the inertia parameter;

[0113] The quality parameter includes at least one of the following: the quality value of the sampling load, the coordinates of the center of mass of the sampling load;

[0114] The inertia parameter includes at least one of the following: the principal moment of inertia of the sampling component and the inertia product of the sampling component.

[0115] In this embodiment, the sampling device obtains the mass parameters of the sampling load and the inertia parameters of the sampling component, wherein the mass parameters of the sampling load include the mass value of the sampling load, the coordinates of the center of mass of the sampling load and other parameters, and the inertia parameters of the sampling component include the principal moment of inertia of the sampling component and the inertia product of the sampling component. The sampling device determines the first matrix of the robot by combining the mass parameters of the sampling load and the inertia parameters of the sampling component.

[0116] Specifically, determine the first matrix M ee The calculation formula is:

[0117]

[0118] Among them, M ee is the first matrix, J v{i} is the translation Jacobian matrix of the i-th joint, J ω{i} is the Jacobian matrix of the i-th joint rotation, I i is the inertia tensor matrix consisting of the principal moments of inertia and the products of inertia, and R i is the rotation matrix from the origin coordinate system to the center of mass coordinate system of each joint, m i is the mass of the i-th virtual link.

[0119] m iis the mass of the ith virtual link, that is, the virtual mass of the six-dimensional force sensor in six degrees of freedom. Since the virtual mass of the first five degrees of freedom is 0, m i Can be considered as the mass of the sampled load.

[0120] It should be noted that I i Associated with the inertial parameter, m i and R i Associated with quality parameters.

[0121] For example, R i Matrix and I i The matrix is ​​as follows:

[0122]

[0123]

[0124] Among them, I xx{i} ……I zz{i} is the inertia tensor of the i-th joint at different angles.

[0125] Specifically, J v{i} With J ω{i} It is obtained by dividing the configuration Jacobian matrix, as shown in the following formula:

[0126]

[0127] Among them, J i is the configuration Jacobian matrix of the i-th joint, J v{i} is the translation Jacobian matrix of the i-th joint, J ω{i} is the rotation Jacobian matrix of the i-th joint.

[0128] The sampling method in this embodiment determines the first matrix of the robot by sampling the mass parameters of the load and the inertia parameters of the sampling component, thereby ensuring the accuracy of the parameters of the first matrix of the robot, and further ensuring the accuracy of the first correction value of the robot determined by the first matrix.

[0129] In any of the above embodiments, before obtaining the second matrix and the third matrix, the method includes: obtaining configuration parameters and velocity spinors of the sampling component.

[0130] The configuration parameters include at least one of the following: a joint posture matrix, and a position parameter of a joint coordinate system relative to a sampling component coordinate system.

[0131] In this embodiment, the second matrix needs to be determined according to the configuration parameters of the sampling component, and the third matrix is ​​determined according to the configuration parameters and velocity spinor of the sampling component, so it is necessary to obtain the configuration parameters and velocity spinor of the sampling component before determining the second matrix and the third matrix. Among them, the configuration parameters of the sampling component include the joint posture matrix and the position parameters of the joint coordinate system relative to the sampling component coordinate system.

[0132] It should be noted that the joint posture matrix of the sampling component is the direction parameter matrix of the joints in the sampling component, and the velocity spinor of the sampling component is the posture angular velocity vector of the sampling component.

[0133] In this embodiment, before obtaining the second matrix and the third matrix, the configuration parameters and motion rotation of the sampling component are obtained, which ensures that the second matrix can be determined according to the configuration parameters, and the third matrix can be determined according to the configuration parameters and the motion rotation, thereby ensuring the accuracy of the first correction value of the robot determined by the second matrix and the third matrix.

[0134] like Figure 3 As shown, in any of the above embodiments, obtaining the second matrix includes:

[0135] Step 302, determining a joint rotation direction parameter of each joint in the sampling component according to the joint posture matrix and the joint direction vector of each joint in the sampling component;

[0136] Step 304 , determining a second matrix according to the joint rotation direction parameter of each joint and the position parameter of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0137] In this embodiment, the sampling device obtains the joint posture matrix and joint direction vector of each joint in the sampling component, and then determines the joint rotation direction parameter of each joint in the sampling component based on the above data. Specifically, the joint rotation direction parameter Z of joint n in the sampling component is n The calculation formula is:

[0138]

[0139] in, is the joint posture matrix of joint n, k is the joint direction vector, z n It is the joint rotation direction parameter.

[0140] Specifically, the sampling device calculates the second matrix of the robot based on the rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system. Specifically, the second matrix The calculation formula is:

[0141]

[0142] Where n is the total number of degrees of freedom of the robot, indicating that the robot has n joints, z n is the joint rotation direction parameter of joint n, is the position parameter of the robot base, is the position parameter of joint n, is the position parameter of the joint coordinate system of joint n relative to the sampling component coordinate system.

[0143] The sampling method in this embodiment calculates the second matrix of the robot based on the joint rotation direction parameters of each joint combined with the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system, thereby ensuring the accuracy of the first correction value of the robot.

[0144] like Figure 4 As shown, in any of the above embodiments, obtaining the third matrix includes:

[0145] Step 402, performing antisymmetric matrixing on the velocity spinor to obtain a fourth matrix;

[0146] Step 404 , determining a third matrix according to the fourth matrix, the joint rotation direction parameter of each joint, and the position parameter of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0147] In this embodiment, the sampling device obtains the velocity spinor of the sampling component, performs antisymmetric matrixing on the velocity spinor, and calculates a fourth matrix of the sampling component, wherein the fourth matrix is ​​a parameter matrix after the antisymmetric matrixing of the velocity spinor of the sampling component.

[0148] Specifically, the sampling device calculates the third matrix of the sampling component based on the fourth matrix, combined with the joint rotation direction parameters of each joint and the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system. Specifically, the third matrix The calculation formula is:

[0149]

[0150] in, is the joint rotation direction matrix of joint i, z i is the joint rotation direction parameter of joint i, is the position parameter of the robot base, is the position parameter of joint i, is the position parameter of the joint coordinate system of joint i relative to the sampling component coordinate system, is the velocity parameter of the robot base, is the velocity parameter of joint i.

[0151] Specifically, the joint rotation direction matrix of joint i is The calculation formula is:

[0152]

[0153] in, is the fourth matrix, is the joint posture matrix of joint i, k is the joint direction vector, is the antisymmetric matrix velocity spinor, i is the joint number in the sampling component, is the velocity spinor of joint i.

[0154] The sampling method in this embodiment calculates the third matrix of the robot based on the configuration parameters and velocity spinor of the sampling component, thereby ensuring the data accuracy of the third matrix of the robot and further ensuring the accuracy of the first correction value of the robot.

[0155] like Figure 5 As shown, in any of the above embodiments, determining the first correction value according to the first matrix, the second matrix and the third matrix includes:

[0156] Step 502, obtaining the position parameters, centrifugal force plus Coriolis force term and gravity term of the sample load;

[0157] Step 504, calculating a first correction value according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term.

[0158] In this embodiment, the sampling device obtains the position parameters of the sampling load, the centrifugal force plus the Coriolis force term and the gravity term. It should be noted that the Coriolis force term describes the offset of the linear motion of a particle performing linear motion in a rotating system due to inertia relative to the rotating system.

[0159] Specifically, the sampling device calculates the first correction value according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term. Specifically, the calculation formula of the first correction value is:

[0160]

[0161] Among them, M ee is the first matrix, is the second matrix, is the third matrix, C ee is the Coriolis force term, G ee is the gravity term, q is the position parameter, is the speed parameter, is the acceleration parameter.

[0162] Specifically, the Coriolis force term C ee The expression is as follows:

[0163]

[0164] Among them, c {j,k} is the Coriolis force term of the {j,k}th element, q i ,q k ,q j is a positional parameter, is the speed parameter, m {j,k} 、m {j,i} 、m {i,k} are the masses corresponding to the {j,k}, {j,i}, and {i,k}th elements respectively.

[0165] Specifically, the gravity term G ee The expression is as follows:

[0166]

[0167] Among them, g k is the gravity term of the kth element, m k is the mass of the kth virtual link, r c{k} is the center of mass coordinate vector, and g is the gravitational acceleration vector.

[0168] The sampling method in this embodiment calculates the first correction value based on the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term, thereby ensuring the data accuracy of the first correction value of the robot, and correcting the first detection value of the first sensor according to the first correction value, thereby ensuring precise control of the force of the sampling component of the robot, thereby improving the accuracy of the impedance control of the robot and improving the comfort of sampling.

[0169] In any of the above embodiments, the first sensor is used to collect the force value of the sampling component; based on the second detection value, the sampling component is controlled to sample the target detection area in the target object, including:

[0170] According to a preset force value and a second detection value of the sampling component, impedance control is performed on the sampling component to sample the target object, and the preset force value is associated with the running time of the sampling component.

[0171] In this embodiment, the sampling device obtains a preset force value and a second detection value of the sampling component, and performs impedance control on the sampling component according to the target force value and the second detection value, thereby controlling the sampling component to sample the target object, wherein the preset force value of the sampling component is a force value set in advance.

[0172] Specifically, the preset force value is determined according to the running time of the sampling component, and the preset force value is a standard force value set in advance. In the process of controlling the sampling component, the running parameters of the sampling component are adjusted to make the second detection value close to the preset force value.

[0173] During the force control process of sampling, the force closed-loop impedance control system collects the first detection value through the first sensor, and corrects the first detection value through the first correction value to obtain the second detection value. In each servo cycle, the difference between the second detection value and the expected cotton swab contact force (preset force value) at the sampling moment is calculated to determine the error value. Through the closed-loop impedance controller output control quantity, the movement of the sampling component is adjusted in real time to reduce the error within a time limit, so as to achieve the effect that the sampling contact force of the sampling cotton swab is consistent with the expected contact force during the actual sampling process.

[0174] like Fig.12 As shown, in some possible implementations, three target sampling areas of the target object are determined, that is, three sampling points are determined, namely, sampling point 1, sampling point 2 and sampling point 3, wherein sampling point 1 is repeatedly sampled three times by rotating around the axial direction of the cotton swab, and sampling point 2 and sampling point 3 are repeatedly scraped and sampled three times by lateral arc movement.

[0175] The sampling method in this embodiment performs impedance control on the sampling component according to the preset force value and the second detection value of the sampling component, thereby ensuring precise control of the robot, improving the accuracy of the robot's impedance control, improving the robot's sampling success rate, and improving the user's sampling comfort.

[0176] like Figure 6 As shown, in any of the above embodiments, after controlling the sampling component to sample the target detection area in the target object based on the second detection value, the method further includes:

[0177] Step 602, obtaining a first number of times that the sampling component samples the target object;

[0178] Step 604, when the first number is less than the preset number, return to the step of controlling the sampling component to sample the target object based on the second detection value.

[0179] In this embodiment, the sampling device controls the sampling component to sample the target detection area in the target object according to the second detection value, and obtains the first number and the preset number of the sampling component. It should be noted that the first number is the cumulative number of effective feedbacks after the component contacts the target object, and the preset number is the set number of feedbacks at which sampling can start.

[0180] Specifically, after the sampling component begins to contact the target object, the sampling device obtains the first number. When the first number is greater than the preset number, it indicates that the sampling component and the target object are in good contact, and the sampling device controls the sampling component to start the sampling process. When the first number is less than the preset number, it indicates that the sampling component and the target object are not in full contact, and the sampling component is separated from the target object. The sampling device controls the sampling component to stop sampling and re-obtain the first number of the sampling component until the first number is greater than the preset number.

[0181] The sampling method in this embodiment controls the sampling component to re-sample the target object when the first number is less than the preset number, thereby avoiding the situation where the robot's sampling component is separated from the target object, ensuring that the robot can complete the sampling process of the target, improving the robot's sampling completion rate, and thereby improving the user's sampling experience.

[0182] like Figure 7 As shown, in any of the above embodiments, obtaining the first count of the target object by the sampling component includes:

[0183] Step 702, during the operation of the sampling component, obtaining a second detection value of the first sensor in each operation cycle;

[0184] Step 704, determining the number of operation cycles that meet the preset conditions during the operation of the sampling component as the second number;

[0185] Step 706, determining the number of operation cycles that do not meet the preset condition during the operation of the sampling component as the third number;

[0186] Step 708, determining the difference between the second number and the third number as the first number;

[0187] The preset conditions include: during the operation cycle, the second detection value is greater than a preset threshold.

[0188] It should be noted that the operation cycle is the servo cycle during the operation of the sampling component.

[0189] In this embodiment, the sampling device controls the operation of the sampling component to obtain the second detection value of the first sensor in each servo cycle, and sets the condition that the second detection value is greater than a preset threshold value in the servo cycle as a preset condition.

[0190] Specifically, during the operation of the sampling component, the sampling device will count the number of servo cycles that meet the preset conditions and set it as the second number. At the same time, it will count the number of servo cycles that do not meet the preset conditions and set it as the third number. It should be noted that when the preset conditions are met, it means that the force between the sampling component and the target object is good, otherwise it means that the force between the sampling component and the target object is insufficient.

[0191] Specifically, the sampling device calculates the difference between the second number and the third number, and sets it as the first number.

[0192] In some possible real-time methods, during the sampling process of the robot, it is detected whether the second detection value of the first sensor in each servo cycle of the robot is greater than a preset threshold value. When it is detected that it is greater than the preset threshold value, the servo cycle is determined to be a servo cycle that meets the preset conditions, and at this time, the first count is increased by one. When it is detected that the second detection value is less than the preset threshold value, it is determined that the servo cycle does not meet the preset conditions, and at this time, the first count is reduced by one. After the sampling is completed, if the first count is less than the preset number of times, it is determined that the sampling has failed, and the sampling is repeated.

[0193] The sampling method in this embodiment calculates the first number by counting the second number and the third number, thereby ensuring the accuracy of the first number of the sampling component, thereby avoiding the situation where the sampling component of the robot is separated from the target object, and ensuring that the robot can complete the sampling process of the target.

[0194] like Figure 8 As shown, in any of the above embodiments, the sampling load includes a shooting device and a distance measuring device, and before controlling the sampling component to sample the target detection area in the target object based on the second detection value, it also includes:

[0195] Step 802, capturing a first image of a target object by a photographing device;

[0196] Step 804, obtaining first coordinate information of the target detection area in the first image, where the first coordinate information includes position information of the target detection area;

[0197] Step 806, collecting depth information of the target detection area through a distance measuring device;

[0198] Step 808: Determine second coordinate information according to the first coordinate information and the depth information, where the second coordinate information is used to indicate the target detection area.

[0199] In this embodiment, the sampling load is composed of a shooting device and a ranging device. The sampling device controls the shooting device to capture images of the target object to obtain a first image, wherein the first image is a global image of the target detection area of ​​the target object.

[0200] The sampling device determines first coordinate information of a target detection area in the first image based on the first image, wherein the first coordinate information includes position information of the target detection area.

[0201] The sampling device controls the distance measuring device to measure the depth of the target object and obtain the depth information of the target detection area.

[0202] The sampling device determines second coordinate information according to the first coordinate information and the depth information, wherein the second coordinate information includes coordinate information of each position point in the target detection area.

[0203] In some possible implementations, the photographing device may be an endoscopic camera, and the distance measuring device may be a single-point laser distance measuring device. Both the endoscopic camera and the single-point laser distance measuring device are provided on the sampling component as sampling loads.

[0204] Specifically, after the shooting device captures the first image, the target detection area (standard sampling point) is identified and the coordinates are extracted through the network model configured in the robot to obtain the first coordinate information, which is the position information of the standard sampling point, and the first coordinate information is a two-dimensional coordinate (X, Y). The sampling component of the robot is controlled to move so that the sampling end of the ranging device is aligned with the target detection area corresponding to the first coordinate information, and the depth information Z corresponding to the target detection area is collected. According to the depth information and the two-dimensional first coordinate information, the three-dimensional second coordinate information (X, Y, Z) can be obtained. The robot controls the sampling process of the sampling component based on the second coordinate information (X, Y, Z), which can improve the accuracy of the sampling component in sampling the target detection area.

[0205] The sampling method in this embodiment determines the second coordinate information through the first coordinate information and the depth information, and then controls the sampling component according to the sampling point determined by the second coordinate information, thereby achieving accurate acquisition of sampling points that meet the sampling standard requirements of different individuals.

[0206] Embodiment 2:

[0207] like Fig. 9 As shown, a sampling device is provided in a second embodiment of the present application, which is used for a robot. The robot includes a sampling component, a sampling load and a first sensor. The sampling component is used to drive the sampling load to sample a target object. The sampling device 900 includes:

[0208] An acquisition module 902 is used to acquire a first matrix, a second matrix and a third matrix, wherein the second matrix is ​​associated with the configuration of the sampling component, and the third matrix is ​​associated with the configuration of the sampling component and the motion spinor;

[0209] A determination module 904, configured to determine a first correction value according to the first matrix, the second matrix and the third matrix;

[0210] A correction module 906, used to correct the first detection value collected by the first sensor according to the first correction value to obtain a second detection value during the process of the sampling component driving the sampling load to perform sampling;

[0211] The sampling module 908 is used to control the sampling component to sample the target detection area in the target object based on the second detection value.

[0212] In this embodiment, a sampling device is provided for a robot, wherein the robot includes a sampling component, a sampling load and a first sensor. The sampling component includes a robotic arm of the robot, the sampling load includes components such as a cotton swab, a camera, and a rangefinder, and the first sensor is a force sensor for collecting the resistance value experienced by the robot.

[0213] It should be noted that during the impedance control process of the robot, it is necessary to detect the resistance value of the robot, but components such as the sampling component, sampling load and the first sensor will interfere with the detected resistance value, resulting in the inability to achieve precise force control of the sampling.

[0214] In this embodiment, the sampling device obtains the first matrix, the second matrix and the third matrix of the robot, wherein the first matrix is ​​an inertia parameter matrix synthesized by the mass, center of mass, principal moment of inertia and inertia product of the sampling load, and is associated with the inertia of the sampling component in the process of driving the sampling load, the second matrix and the third matrix are the angle parameter matrices of the sampling component, and are associated with the configuration of the sampling component. In addition, the third matrix is ​​also associated with parameters such as the motion spin of the sampling component. The first correction value calculated by the first matrix, the second matrix and the third matrix can correct the first detection value collected by the first sensor, and avoid the problem of low control accuracy caused by impedance control of the robot according to the first detection value.

[0215] It should be noted that the principal moment of inertia is a geometric quantity that describes the resistance of a cross section to a curved surface, the product of inertia is a physical quantity that describes the geometric characteristics of a cross section, and the product of inertia is a physical quantity that describes the collective characteristics of a cross section.

[0216] Specifically, the determination module 904 determines a first correction value of the robot based on robot parameters such as the first matrix, the second matrix, and the third matrix, wherein the first correction value is an influence value of the sampling load on the value collected by the first sensor.

[0217] Specifically, in the process of controlling the sampling component to perform sampling, the sampling component can drive the sampling load to move and control the first sensor to collect the first detection value. At the same time, the correction module 906 can correct the first detection value to a second detection value based on the first correction value, wherein the first detection value is the original resistance value collected by the first sensor, and the second detection value is the precise resistance value after calibration of the first detection value.

[0218] Specifically, the sampling module 908 uses the second detection value as a control reference to control the sampling component to perform a sampling operation on the target detection area in the target object, wherein the target object is a human body and the target detection area is the inner wall of the human mouth and throat.

[0219] The sampling device in this embodiment obtains parameter matrices such as the first matrix, the second matrix and the third matrix to determine the first correction value generated by the sampling load on the robot, and then corrects the first detection value to the second detection value based on the first correction value, and then controls the sampling component according to the second detection value, thereby avoiding the influence of the sampling load on the measurement value of the first sensor, ensuring precise force control of the sampling component during the sampling process, improving the sampling success rate of the robot, and ensuring the comfort of the user during the sampling process.

[0220] In any of the above embodiments, the sampling device 900 further includes:

[0221] An acquisition module 902 is used to acquire mass parameters of the sampling load and inertia parameters of the sampling component;

[0222] A determination module 904 is used to determine a first matrix according to the mass parameter and the inertia parameter;

[0223] The quality parameter includes at least one of the following: the quality value of the sampling load, the coordinates of the center of mass of the sampling load;

[0224] The inertia parameter includes at least one of the following: the principal moment of inertia of the sampling component and the inertia product of the sampling component.

[0225] In this embodiment, the sampling device obtains the mass parameters of the sampling load and the inertia parameters of the sampling component, wherein the mass parameters of the sampling load include the mass value of the sampling load, the coordinates of the center of mass of the sampling load and other parameters, and the inertia parameters of the sampling component include the principal moment of inertia of the sampling component and the inertia product of the sampling component. The sampling device determines the first matrix of the robot by combining the mass parameters of the sampling load and the inertia parameters of the sampling component.

[0226] The sampling device in this embodiment determines the first matrix of the robot by sampling the mass parameters of the load and the inertia parameters of the sampling component, thereby ensuring the accuracy of the parameters of the first matrix of the robot and further ensuring the accuracy of the first correction value of the robot determined by the first matrix.

[0227] In any of the above embodiments, the sampling device 900 further includes:

[0228] The acquisition module 902 is used to acquire the configuration parameters and velocity spinor of the sampling component.

[0229] The configuration parameters include at least one of the following: a joint posture matrix, and a position parameter of a joint coordinate system relative to a sampling component coordinate system.

[0230] In this embodiment, the sampling device obtains the configuration parameters and velocity spinor of the sampling component, and determines the second matrix of the robot based on the configuration parameters. In addition, the sampling device determines the third matrix of the robot based on the configuration parameters and velocity spinor, wherein the configuration parameters of the sampling component include the joint posture matrix and the position parameters of the joint coordinate system relative to the sampling component coordinate system.

[0231] The sampling device in this embodiment determines the second matrix and the third matrix of the sampling component through the configuration parameters and velocity spinor of the sampling component, thereby ensuring the data accuracy of the second matrix and the third matrix of the sampling component, and further ensuring the accuracy of the first correction value of the robot determined by the second matrix and the third matrix.

[0232] In any of the above embodiments, the sampling device 900 further includes:

[0233] A determination module 904 is used to determine a joint rotation direction parameter of each joint in the sampling component according to a joint posture matrix and a joint direction vector of each joint in the sampling component;

[0234] The determination module 904 is further configured to determine a second matrix according to a joint rotation direction parameter of each joint and a position parameter of a joint coordinate system of each joint relative to a sampling component coordinate system.

[0235] The sampling device in this embodiment calculates the second matrix of the robot based on the joint rotation direction parameters of each joint combined with the position parameters of the joint coordinate system of each joint relative to the sampling component coordinate system, thereby ensuring the accuracy of the first correction value of the robot.

[0236] In any of the above embodiments, the sampling device 900 further includes:

[0237] A processing module, used for performing antisymmetric matrixing on the velocity spinor to obtain a fourth matrix;

[0238] The determination module 904 is used to determine the third matrix according to the fourth matrix, the joint rotation direction parameter of each joint and the position parameter of the joint coordinate system of each joint relative to the sampling component coordinate system.

[0239] An acquisition module 902 is used to acquire the position parameters of the sample load, the centrifugal force plus the Coriolis force term and the gravity term;

[0240] The processing module is also used to calculate the first correction value according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term.

[0241] The sampling device in this embodiment calculates the first correction value based on the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus the Coriolis force term and the gravity term, thereby ensuring the data accuracy of the first correction value of the robot, and corrects the first detection value of the first sensor according to the first correction value, thereby ensuring precise control of the sampling component of the robot.

[0242] In any of the above embodiments, the sampling device 900 further includes:

[0243] According to a preset force value and a second detection value of the sampling component, impedance control is performed on the sampling component to sample the target object, and the preset force value is associated with the running time of the sampling component.

[0244] The sampling device in this embodiment performs impedance control on the sampling component according to the preset force value and the second detection value of the sampling component, thereby ensuring precise control of the robot, improving the sampling success rate of the robot, and further improving the sampling comfort of the user.

[0245] In any of the above embodiments, the sampling device 900 further includes:

[0246] An acquisition module 902 is used to acquire a first number of times that the sampling component samples the target object;

[0247] The control module is used to return to the step of controlling the sampling component to sample the target object based on the second detection value when the first number is less than the preset number.

[0248] In this embodiment, the sampling device controls the sampling component to sample the target detection area in the target object according to the second detection value, and obtains the first number and the preset number of the sampling component. It should be noted that the first number is the cumulative number of effective feedbacks after the component contacts the target object, and the preset number is the set number of feedbacks at which sampling can start.

[0249] When the first number is less than the preset number, the sampling device in this embodiment controls the sampling component to re-sample the target object, thereby avoiding the situation where the robot's sampling component is separated from the target object, ensuring that the robot can complete the sampling process of the target, improving the robot's sampling completion rate, and thereby improving the user's sampling experience.

[0250] In any of the above embodiments, the sampling device 900 further includes:

[0251] An acquisition module 902 is used to acquire a second detection value of the first sensor in each operation cycle during the operation of the sampling component;

[0252] A determination module 904 is used to determine the number of operation cycles that meet the preset conditions during the operation of the sampling component as a second number;

[0253] The determination module 904 is further configured to determine the number of operation cycles that do not meet the preset condition during the operation of the sampling component as a third number;

[0254] The determination module 904 is further used to determine the difference between the second number and the third number as the first number;

[0255] The preset conditions include: during the operation cycle, the second detection value is greater than a preset threshold.

[0256] The sampling device in this embodiment calculates the first number by counting the second number and the third number, thereby ensuring the accuracy of the first number of the sampling component, thereby avoiding the situation where the sampling component of the robot is separated from the target object, and ensuring that the robot can complete the sampling process of the target.

[0257] In any of the above embodiments, the sampling device 900 further includes:

[0258] A capture module, used for capturing a first image of a target object through a shooting device;

[0259] An acquisition module 902 is used to acquire first coordinate information of a target detection area in a first image, where the first coordinate information includes position information of the target detection area;

[0260] The acquisition module 902 is also used to collect depth information of the target detection area through a distance measuring device;

[0261] The processing module is used to determine second coordinate information according to the first coordinate information and the depth information, where the second coordinate information is used to indicate the target detection area.

[0262] In this embodiment, the sampling load is composed of a shooting device and a distance measuring device. The sampling device controls the shooting device to collect images of the target object to obtain a first image, wherein the first image is a global image of the target detection area of ​​the target object.

[0263] After the shooting device captures the first image, the target detection area (standard sampling point) is identified and the coordinates are extracted through the network model configured in the robot to obtain the first coordinate information, which is the position information of the standard sampling point, and the first coordinate information is a two-dimensional coordinate (X, Y). The sampling component of the robot is controlled to move so that the sampling end of the ranging device is aligned with the target detection area corresponding to the first coordinate information, and the depth information Z corresponding to the target detection area is collected. According to the depth information and the two-dimensional first coordinate information, the three-dimensional second coordinate information (X, Y, Z) can be obtained. The robot controls the sampling process of the sampling component based on the second coordinate information (X, Y, Z), which can improve the accuracy of the sampling component in sampling the target detection area.

[0264] The sampling device in this embodiment determines the second coordinate information through the first coordinate information and the depth information, and then controls the sampling component according to the sampling point determined by the second coordinate information, thereby achieving accurate acquisition of sampling points that meet the sampling standard requirements of different individuals.

[0265] Embodiment three:

[0266] like Fig.10 As shown, a sampling device is provided in the third embodiment of the present application, wherein the sampling device 1000 includes a processor 1002 and a memory 1004, wherein the memory 1004 stores a program or instruction, and when the program or instruction is executed by the processor 1002, the steps of the sampling method in any of the above technical solutions are implemented. Therefore, the sampling device has all the beneficial effects of the sampling method in any of the above technical solutions, which will not be described in detail here.

[0267] Embodiment 4:

[0268] A fourth embodiment of the present application provides a readable storage medium on which a program is stored. When the program is executed by a processor, the sampling method in any of the above embodiments is implemented, thereby having all the beneficial technical effects of the sampling method in any of the above embodiments.

[0269] The readable storage medium includes a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0270] Embodiment five:

[0271] A robot is provided in the fifth embodiment of the present application, comprising: a sampling device as in any of the above embodiments, or a readable storage medium as in any of the above embodiments, and thus has all the beneficial technical effects of the sampling device as in any of the above embodiments, or the readable storage medium as in any of the above embodiments, and no further details will be given here.

[0272] like Fig.11 As shown, in any of the above embodiments, the robot 1100 further includes:

[0273] Sampling component 1102;

[0274] A sampling load 1104 connected to the sampling component 1102;

[0275] First sensor 1106;

[0276] The sampling component 1102 is used to drive the sampling load 1104 to sample the target object;

[0277] Among them, the sampling load includes a shooting device and a ranging device.

[0278] In this embodiment, the sampling load 1104 and the sampling component 1102 are connected and arranged, the sampling load 1104 drives the sampling load 1104 to move, and the first sensor 1106 collects the force value of the sampling component 1102 .

[0279] In some embodiments, Fig.11 As shown, the sampling load 1104 drives the sampling load 1104 to move to the sampling point 1, the sampling point 2 and the sampling point 3 in sequence to complete the sampling process.

[0280] The robot 1100 in this embodiment realizes the control of the sampling component 1102, avoids the interference of the sampling load 1104 on the movement of the sampling component 1102, ensures the precise force control of the sampling component 1102 during the sampling process, improves the sampling success rate of the robot, and ensures the comfort of the user during the sampling process.

[0281] like Fig.11 As shown, exemplarily, the first sensor is a six-dimensional force sensor, {x CoM y CoM z CoM} is the centroid coordinate of the six-dimensional force sensor measurement coordinate system, {I xx I yy I zz} is the principal inertia moment of the six-dimensional force sensor measurement coordinate system with the origin and direction aligned with the measurement coordinate system, {I xy I yz I zx} is the principal inertia product of the six-dimensional force sensor measurement coordinate system with the origin and direction aligned with the measurement coordinate system, F reading is the first detection value of the six-dimensional force sensor, F ee is the influence of the sampling load 1104 on the first detection value of the six-dimensional force sensor, that is, the first correction value, O0, O1...O i is the coordinate origin of each joint, Ofs It is the measurement coordinate system of the first sensor of the robot.

[0282] Embodiment six:

[0283] According to the sixth embodiment of the present application, a computer program product is proposed, including a computer program, and when the computer program is executed by a processor, the sampling method proposed in the above embodiment of the present application is implemented. Therefore, the computer program product has all the beneficial effects of the sampling method proposed in the above embodiment of the present application, which will not be repeated here.

[0284] It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0285] In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0286] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A sampling method for a robot, characterized in that: The robot comprises a sampling component, a sampling load and a first sensor, wherein the sampling component is used to drive the sampling load to sample a target object, and the sampling method comprises: Acquire a first matrix, a second matrix and a third matrix, wherein the first matrix is ​​associated with the inertia of the sampling component in the process of driving the sampling load to run, the second matrix is ​​associated with the configuration of the sampling component, and the third matrix is ​​associated with the configuration of the sampling component and the motion spinor; Determine a first correction value according to the first matrix, the second matrix and the third matrix; In the process of the sampling component driving the sampling load to perform sampling, the first detection value collected by the first sensor is corrected according to the first correction value to obtain a second detection value, and the first sensor is used to collect the force value of the sampling component; Based on the second detection value, the sampling component is controlled to sample the target detection area in the target object.

2. The sampling method according to claim 1, characterized in that: Get the first matrix, including: Acquiring mass parameters of the sampling load and inertia parameters of the sampling component; Determining the first matrix according to the mass parameter and the inertia parameter; The quality parameter includes at least one of the following: the quality value of the sample load, the coordinates of the center of mass of the sample load; The inertia parameter includes at least one of the following: a principal moment of inertia of the sampling component and a product of inertia of the sampling component.

3. The sampling method according to claim 1, characterized in that: Before obtaining the first matrix, the second matrix and the third matrix, the method further includes: Obtaining configuration parameters and velocity spinor of the sampling component; Wherein, the configuration parameters include at least one of the following: a joint posture matrix, and a position parameter of a joint coordinate system relative to the sampling component coordinate system.

4. The sampling method according to claim 3, characterized in that: Get the second matrix, including: Determine a joint rotation direction parameter of each joint in the sampling component according to the joint posture matrix and the joint direction vector of each joint in the sampling component; The second matrix is ​​determined according to the joint rotation direction parameter of each joint and the position parameter of the joint coordinate system of each joint relative to the sampling component coordinate system.

5. The sampling method according to claim 4, characterized in that: Get the third matrix, including: Anti-symmetric matrixing is performed on the velocity spinor to obtain a fourth matrix; The third matrix is ​​determined according to the fourth matrix, the joint rotation direction parameter of each joint, and the position parameter of the joint coordinate system of each joint relative to the sampling component coordinate system.

6. The sampling method according to any one of claims 1 to 5, characterized in that: Determining a first correction value according to the first matrix, the second matrix, and the third matrix includes: Obtaining the position parameters, centrifugal force plus Coriolis force term and gravity term of the sampling load; The first correction value is calculated according to the first matrix, the second matrix, the third matrix, the position parameter, the centrifugal force plus Coriolis force term and the gravity term.

7. The sampling method according to any one of claims 1 to 5, characterized in that: The step of controlling the sampling component to sample the target detection area in the target object based on the second detection value includes: According to the preset force value of the sampling component and the second detection value, the sampling component is impedance controlled to sample the target object.

8. The sampling method according to any one of claims 1 to 5, characterized in that: After controlling the sampling component to sample the target detection area in the target object based on the second detection value, the method further includes: Obtaining a first number of times that the sampling component samples the target object; When the first number is less than the preset number, the step of controlling the sampling component to sample the target object based on the second detection value is returned to execution until the first number is greater than or equal to the preset number.

9. The sampling method according to claim 8, characterized in that: The obtaining of the first count of the target object by the sampling component includes: During the operation of the sampling component, obtaining the second detection value of the first sensor in each operation cycle; Determine the number of operation cycles that meet the preset conditions during the operation of the sampling component as the second number; Determine the number of operation cycles during which the sampling component does not meet the preset condition as the third number; Determine the difference between the second number and the third number as the first number; Wherein, the preset condition includes: within the operation cycle, the second detection value is greater than a preset threshold.

10. The sampling method according to any one of claims 1 to 5, characterized in that: The sampling load includes a photographing device and a distance measuring device. Before the sampling component is controlled to sample the target detection area in the target object based on the second detection value, the sampling load also includes: Acquire a first image of the target object by using the photographing device; Acquire first coordinate information of the target detection area in the first image, where the first coordinate information includes position information of the target detection area; Collecting depth information of the target detection area by the distance measuring device; Second coordinate information is determined according to the first coordinate information and the depth information, where the second coordinate information is used to indicate the target detection area.

11. A sampling device for a robot, characterized in that: The robot comprises a sampling component, a sampling load and a first sensor, wherein the sampling component is used to drive the sampling load to sample a target object, and the sampling device comprises: An acquisition module, used to acquire a first matrix, a second matrix and a third matrix, wherein the first matrix is ​​associated with the inertia of the sampling component in the process of driving the sampling load to run, the second matrix is ​​associated with the configuration of the sampling component, and the third matrix is ​​associated with the configuration of the sampling component and the motion spinor; A determination module, configured to determine a first correction value according to the first matrix, the second matrix and the third matrix; a correction module, used for correcting the first detection value collected by the first sensor according to the first correction value to obtain a second detection value during the process of the sampling component driving the sampling load to perform sampling, wherein the first sensor is used to collect the force value of the sampling component; A sampling module is used to control the sampling component to sample the target detection area in the target object based on the second detection value.

12. A sampling device, characterized in that: include: A memory on which programs or instructions are stored; A processor, configured to implement the steps of the sampling method according to any one of claims 1 to 10 when executing the program or instruction.

13. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the sampling method according to any one of claims 1 to 10 are implemented.

14. A robot, characterized in that: include: The sampling device according to claim 11 or 12; or The readable storage medium as claimed in claim 13.

15. The robot according to claim 14, characterized in that: include: Sampling components; A sampling load connected to the sampling component; A first sensor, the sampling component is used to drive the sampling load to sample the target object; Wherein, the sampling load includes a shooting device and a ranging device.

16. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the sampling method according to any one of claims 1 to 10 are implemented.

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