Multi-dimensional passive compliant device and method with force and pose detection function

Abstract

The application provides a multi-dimensional passive compliant device and method with force and pose detection functions, wherein the multi-dimensional passive compliant device comprises a moving platform, a calibration plate, an elastic plate compliant branch, a static platform and a camera device; the moving platform and the static platform are connected through the elastic plate compliant branch, and multi-dimensional passive compliant deformation of the moving platform is realized through the elastic plate compliant branch; the calibration plate and the camera device correspond to each other and are respectively arranged on the moving platform and the static platform; the camera device is used for acquiring a calibration plate image in real time, the pose of the moving platform relative to the static platform is obtained by calculating the position and the attitude of the calibration plate in a camera coordinate system, and the force of the moving platform is obtained by using the pose. The application can simultaneously realize multi-dimensional compliance, force sensing and pose measurement in a low-cost manner, and has important significance for the popularization and application of the compliant device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated robot technology, in particular, to a multi-dimensional passive compliant device with force and pose detection function and method. BACKGROUND

[0002] Industrial automation equipment represented by robots, in polishing, polishing, assembly and other industrial applications, will inevitably often appear physical contact between robots and operating workpieces, operating personnel and other external environment. The force compliance control problem in the process of robot interaction with the physical environment is a key problem in robot application.

[0003] The robot compliant control device is mainly divided into two categories according to the principle: active compliant control and passive compliant control. Passive compliant control usually uses springs, dampers and other mechanical elastic units that can absorb and store energy to realize force compliance in the process of robot interaction with the physical environment. Active compliant control refers to the use of force sensor feedback information by the robot to actively control the interaction force by using a certain control strategy.

[0004] Through the search of the prior art, it is found that the existing passive compliant control device is usually a pure passive compliant structure realized by mechanical, pneumatic and electromagnetic principles, which has compliance capability for single or multiple directions of external force (torque), but generally does not have the detection capability of the external force (torque) and pose change. For example, the Chinese invention patent application "Passive compliant device" with publication number CN111993394A and the pneumatic type adjustable far center compliant device with publication number CN107511649A are both of this type. The active compliant device is usually a one-dimensional compliant control device. When a multi-dimensional force sensor is used, multi-dimensional force sensing can be realized, but the cost is high, and multi-dimensional pose sensing capability is usually not available, which limits its application scenarios.

[0005] In summary, there is a lack of technology that can realize multi-dimensional compliant control while realizing multi-dimensional force sensing and pose sensing capability in the prior art. No similar technology to the present application has been found or reported, and no similar domestic or foreign data has been collected. SUMMARY

[0006] The present application provides a multi-dimensional passive compliant device with force and pose detection function and method to solve the above problems in the prior art.

[0007] According to one aspect of the present application, a multi-dimensional passive compliant device with force and pose detection function is provided, comprising: a moving platform, a calibration plate, an elastic plate compliant branch, a static platform and a camera device; wherein:

[0008] The dynamic platform and the static platform are connected through the elastic plate compliant branch chain, and multi-dimensional passive compliant deformation of the dynamic platform is realized through the elastic plate compliant branch chain;

[0009] The calibration plates correspond to the camera devices, and are respectively arranged on the dynamic platform and the static platform. The camera devices are used to acquire images of the calibration plates in real time, to obtain the pose of the dynamic platform relative to the static platform by calculating the position and attitude of the calibration plates in the camera coordinate system, and to obtain the force of the dynamic platform by using the pose.

[0010] Optionally, the elastic plate compliant branch chain comprises two groups of elastic plate groups and a compliant branch chain group connected between the two groups of elastic plate groups; wherein:

[0011] Each group of the elastic plate groups comprises a plurality of elastic plates arranged at equal angles;

[0012] The two groups of the elastic plate groups are arranged on opposite surfaces of the dynamic platform and the static platform, and respectively divide the opposite surfaces of the dynamic platform and the static platform into a plurality of regions;

[0013] The compliant branch chain group comprises compliant branch chains adapted to the number of the elastic plates, two ends of the compliant branch chains are respectively connected to a corresponding pair of elastic plates in the two groups of the elastic plate groups, and the compliant branch chains are arranged at a specific angle between the dynamic platform and the static platform.

[0014] Optionally, each of the compliant branch chains forms three connection points: a static platform connection point, an intermediate connection point and a dynamic platform connection point, the three connection points form a rotation pair respectively, the extension lines of all rotation pair axes of the plurality of compliant branch chains intersect at a point, and the compliant branch chains are arranged at a specific angle between the dynamic platform and the static platform;

[0015] The overall compression and stretching deformation of the plurality of compliant branch chains realizes the movement compliant capability of the dynamic platform along the Z-axis direction, and the overall deformation of the plurality of compliant branch chains realizes the rotation compliant capability of the dynamic platform around the X-axis and the Y-axis.

[0016] Optionally, the calibration plates are one or more, and are respectively arranged at the center positions of each of the regions divided on the dynamic platform.

[0017] Optionally, the camera devices are one or more, and are respectively arranged at the center positions of each of the regions divided on the static platform, and correspond to the calibration plates one by one.

[0018] Optionally, the calibration plates comprise a background plate and a logo pattern arranged on the background plate.

[0019] Optionally, the camera is vertically arranged on the static platform.

[0020] Optionally, the static platform is provided with a connecting hole for mounting an external mounting device connecting flange.

[0021] According to another aspect of the present application, a multi-dimensional passive compliance method with force and pose detection function is provided, comprising:

[0022] A multi-dimensional passive compliance structure is constructed, comprising a dynamic platform, a static platform, an elastic plate compliance branch connected between the dynamic platform and the static platform, a calibration plate and a camera arranged on opposite surfaces of the dynamic platform and the static platform respectively and corresponding to each other;

[0023] An operating tool is mounted on the dynamic platform, the static platform is mounted on a connecting flange of an external mounting device, and the connecting flange is fixed relative to the static platform;

[0024] During operation, the operating tool physically contacts the operating environment, so that the multi-dimensional passive compliance structure is deformed under external force, causing passive compliance in any one or multiple directions;

[0025] The camera obtains pictures of the calibration plate in real time, calculates the position and pose of the calibration plate in the camera coordinate system, obtains the pose of the dynamic platform relative to the static platform, and obtains the force on the dynamic platform in the corresponding direction using the pose.

[0026] Optionally, the calculation of the position and pose of the calibration plate in the camera coordinate system to obtain the pose of the dynamic platform relative to the static platform comprises:

[0027] According to the pictures of the calibration plate obtained by the camera, combined with the internal and external parameter information of the camera and the description file of the calibration plate, the position and pose of the calibration plate in the camera coordinate system are calculated, and then the position and pose of the dynamic platform relative to the static platform are obtained.

[0028] Optionally, the use of the pose to obtain the force on the dynamic platform in the corresponding direction comprises:

[0029] A kinematic-static force analysis method is used to establish a mapping relationship between the force on the dynamic platform and the pose, and the mapping rule is obtained according to the internal and external parameter information of the camera and the description file of the calibration plate obtained by parameter calibration.

[0030] The pose relationship of the dynamic platform relative to the static platform is calculated using the calibration plate pictures, and the external force on the dynamic platform in the corresponding direction is obtained in combination with the mapping rule.

[0031] Compared with the prior art, the application has at least one of the following beneficial effects:

[0032] The multi-dimensional passive compliant device and method with force and pose detection functions provided by the application have multi-dimensional compliant control capabilities and can realize force sensing and pose sensing detection.

[0033] The multi-dimensional passive compliant device and method with force and pose detection functions provided by the application can realize force sensing and pose sensing at a low cost, realize measurement and quantization of end force and pose, and further expand the application scenarios of the compliant control device.

[0034] The multi-dimensional passive compliant device and method with force and pose detection functions provided by the application have multi-dimensional compliant control capabilities and can realize force sensing and pose sensing detection. BRIEF DESCRIPTION OF DRAWINGS

[0035] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0036] Figure 1 It is a front view of the multi-dimensional passive compliant control device with force and pose detection functions in a preferred embodiment of the application.

[0037] Figure 2 It is a sectional view of the multi-dimensional passive compliant control device with force and pose detection functions in a preferred embodiment of the application.

[0038] Figure 3 It is an axial side view of the multi-dimensional passive compliant control device with force and pose detection functions in a preferred embodiment of the application.

[0039] Figure 4 It is a work flow chart of the multi-dimensional passive compliant control method with force and pose detection functions in a preferred embodiment of the application.

[0040] In the figure, 1 is a static platform, 2 is an elastic plate compliant branch, 3 is a dynamic platform, 4 is a calibration plate, 5 is a camera, 6 is a connecting flange, 2-1 is a static platform connecting part, 2-2 is an intermediate connecting part, and 2-3 is a dynamic platform connecting part. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below: These embodiments are implemented based on the technical solution of the present invention, providing a detailed implementation method and specific operation process. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

[0042] One embodiment of the present invention provides a multi-dimensional passive compliance device with force and pose detection functions, which realizes multi-dimensional compliance capability, force sensing capability and pose sensing capability.

[0043] like Figure 1 As shown, the multi-dimensional passive compliant device with force and pose detection functions provided in this embodiment may include: a moving platform (output platform), a calibration plate, an elastic plate compliant branch, a stationary platform, and a camera device (such as a camera); wherein:

[0044] The moving platform and the static platform are connected by a flexible chain with an elastic plate, and the moving platform can achieve multi-dimensional passive compliant deformation through the flexible chain with an elastic plate.

[0045] The calibration plate and the camera device correspond to each other and are respectively set on the moving platform and the stationary platform. The camera device is used to acquire images of the calibration plate in real time. By calculating the position and orientation of the calibration plate in the camera coordinate system, the pose of the moving platform relative to the stationary platform is obtained, and the force on the moving platform is obtained using the pose.

[0046] In the above embodiments of the present invention, there is a one-to-one correspondence between the calibration plate and the camera device. When there are multiple sets of calibration plates and camera devices, one set of camera devices corresponds to one set of calibration plates. By combining the photos of the calibration plate taken by the camera with the parameters of the calibration plate and the camera, the pose (position and attitude) of the calibration plate relative to the camera can be directly calculated.

[0047] In a preferred embodiment, the flexible branch of the elastic plate includes: two sets of elastic plates and a flexible branch set connected between the two sets of elastic plates. Figure 3 As shown. Wherein:

[0048] Each set of elastic plates includes multiple elastic plates arranged at equal angles.

[0049] Two sets of elastic plates are respectively set on the opposite surfaces of the moving platform and the stationary platform, and each set divides the opposite surfaces of the moving platform and the stationary platform into multiple regions.

[0050] The compliant branch assembly includes compliant branches adapted to the number of elastic plates. The two ends of the compliant branch are respectively connected to a pair of corresponding elastic plates in the two sets of elastic plates, and are set at a specific angle between the moving platform and the stationary platform.

[0051] In a preferred embodiment, each compliant branch has three connection points: a stationary platform connection point, an intermediate connection point, and a moving platform connection point. Each of the three connection points forms a revolute joint. The extension lines of the axes of all the revolute joints on the multiple compliant branches intersect at a point, thereby setting the compliant branches at a specific angle between the moving platform and the stationary platform.

[0052] The overall compression and tensile deformation of multiple compliant branches enables the moving platform to move compliantly along the Z-axis; the overall deformation of multiple compliant branches (i.e., the overall deformation of multiple compliant branches under stress) enables the moving platform to rotate compliantly around the X and Y axes.

[0053] In a specific application example, each set of elastic plates includes three elastic plates set at equal angles. Correspondingly, there are three compliant branches, which are evenly arranged at 120° intervals. Each compliant branch has three rotating joints. The extension lines of the axes of all rotating joints on all compliant branches are relative to a point in space, thus realizing that the compliant branches are set at a specific angle between the moving platform and the stationary platform.

[0054] In a preferred embodiment, there are one or more calibration plates, each positioned at the center of an evenly divided area on the moving platform. For example... Figure 2 As shown. Furthermore, the setting angle between the multiple calibration plates is consistent with the setting angle between the multiple elastic plates.

[0055] In a preferred embodiment, there are one or more camera devices, each positioned at the center of an evenly divided area on the static platform, corresponding one-to-one with a calibration plate. For example... Figure 3 As shown. Furthermore, the setting angle between the multiple camera devices is consistent with the setting angle between the multiple elastic plates.

[0056] Multiple sets of camera devices and calibration plates can be deployed. By using the image information captured by multiple sets of camera devices, multiple sets of pose structures can be solved. By averaging the pose results of multiple sets of pose results, a more accurate pose solution can be obtained.

[0057] In a preferred embodiment, the calibration plate includes a background plate and a marking pattern disposed on the background plate.

[0058] In a preferred embodiment, the camera device is vertically mounted on a stationary platform.

[0059] In a preferred embodiment, the static platform is provided with connection holes for mounting external installation equipment connection flanges.

[0060] The multi-dimension passive compliant device with force and pose detection function provided by the above embodiment of the application can perceive and calculate the pose of the end moving platform through the camera device, and can calculate the external force acting on the end moving platform by using the mapping rule of the external force and the deformed pose of the end moving platform. The deformation coordination between the elastic plate compliant chains can realize the compliance in multiple directions, that is, when an external force acts in the direction, a compliant deformation can be generated, that is, multi-dimension passive compliance. The detection of the force and the pose of the end moving platform means that the compliant device can detect the position and the attitude of the end moving platform and the external force and the external torque acting on the end moving platform in real time. In the process of perceiving and calculating the pose of the end moving platform through the camera device, the position and the attitude of the calibration board in the camera coordinate system are calculated according to the picture of the calibration board captured by the camera, and the position and the attitude of the moving platform relative to the static platform are further calculated by combining the internal parameters of the camera and the description file of the calibration board. In the process of calculating the external force acting on the end moving platform by using the mapping rule of the external force and the deformed pose of the end moving platform, the mapping relationship between the two is established by using the kinematics and statics analysis method in robotics, and the specific parameters (including the internal and external parameter information of the camera device and the description file of the calibration board) can be obtained by parameter calibration. According to the pose, the force of the moving platform can be further obtained, so that the accurate mapping rule can be obtained. Furthermore, the pose relationship of the moving platform can be calculated by using the visual camera to capture the picture of the calibration board, and the external force acting on the end of the compliant device can be calculated by combining the mapping rule between the position of the end moving platform and the external force.

[0061] An embodiment of the application provides a multi-dimension passive compliance method with force and pose detection function, as shown in the formula, which can include the following steps: Figure 4

[0062] S1, a multi-dimension passive compliance structure is constructed, and the multi-dimension passive compliance structure includes: a moving platform, a static platform, elastic plate compliant chains connected between the moving platform and the static platform, calibration boards and camera devices arranged on the opposite surfaces of the moving platform and the static platform and corresponding to each other;

[0063] S2, an operation tool is installed on the moving platform, the static platform is installed on the connecting flange plate of an external installation device, and the connecting flange plate is fixed relative to the static platform;

[0064] S3, the operation tool physically contacts the operation environment in the operation process, so that the multi-dimension passive compliance structure is deformed under the action of an external force and passive compliance in one or more directions is caused;

[0065] S4, the camera device acquires the picture of the calibration board in real time, the position and the attitude of the calibration board in the camera coordinate system are calculated, the pose of the moving platform relative to the static platform is obtained, and the force of the moving platform in the corresponding direction is obtained by using the pose.

[0066] ​In a preferred embodiment of S4, the pose of the moving platform relative to the static platform is obtained by calculating the position and orientation of the calibration plate in the camera coordinate system, which may include:

[0067] Based on the images of the calibration plate obtained by the camera device, combined with the internal and external parameter information of the camera device and the description file of the calibration plate, the position and attitude of the calibration plate in the camera coordinate system are calculated, and then the position and attitude of the moving platform relative to the static platform are obtained.

[0068] In a preferred embodiment of S4, obtaining the force on the moving platform in the corresponding direction using the pose may include:

[0069] Using the static kinematic analysis method, a mapping relationship between the forces and poses of the moving platform is established, and the mapping law is obtained based on the internal and external parameter information of the camera device obtained through parameter calibration and the description file of the calibration plate.

[0070] Using the calibration plate image, the pose relationship between the moving platform and the static platform is calculated, and combined with the mapping law, the external force on the moving platform in the corresponding direction is obtained.

[0071] It should be noted that the steps in the method provided by the present invention can be implemented using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the system to implement the steps and flow of the method. That is, the embodiments in the system can be understood as preferred examples of the method, and will not be elaborated here.

[0072] The technical solutions provided by the above embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0073] like Figure 1 As shown, the compliant device provided in the above embodiments of the present invention includes: a static platform 1, an elastic plate compliant branch chain 2, a moving platform 3, a calibration plate 4, and a camera 5. Wherein:

[0074] The static platform 1 is used to connect and fix with the external equipment's connection flange 6; it can be considered that the two are relatively fixed. For example... Figure 3 As shown, in the flexible plate compliant branch 2, each group of flexible plates includes 3 flexible plates, and each compliant branch group includes 3 compliant branches. The 3 flexible plates in each group are evenly arranged at 120° intervals. The two ends of the compliant branches are fixedly connected to the static platform 1 and the moving platform 3 at specific angles. The compliant branch mainly includes 3 connection points: static platform connection point 2-1, intermediate connection point 2-2, and moving platform connection point 2-3. These 3 connection points can be considered similar to the effect of a revolute joint, and all revolute joints of the 3 compliant branches intersect at a single point. There are 3 cameras 5, evenly arranged at 120° intervals, fixed on the static platform 1. There are 3 calibration plates 4, evenly arranged at 120° intervals, fixed on the moving platform 3.

[0075] As shown in Figure 3 The spatial arrangement angle of the three compliant chains can be known according to the arrangement angle of three junctions of the compliant chain itself, and the compliant device mainly has three directions of compliance, which are: the moving compliance in the Z direction, which is mainly realized by the overall compression and stretching deformation of the three compliant chains; and the rotating compliance around the X axis and the Y axis, which is mainly realized by the overall deformation of the three compliant chains.

[0076] As shown in Figure 2 The calibration board 4 is composed of a known shape and size of a logo pattern. In the figure, a 7x7 circular marker is composed, the diameter and relative position of the circular marker are known, and there is a clear color contrast between the marker and the background, which is convenient for feature extraction. By extracting the center position pixel coordinates of the circular marker in the picture taken by the camera 5, and combining the camera's internal parameters and the description file of the calibration board, the position and attitude of the calibration board 4 relative to the camera 5 coordinate system can be accurately calculated.

[0077] The mapping rule between the change of the end position of the compliant device (the position of the moving platform) and the change of the end external force (the external force of the moving platform) can be obtained by the kinematic and static analysis method in robotics, and the specific parameters can be obtained by parameter calibration, so as to obtain the accurate mapping rule. Further, the pose relationship of the moving platform calculated by the camera shooting the calibration board picture can be combined with the mapping rule between the end position and the external force to obtain the external force acting on the end of the compliant device.

[0078] The compliant method provided by the above-mentioned embodiment of the present application can be implemented by the compliant device provided by the above-mentioned embodiment of the present application, and includes the following steps:

[0079] Firstly, the static platform 1 is fixedly connected with the connecting flange plate 6 of the external installation equipment, and the moving platform 3 is fixedly connected with the working tool.

[0080] Secondly, the working tool is in physical contact with the environment during the working process, so that the compliant device is deformed under the action of external force (torque) and passively complies.

[0081] Thirdly, the camera 5 of the compliant device shoots the picture of the calibration board 4, and calculates the current position and attitude of the moving platform relative to the static platform.

[0082] Fourthly, according to the relative pose between the moving platform 3 and the static platform 1 and the mapping rule between the end position and the external force, the external force acting on the end of the compliant device is obtained.

[0083] In the fifth step, the second to fourth steps are repeated, and the compliant device can generate passive compliance in three directions in real time and measure and calculate the external force (torque) acting on the moving platform 3 and the pose change of the moving platform 3.

[0084] The multi-dimensional passive compliant device and method with force and pose detection function provided in the above embodiments of the application have the moving platform as the output platform of the entire compliant device, which is generally connected to a work tool or an operation object that needs to be compliantly controlled. The calibration board has markers with known shapes and sizes printed in a plane, for example, 7 rows and 7 columns of circular marker points printed in a rectangular area, and the diameters and relative positional relationships of the marker points are known. The calibration board cooperates with the camera device (for example, a vision camera) to determine the relative position and pose between the calibration board and the camera device. The elastic plate compliant branch is bent, twisted, or operated along a specific spatial angle to utilize the overall large deformation of the compliant branch to make the elastic plate compliant branch have a large deformation capacity along a specific direction / angle and good rigidity in other directions. The moving platform and the static platform are connected by combining a plurality of elastic plate compliant branches in a specific manner to realize the motion capacity of a specific degree of freedom. The static platform is considered as a fixed part in the compliant device and is provided with a camera device, an elastic plate compliant branch, and other structures. Meanwhile, the static platform is connected to a connection flange of an external device. The camera device generally has fixed and known camera parameters, for example, internal parameters (focal length, distortion parameters, pixel size, and other parameters) and external parameters (position and pose information of the camera relative to a reference coordinate system). The relative pose information between the moving platform and the static platform can be finally determined by capturing a picture of the calibration board by the camera, using the description file information (a file describing the shape and position information of the pattern on the calibration board) of the calibration board and the internal and external parameter information of the camera.

[0085] The multi-dimensional passive compliant device and method with force and pose detection function provided in the above embodiments of the application have the moving platform as the output platform of the entire compliant device, which is generally connected to a work tool or an operation object that needs to be compliantly controlled. The calibration board has markers with known shapes and sizes printed in a plane, for example, 7 rows and 7 columns of circular marker points printed in a rectangular area, and the diameters and relative positional relationships of the marker points are known. The calibration board cooperates with the camera device (for example, a vision camera) to determine the relative position and pose between the calibration board and the camera device. The elastic plate compliant branch is bent, twisted, or operated along a specific spatial angle to utilize the overall large deformation of the compliant branch to make the elastic plate compliant branch have a large deformation capacity along a specific direction / angle and good rigidity in other directions. The moving platform and the static platform are connected by combining a plurality of elastic plate compliant branches in a specific manner to realize the motion capacity of a specific degree of freedom. The static platform is considered as a fixed part in the compliant device and is provided with a camera device, an elastic plate compliant branch, and other structures. Meanwhile, the static platform is connected to a connection flange of an external device. The camera device generally has fixed and known camera parameters, for example, internal parameters (focal length, distortion parameters, pixel size, and other parameters) and external parameters (position and pose information of the camera relative to a reference coordinate system). The relative pose information between the moving platform and the static platform can be finally determined by capturing a picture of the calibration board by the camera, using the description file information (a file describing the shape and position information of the pattern on the calibration board) of the calibration board and the internal and external parameter information of the camera.

[0085] The multi-dimensional passive compliant device and method with force and pose detection function provided in the above embodiments of the application have the moving platform as the output platform of the entire compliant device, which is generally connected to a work tool or an operation object that needs to be compliantly controlled. The calibration board has markers with known shapes and sizes printed in a plane, for example, 7 rows and 7 columns of circular marker points printed in a rectangular area, and the diameters and relative positional relationships of the marker points are known. The calibration board cooperates with the camera device (for example, a vision camera) to determine the relative position and pose between the calibration board and the camera device. The elastic plate compliant branch is bent, twisted, or operated along a specific spatial angle to utilize the overall large deformation of the compliant branch to make the elastic plate compliant branch have a large deformation capacity along a specific direction / angle and good rigidity in other directions. The moving platform and the static platform are connected by combining a plurality of elastic plate compliant branches in a specific manner to realize the motion capacity of a specific degree of freedom. The static platform is considered as a fixed part in the compliant device and is provided with a camera device, an elastic plate compliant branch, and other structures. Meanwhile, the static platform is connected to a connection flange of an external device. The camera device generally has fixed and known camera parameters, for example, internal parameters (focal length, distortion parameters, pixel size, and other parameters) and external parameters (position and pose information of the camera relative to a reference coordinate system). The relative pose information between the moving platform and the static platform can be finally determined by capturing a picture of the calibration board by the camera, using the description file information (a file describing the shape and position information of the pattern on the calibration board) of the calibration board and the internal and external parameter information of the camera.

[0086] Through the above principles, the multi-dimensional passive compliant device and method with force and pose detection functions provided by the above embodiments of the present application can simultaneously realize multi-dimensional compliance, force sensing and pose sensing in a low-cost manner, and has important significance for the popularization and application of the compliant device.

[0087] The details of the above embodiments of the present application are not exhaustive in the art.

[0088] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application.

Claims

1. A multi-dimensional passive compliant device with force and pose detection function, characterized in that, The application relates to a multi-dimension passive compliant structure, which comprises a moving platform, a static platform, elastic plate compliant chains connected between the moving platform and the static platform, calibration plates and cameras corresponding to each other and arranged on the moving platform and the static platform respectively, wherein the cameras are used for acquiring images of the calibration plates in real time, the positions and postures of the calibration plates in a camera coordinate system are calculated, the pose of the moving platform relative to the static platform is obtained, and the force of the moving platform is obtained by using the pose. The elastic plate compliant chains comprise two groups of elastic plate groups and compliant chain groups connected between the two groups of elastic plate groups. Each group of the elastic plate groups comprises a plurality of elastic plates arranged at equal angles. The two groups of the elastic plate groups are arranged on opposite surfaces of the moving platform and the static platform respectively, and the opposite surfaces of the moving platform and the static platform are divided into a plurality of regions respectively. The compliant chain groups comprise compliant chains corresponding in number to the elastic plates, two ends of the compliant chains are connected to a corresponding pair of elastic plates in the two groups of the elastic plate groups respectively, and the compliant chains are arranged at a specific angle between the moving platform and the static platform. The calibration plates are one or more and are arranged at the center positions of each region divided on the moving platform. Three connection points are formed on each compliant chain, namely a static platform connection point, an intermediate connection point and a moving platform connection point, three connection points form a rotating pair respectively, the axes of all rotating pairs on the compliant chains intersect at a point, and the compliant chains are arranged at a specific angle between the moving platform and the static platform. The overall compression and tensile deformation of the compliant chains realizes the moving compliant ability of the moving platform along the Z-axis direction, and the overall deformation of the compliant chains realizes the rotating compliant ability of the moving platform around the X-axis and the Y-axis. The cameras are one or more and are arranged at the center positions of each region divided on the static platform respectively and correspond to the calibration plates one by one.

2. The multi-dimensional passive compliant device with force and pose detection function according to claim 1, wherein, The application further comprises any one or more of the following: The calibration plates comprise a background plate and a logo pattern arranged on the background plate.

3. The multi-dimensional passive compliant device with force and pose detection capability of claim 1, wherein, The cameras are vertically arranged on the static platform.

4. The multi-dimensional passive compliant device with force and pose detection function according to any one of claims 1-3, characterized in that, The static platform is provided with a connecting hole for mounting an external mounting device connecting flange plate. The application relates to a multi-dimension passive compliant structure, which comprises a moving platform, a static platform, elastic plate compliant chains connected between the moving platform and the static platform, calibration plates and cameras corresponding to each other and arranged on the moving platform and the static platform respectively, wherein the cameras are used for acquiring images of the calibration plates in real time, the positions and postures of the calibration plates in a camera coordinate system are calculated, the pose of the moving platform relative to the static platform is obtained, and the force of the moving platform is obtained by using the pose. The application further comprises any one or more of the following: The calibration plates comprise a background plate and a logo pattern arranged on the background plate.

5. A multi-dimensional passive compliant method with force and pose detection function, characterized in that, The cameras are vertically arranged on the static platform. The static platform is provided with a connecting hole for mounting an external mounting device connecting flange plate. ​ The working tool physically contacts the working environment during working, so that the multi-dimensional passive compliant structure is deformed by external force, causing passive compliance in any one or multiple directions; The camera obtains pictures of the calibration board in real time, calculates the position and posture of the calibration board in the camera coordinate system, obtains the pose of the dynamic platform relative to the static platform, and obtains the force on the dynamic platform in the corresponding direction using the pose.

6. The multi-dimensional passive compliant method with force and pose detection function according to claim 5, wherein, The calculation of the position and posture of the calibration board in the camera coordinate system includes: According to the pictures of the calibration board obtained by the camera, combined with the internal and external parameter information of the camera and the description file of the calibration board, the position and posture of the calibration board in the camera coordinate system are calculated, and then the position and posture of the dynamic platform relative to the static platform are obtained.

7. The multi-dimensional passive compliant method with force and pose detection function according to claim 5, wherein, The calculation of the position and posture of the calibration board in the camera coordinate system includes: Using the motion static analysis method, the mapping relationship between the force on the dynamic platform and the pose is established, and the mapping rule is obtained according to the internal and external parameter information of the camera and the description file of the calibration board obtained by the parameter calibration method; Using the pictures of the calibration board, the pose relationship of the dynamic platform relative to the static platform is calculated, and combined with the mapping rule, the external force on the dynamic platform in the corresponding direction is obtained.

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