Massage robot control method and device, electronic equipment and readable storage medium

Abstract

The application provides a massage robot control method and device, electronic equipment and readable storage medium, tangent plane massage coordinates on a plane; three-dimensional massage coordinates corresponding to a massage action point are determined based on the tangent plane massage coordinates, and when it is detected that the end of the mechanical arm moves to the three-dimensional massage coordinates, the initial normal massage coordinates of the end of the mechanical arm on the contact normal plane are adjusted; in the process of adjusting the initial normal massage coordinates, the end sensing force of the end of the mechanical arm is determined until the target normal massage coordinates are obtained when the end sensing force meets the preset contact condition; the three-dimensional massage coordinates are updated based on the target normal massage coordinates, and the end of the mechanical arm is controlled based on the updated three-dimensional massage coordinates to perform a massage action on the massage action point. The application can be well applied to a human body massage scene, and the massage effect of the massage robot is significantly improved.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and in particular to a control method, device, electronic device, and readable storage medium for a massage robot. Background Technology

[0002] Operational robots are already widely used in industrial sectors such as packaging, sorting, and assembly for automated production. However, in industries where there are high expectations, such as home services, medical procedures, and commercial elderly care, operational robots are still struggling to achieve commercialization and widespread adoption. In particular, applications in massage and manipulation involving robots face challenges due to the complexity of the human-machine interaction environment based on robot force control technology and the stringent requirements for safe human-machine collaboration, making it difficult for such applications to be truly implemented and promoted.

[0003] Currently, existing robot force control technologies often rely heavily on vision or the known surface profile of a fixed model. Given the known stiffness of the contact surface, force control operations on a defined plane are achieved through a spring-damping model-based robot force control technology. However, this robot force control technology is difficult to apply to massage scenarios for the following reasons: (1) Since clothing often adheres to the human surface, it is impossible to obtain a precise outline of the human body surface through vision, making the aforementioned robot force control technology unsuitable for force interaction operations on the human body surface; (2) The distribution of bones and muscles varies greatly among different parts of the human body, resulting in significant stiffness differences, making it impossible to determine the force control equilibrium position of the human body contact surface normal using a spring-damping model; (3) During massage operations, the human body undergoes uncontrollable posture adjustments and movements, making it difficult for traditional admittance control methods to simultaneously meet the requirements of trajectory and force following. In summary, existing robot force control technologies are unsuitable for human massage scenarios, resulting in poor massage effects. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a control method, device, electronic device and readable storage medium for a massage robot, which can be well applied to human massage scenarios and significantly improve the massage effect of the massage robot.

[0005] In a first aspect, embodiments of the present invention provide a control method for a massage robot, comprising: acquiring a massage point corresponding to a target object, and determining the tangential massage coordinates of the massage point on a contact tangential plane; wherein the tangential massage coordinates are used to characterize the massage trajectory of the end effector of the robotic arm on the contact tangential plane; determining the three-dimensional massage coordinates corresponding to the massage point based on the tangential massage coordinates, and adjusting the initial normal massage coordinates of the end effector on the contact normal plane when the end effector is detected to have moved to the three-dimensional massage coordinates; determining the end effector sensing force of the end effector during the adjustment of the initial normal massage coordinates, until the end effector sensing force meets a preset contact condition to obtain the target normal massage coordinates; updating the three-dimensional massage coordinates based on the target normal massage coordinates, and controlling the end effector of the robotic arm to perform a massage action on the massage point based on the updated three-dimensional massage coordinates.

[0006] Secondly, embodiments of the present invention also provide a control device for a massage robot, comprising: a tangential plane coordinate determination module, configured to acquire a massage point corresponding to a target object and determine the tangential plane massage coordinates of the massage point on a contact tangential plane; wherein the tangential plane massage coordinates are used to characterize the massage trajectory of the end effector of the robotic arm on the contact tangential plane; a normal coordinate adjustment module, configured to determine the three-dimensional massage coordinates corresponding to the massage point based on the tangential plane massage coordinates, and adjust the normal massage coordinates of the end effector on the contact normal plane when the end effector is detected to have moved to the three-dimensional massage coordinates; a normal coordinate determination module, configured to determine the end effector sensing force of the end effector during the adjustment of the normal massage coordinates, until the end effector sensing force meets a preset contact condition to obtain the target normal massage coordinates; and a massage control module, configured to update the three-dimensional massage coordinates based on the target normal massage coordinates, and control the end effector of the robotic arm based on the updated three-dimensional massage coordinates to perform a massage action on the massage point.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method described in any of the first aspects.

[0008] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method described in any of the first aspects.

[0009] This invention provides a control method, device, electronic device, and readable storage medium for a massage robot. After obtaining the massage point corresponding to the target object, the tangential plane massage coordinates of the massage point on the contact tangential plane are determined. The tangential plane massage coordinates can be used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane. Then, based on the tangential plane massage coordinates, the three-dimensional massage coordinates corresponding to the massage point are determined. When the end effector of the robot moves to the three-dimensional massage coordinates, the initial normal massage coordinates of the end effector on the contact normal plane are adjusted. During the adjustment of the initial normal massage coordinates, the end effector sensing force of the end effector is determined until the end effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates. Finally, the three-dimensional massage coordinates are updated based on the target normal massage coordinates, and the end effector of the robot is controlled based on the updated three-dimensional massage coordinates to perform massage actions on the massage point. The above method determines the tangential massage coordinates of the massage point on the contact tangential plane, enabling precise control of the massage trajectory through position following on the contact tangential plane. When the end effector of the robotic arm moves to the three-dimensional massage coordinates corresponding to the massage point, the initial normal massage coordinates of the end effector on the contact normal plane are adjusted in conjunction with the end effector sensing force. When the end effector sensing force meets the preset contact conditions, the target normal massage coordinates are obtained. Thus, massage force following without precise position feedforward is achieved on the contact normal plane through stiffness-free pure damping force control. Finally, based on the updated three-dimensional massage coordinates, the end effector of the robotic arm is controlled to perform massage actions on the massage point. This embodiment of the invention can achieve force and position following of the end effector on the contact normal plane even under conditions of inaccurate visual feedforward, and can be well applied to human massage scenarios, significantly improving the massage effect of the massage robot.

[0010] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0012] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0013] Figure 1 A flowchart illustrating a control method for a massage robot provided in an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of a robotic arm massage scenario provided by an embodiment of the present invention;

[0015] Figure 3 A flowchart illustrating another control method for a massage robot provided in an embodiment of the present invention;

[0016] Figure 4 This is a schematic diagram of the structure of a control device for a massage robot provided in an embodiment of the present invention;

[0017] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The process of a massage robot providing massage services essentially involves the robot using force and visual perception as feedforwards to generate massage techniques and execute them on the human body's surface, achieving a massage experience and therapeutic effect consistent with that of a professional. The complexity of its human-robot interaction lies in how the robot, based on limited sensors, can plan a smooth trajectory and make real-time, adaptive motion adjustments during human interaction to achieve the desired force interaction effect. In traditional industrial robotic arm operations, open-loop, pure position control is often used. The robotic arm cannot effectively perceive the forces involved in the interaction process and cannot make adaptive trajectory adjustments based on the real-time interaction conditions. Therefore, the application of such robots is often isolated from humans, meeting the needs of unmanned automated scenarios, but it can hardly be considered a service to humans.

[0020] Due to the complexity of dynamic interactions in massage scenarios, the visual feedforward perception, dynamic force perception, and real-time motion trajectory adjustment of service robots are crucial. Traditional massage chairs and similar devices rely on fixed mechanical structures and open-loop position control, unable to sense the force during the massage process and make adaptive adjustments. They can only rigidly execute predetermined trajectories, resulting in a massage experience far inferior to that of a human masseuse. Furthermore, if massage robots lack force perception and adaptive motion planning during human-robot interaction, safety during this process is difficult to guarantee. If a massage robot executes a specific trajectory without recognizing complex situations during the interaction and making adaptive movements based on a real-time perception system, it could potentially cause harm to both the person and the robot itself, rendering it unsuitable for use in home / commercial settings.

[0021] Currently, massage robots have at least the following problems:

[0022] (1) In the scenario of robotic arm massage, it is impossible to obtain accurate normal distance information of the skin surface through visual technology when people are wearing differentiated clothing. In addition, the stiffness characteristics of the human body vary greatly from part to part and individual to individual, making it impossible to obtain the equilibrium position of the massage contact surface based on a feedforward model. Traditional force control schemes based on spring-damping cannot meet the expected force interaction process of massage. Therefore, in this scenario, it is necessary to solve the problem of achieving compliant force control when the visual information of the contact surface normal is inaccurate and the equilibrium position of the massage human-computer interaction cannot be identified.

[0023] (2) Current force control technology generally obtains contact force information through a six-dimensional force sensor at the end of the robotic arm. Although it can directly obtain accurate interaction force data, the multi-dimensional force sensor installed at the end of the robotic arm needs to be purchased separately, which requires high additional costs and increases the load on the end of the robotic arm, affecting the dynamic performance of the robotic arm. Therefore, it is not the most ideal force control sensing acquisition solution. Therefore, obtaining end-effector force interaction data through body perception without increasing the additional load on the end is also a key technical issue for massage robots.

[0024] Based on this, the present invention provides a control method, device, electronic device and readable storage medium for a massage robot, which can be well applied to human massage scenarios and significantly improves the massage effect of the massage robot.

[0025] To facilitate understanding of this embodiment, a control method for a massage robot disclosed in this embodiment of the invention will first be described in detail. (See also...) Figure 1 The diagram shows a control method for a massage robot, which mainly includes the following steps S102 to S108:

[0026] Step S102: Obtain the massage point corresponding to the target object and determine the tangential plane massage coordinates of the massage point on the contact tangential plane. The tangential plane massage coordinates characterize the massage trajectory of the robotic arm's end effector on the contact tangential plane. The contact tangential plane can be a horizontal plane (also called an interactive tangential plane or XOY plane) in the Robot Base Coordinate System (RBCS, denoted by the superscript b in the formula). The massage point (represented by the lowercase letter m in the formula) is also an acupoint / key point. In one embodiment, the coordinates of the massage point can be obtained through image acquisition devices such as cameras or other methods, and these coordinates can be transformed to the robotic arm coordinate system, retaining the tangential plane massage coordinates on the contact tangential plane. In one example, acupoint recognition and robotic arm hand-eye calibration can be performed using a camera to transform the recognized massage point to the robotic arm coordinate system to obtain the tangential plane massage coordinates; in another example, the tangential plane massage coordinates can be directly acquired by force-controlled dragging of the robotic arm to a designated position.

[0027] Step S104: Determine the three-dimensional massage coordinates corresponding to the massage point based on the tangential plane massage coordinates, and adjust the initial normal massage coordinates of the robotic arm end effector on the contact normal plane when the robotic arm end effector is detected moving to the three-dimensional massage coordinates. The three-dimensional massage coordinates, also known as massage coordinates in three-dimensional space, include the tangential plane massage coordinates and the initial normal massage coordinates. The initial normal massage coordinates are determined based on preset massage bed height, target object thickness, and safe height distance. In one embodiment, the sum of the massage bed height, target object thickness, and safe height distance can be used as the initial normal massage coordinates. Combining the tangential plane massage coordinates and the initial normal massage coordinates yields the three-dimensional massage coordinates of the massage point in three-dimensional space. Control the robotic arm end effector to move to these three-dimensional massage coordinates, and when the robotic arm end effector is detected moving to these three-dimensional massage coordinates, adjust the initial normal massage coordinates of the robotic arm on the contact normal plane in the direction closer to the target object. It should be noted that the tangential plane massage coordinates remain unchanged during the adjustment of the initial normal massage coordinates.

[0028] Step S106: During the adjustment of the initial normal massage coordinates, the end effector force of the robotic arm is determined until the end effector force meets a preset contact condition, at which point the target normal massage coordinates are obtained. The end effector force is the contact force between the end effector and the target object. The contact condition can be that the deviation between the end effector force and the preset desired force is less than a preset deviation threshold. In one embodiment, during the adjustment of the initial normal massage coordinates, the end effector force can be determined based on the joint torque data of the massage robot, or a multi-dimensional force sensor can be installed at the end effector of the robotic arm to collect the end effector force. When the deviation between the end effector force and the preset desired force is less than a preset deviation threshold, the preset contact condition is determined, and the target normal massage coordinates are determined based on the current end effector force and the preset desired force.

[0029] Step S108: Update the three-dimensional massage coordinates based on the target normal massage coordinates, and control the end effector of the robotic arm based on the updated three-dimensional massage coordinates to perform massage actions on the massage application point. In one embodiment, by replacing the initial normal massage coordinates in the three-dimensional massage coordinates with the target normal massage coordinates, the updated three-dimensional massage coordinates can be obtained. The end effector of the robotic arm is then controlled to move to the updated three-dimensional massage coordinates to achieve the purpose of performing massage actions on the massage application point.

[0030] The control method for a massage robot provided in this invention determines the tangential massage coordinates of the massage point on the contact tangential plane. This allows for precise control of the massage trajectory through position following on the contact tangential plane. When the end effector of the robotic arm moves to the three-dimensional massage coordinates corresponding to the massage point, the initial normal massage coordinates of the end effector on the contact normal plane are adjusted based on the end effector's sensing force. The target normal massage coordinates are obtained when the end effector's sensing force meets preset contact conditions. Thus, massage force following without precise position feedforward is achieved on the contact normal plane through stiffness-free pure damping force control. Finally, based on the updated three-dimensional massage coordinates, the end effector of the robotic arm is controlled to perform massage actions on the massage point. This invention can achieve force and position following of the end effector on the contact normal plane even under conditions of inaccurate visual feedforward, making it well-suited for human massage scenarios and significantly improving the massage effect of the massage robot.

[0031] For ease of understanding, this embodiment of the invention provides an implementation method for step S102, specifically: (1) obtaining the coordinates of the massage point on the horizontal plane of the robotic arm coordinate system. b p m =(x o ,y o(2) The sum of the preset massage bed height, target object thickness, and safe height distance is determined as the initial normal massage coordinates of the robotic arm end on the contact normal plane, such as... Figure 2 The diagram illustrates a robotic arm massage scenario. The height z1 of the massage bed and the thickness z2 of the target object (referred to as human body thickness) do not need to be precise, and a safe height distance z is pre-configured. safe The formula for calculating the initial normal massage coordinate z0 is as follows: z o =z1+z2+z safe (3) Combine the tangential plane massage coordinates and the initial normal massage coordinates to obtain the three-dimensional massage coordinates corresponding to the massage point. The three-dimensional massage coordinates are: b p m =(x o ,y o ,z o ).

[0032] Furthermore, the end effector of the robotic arm will be moved to the three-dimensional massage coordinates in the robotic arm coordinate system through position control. b p m =(x o ,y o ,z o At this point, the robotic arm's end effector has reached a safe position above the required massage direction. However, due to a lack of precise visual feedforward, the robot does not know the exact height of the massage point and the actual action plane. Therefore, it is necessary to determine the target normal massage coordinates of the robot's end effector on the contact normal plane. This embodiment of the invention adjusts the initial normal massage coordinates of the robotic arm's end effector on the contact normal plane, and during the adjustment process, determines the end effector's sensing force until the end effector's sensing force meets the preset contact conditions to obtain the target normal massage coordinates.

[0033] For ease of understanding, this embodiment of the invention provides an implementation method for step S106, specifically:

[0034] Step 1: During the adjustment of the initial normal massage coordinates, the end-effector sensing force is determined. Currently, traditional methods can directly obtain the end-effector sensing force f from an end-effector force sensor. z_feedback However, considering that the multi-dimensional force sensor installed at the end of the robotic arm requires additional procurement, which is not only costly but also increases the load on the end of the robotic arm, in a preferred embodiment, considering versatility and cost-effectiveness, the end-effector sensing force can be determined based on the joint torque data τ=(τ1,τ2,τ3,τ4,τ5,τ6) of the massage robot. Specifically, see steps 1.1 to 1.2 below:

[0035] Step 1.1: Determine the joint torque data of the massage robot and the differences between it and the robotic arm's inertia matrix, Coriolis force, centripetal force, and gravity term. Step 1.2: Multiply the product of the inverse matrix corresponding to the transpose of the preset Jacobian matrix and the differences to determine the end-effector sensing force of the robotic arm. The dynamic equations of the serial robotic arm are shown below:

[0036]

[0037] Where M(q) is the inertia matrix of the robotic arm, Let g(q) be the Coriolis force and centripetal force term, g(q) be the gravity term of the robotic arm, and J be the centripetal force term. T f is the transpose of the Jacobian matrix. ext This refers to the external force acting on the end effector of the robotic arm. When performing a massage operation, the external force f acting on the end effector of the massage head at the point of massage application is... ext With end-sensing ability f z_feedback Equal, that is, f ext =f feedback Based on this, the dynamic equations of the aforementioned serial robotic arms are transformed to obtain the calculation formula for the end-effector sensing force:

[0038] Among them, J -T f is the inverse matrix corresponding to the transpose of the Jacobian matrix. feedback =(f x_feedback ,f y_feedback ,f z-feedback ,m x ,m y ,m z ), f x_feedback f y_feedback f z-feedback This refers to the end effector sensing force along the x, y, and z axes of the robotic arm coordinate system, m x m y m z It refers to the torque on the x-axis, y-axis, and z-axis in the robot arm coordinate system.

[0039] Step 2, until the end-effector sensing force meets the preset contact conditions, obtain the target normal massage coordinates. In one embodiment, the target normal massage coordinates can be determined according to steps 2.1 to 2.3 as follows:

[0040] Step 2.1: Determine whether the contact force deviation between the preset expected force and the end-sensing force is less than a preset deviation threshold. The preset expected force is denoted as f. z_desire The preset deviation threshold is denoted as f. thereshold In one implementation, when the robotic arm's end effector is not in contact with the human body, the end effector sensing force f... z-feedbackThe absolute value is 0N. When the robotic arm's end effector contacts the human body, there will be a feedback value greater than 0N. Through experimental experience, a preset deviation threshold f for the resultant force can be set. thereshold In practical applications, if the end force feedback f z-feedback Approaching the expected force f z_desire That is, |f z_desire -f z-feedback | <f thereshold When the preset contact conditions are met, the robotic arm end can be determined to be in contact with the human body through touch, and the preset contact force can be achieved.

[0041] Step 2.2: If so, determine that the end-effector sensing force meets the preset contact conditions, and determine the target normal massage coordinates based on the contact force deviation. In one embodiment, this invention draws on the concept of blind massage, employing a purely tactile (force-sensing) approach to determine the z-direction height of the interaction plane and realize the desired massage force f. z_desire And the height of the plane of action. Specifically, if it is determined that the end-effector sensing force meets the preset contact conditions, the steps for determining that the end-effector sensing force meets the preset contact conditions can be performed as follows (a) to (c):

[0042] (a) Determine the difference between the contact force deviation and the equivalent damping coefficient, the sum of the difference and the equivalent stiffness coefficient, and the quotient of the sum and the equivalent mass coefficient; (b) Determine the quotient as the acceleration deviation between the actual normal acceleration and the desired normal acceleration; (c) Determine the target normal massage coordinates based on the acceleration deviation, wherein the velocity deviation is obtained by integrating the acceleration deviation, and the position deviation is obtained by integrating the velocity deviation; the sum of the position deviation and the initial normal massage coordinates is determined as the target normal massage position.

[0043] In practical implementation, the z-direction force control in this embodiment of the invention is based on the robotic arm position control interface. The massage force interaction process can be defined as a low-stiffness, high-damping system, which can be described by a second-order mass-spring-damping system equation, as shown below:

[0044]

[0045] Among them, M m D represents the equivalent quality coefficient of the system. m K represents the equivalent damping coefficient of the system. m This represents the equivalent stiffness coefficient of the system. This represents the actual normal acceleration. represents the actual normal velocity, and z represents the actual normal position. This represents the desired normal acceleration. The z-axis represents the desired normal velocity. dIndicates the desired normal position.

[0046] The formula can be derived as follows:

[0047]

[0048] Due to the equivalent inertia M of the second-order system equations m It is difficult to determine, therefore, we can assume M m =1. To achieve force and contact plane normal height following independently of the preset equilibrium position, the equivalent spring stiffness of this second-order system must be K. m =0. Therefore, based on the above constraints, the formula transforms into:

[0049]

[0050] Let the normal acceleration deviation be... Speed ​​deviation Position deviation Δz=zz d By integration, we can obtain:

[0051]

[0052] Further integration yields:

[0053]

[0054] Due to the assumption of stiffness K m =0, therefore, the speed deviation obtained by integration is The positional deviation Δz is independent of the equilibrium position and depends entirely on the deviation between the expected force and the end-sensory force, thus achieving a "blind" massage effect. Therefore, it reaches the safe position z at the methodic height of the massage contact point. o In this context, without requiring precise information about the height of the human body surface, based on the force control model, the position interface can be used to issue position commands z(t) = zo + Δz(t), thereby achieving compliant force control in the z-direction that relies entirely on tactile sensation.

[0055] Step 2.3: If not, determine that the end effector does not meet the contact condition, and continue to adjust the initial normal massage coordinates of the robotic arm end effector on the contact normal plane until the end effector meets the preset contact condition to obtain the target normal massage coordinates. In one embodiment, if the contact force deviation between the end effector and the preset expected force is greater than the preset contact force threshold, continue to adjust the initial normal massage coordinates, and continue to monitor the contact force deviation between the end effector and the preset expected force during the adjustment process until the contact force deviation between the end effector and the preset expected force is less than the preset contact force threshold. Then, the target normal massage coordinates can be obtained according to (a) to (c) above. At this time, the preset trajectory (x(t), y(t)) of the XOY contact tangent plane based on position control can be started. Then, the (x, y, z) instruction of the position controller is:

[0056]

[0057] Based on the above method, force-position hybrid control with decoupling of tangential and normal planes can be achieved.

[0058] The control method for the massage robot provided in this invention addresses the common approach of using a camera to acquire three-dimensional data of points on the human body surface during robot massage and other force control tasks. However, for massage scenarios, due to privacy concerns, clothing is attached to the body surface, making it difficult to obtain precise three-dimensional coordinate information. For muscle relaxation and positioning, the accuracy within the contact tangent plane (defined as the XOY plane) generally meets the positioning requirements, and pure position control is used in the XOY plane to maintain the accuracy of the massage trajectory. However, in the normal direction (Z direction) of the contact surface, due to the uncertainty of clothing attachment and the significant stiffness differences of the human body surface, it is impossible to determine the force control equilibrium position based on visual feedforward and spring-damped models. Considering that blind people can achieve interactive tracking of massage position and force without relying on vision, this invention employs a pure force control technology based on a damped model without equilibrium position to achieve contact and force control tracking in the normal direction. In addition, to achieve the tracking of force and position in the normal direction of the end contact plane, it is necessary to sense the interaction force data of the contact point. This embodiment of the invention does not use a high-cost end multi-dimensional force sensor solution, but instead uses the end contact force information obtained by model calculation based on the joint sensing solution, which is then used for the force interaction process of the robotic arm end.

[0059] To facilitate understanding of the foregoing embodiments, this invention provides another control method for a massage robot, see below. Figure 3 The flowchart shown is a control method for another massage robot, which mainly includes the following steps S302 to S308:

[0060] Step S302, control the robotic arm to reach the coordinates (x) above the massage point.o y o ,z0).

[0061] Step S304: Perform normal (z-axis) force control "self" touch judgment contact.

[0062] Step S306, determine |f z_desire -f z-feedback |<f thereshold If yes, proceed to step S308; if no, proceed to step S304.

[0063] Step S308: The tactile sensor determines that the device is in contact and begins to execute the XOY plane massage trajectory and Z-axis force control follow.

[0064] In summary, the control method for the massage robot provided in this embodiment of the invention has at least the following characteristics:

[0065] (1) In the normal direction of the massage contact surface, it is possible to judge the contact and achieve force following by means of pure force-sensory touch, without relying on visual feedforward information.

[0066] (2) It has strong versatility in complex massage interaction conditions. It does not require prior identification of the stiffness parameters of different parts of the human body, and can adapt to any degree of lifting of the human body in the z direction (such as lifting the body off the massage bed), without affecting the position and force interaction of the massage.

[0067] (3) The hardware cost has been greatly reduced. The price of domestic end-effector six-dimensional force sensor is generally around 20,000 yuan, while the price of imported six-dimensional force sensor is about 10,000 US dollars. At present, collaborative arms generally have joint torque sensors. The embodiment of this invention uses joint torque sensors to sense end-effector interaction force information without incurring additional hardware costs.

[0068] Regarding the control method for the massage robot provided in the foregoing embodiments, this invention provides a control device for the massage robot, see [link / reference]. Figure 4 The diagram shows the structure of a control device for a massage robot, which mainly includes the following parts:

[0069] The tangential plane coordinate determination module 402 is used to obtain the massage action point corresponding to the target object and determine the tangential plane massage coordinates of the massage action point on the contact tangential plane; wherein, the tangential plane massage coordinates are used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane;

[0070] The normal coordinate adjustment module 404 is used to determine the three-dimensional massage coordinates corresponding to the massage action point based on the tangent plane massage coordinates, and adjust the normal massage coordinates of the robotic arm end on the contact normal plane when it is detected that the robotic arm end has moved to the three-dimensional massage coordinates.

[0071] The normal coordinate determination module 406 is used to determine the end-effector sensing force of the robotic arm during the adjustment of the normal massage coordinates, until the end-effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates.

[0072] The massage control module 408 is used to update the three-dimensional massage coordinates based on the target normal massage coordinates, and control the end effector of the robotic arm based on the updated three-dimensional massage coordinates to perform massage actions on the massage action point.

[0073] The control device and method for the massage robot provided in this invention determine the tangential massage coordinates of the massage point on the contact tangential plane. Precise control of the massage trajectory can be achieved by position following on the contact tangential plane. When the end effector of the robotic arm moves to the three-dimensional massage coordinates corresponding to the massage point, the initial normal massage coordinates of the end effector on the contact normal plane are adjusted by combining the end effector sensing force. The target normal massage coordinates are obtained when the end effector sensing force meets preset contact conditions. Thus, massage force following without precise position feedforward is achieved on the contact normal plane through stiffness-free pure damping force control. Finally, based on the updated three-dimensional massage coordinates, the end effector of the robotic arm is controlled to perform massage actions on the massage point. This invention can achieve force and position following of the end effector on the contact normal plane even under conditions of inaccurate visual feedforward, making it well-suited for human massage scenarios and significantly improving the massage effect of the massage robot.

[0074] In one embodiment, the normal coordinate adjustment module 404 is further configured to: determine the sum of the preset massage bed height, target object thickness and safe height distance as the initial normal massage coordinates of the robotic arm end on the contact normal plane; and combine the tangential plane massage coordinates and the initial normal massage coordinates to obtain the three-dimensional massage coordinates corresponding to the massage action point.

[0075] In one embodiment, the normal coordinate determination module 406 is further configured to: determine the end-effector sensing force of the robotic arm based on the joint torque data of the massage robot.

[0076] In one embodiment, the normal coordinate determination module 406 is further configured to: determine the joint torque data of the massage robot and the difference between it and the inertia matrix, Coriolis force and centripetal force terms, and gravity term of the robotic arm; and determine the product of the inverse matrix corresponding to the transpose of the preset Jacobian matrix and the difference as the end-sensing force of the robotic arm.

[0077] In one embodiment, the normal coordinate determination module 406 is further configured to: determine whether the contact force deviation between the preset expected force and the end-effector sensing force is less than a preset deviation threshold; if yes, determine that the end-effector sensing force meets the preset contact conditions, and determine the target normal massage coordinate based on the contact force deviation; if no, determine that the end-effector sensing force does not meet the contact conditions, and continue to adjust the initial normal massage coordinate of the robotic arm end on the contact normal plane until the end-effector sensing force meets the preset contact conditions to obtain the target normal massage coordinate.

[0078] In one embodiment, the normal coordinate determination module 406 is further configured to: determine the difference between the contact force deviation and the equivalent damping coefficient, the sum of the difference and the equivalent stiffness coefficient, and the quotient between the sum and the equivalent mass coefficient; determine the quotient as the acceleration deviation between the actual normal acceleration and the desired normal acceleration; and determine the target normal massage coordinate based on the acceleration deviation.

[0079] In one embodiment, the normal coordinate determination module 406 is further configured to: integrate the acceleration deviation to obtain the velocity deviation, and integrate the velocity deviation to obtain the position deviation; and determine the sum of the position deviation and the initial normal massage coordinates as the target normal massage position.

[0080] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0081] This invention provides an electronic device, specifically, the electronic device includes a processor and a storage device; the storage device stores a computer program, which is executed by the processor when it runs:

[0082] A control method for a massage robot includes: acquiring a massage point corresponding to a target object and determining the tangential massage coordinates of the massage point on a contact tangential plane; wherein the tangential massage coordinates are used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane; determining the three-dimensional massage coordinates corresponding to the massage point based on the tangential massage coordinates, and adjusting the initial normal massage coordinates of the end effector on the contact normal plane when the end effector is detected to have moved to the three-dimensional massage coordinates; determining the end effector sensing force of the end effector during the adjustment of the initial normal massage coordinates, until the end effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates; updating the three-dimensional massage coordinates based on the target normal massage coordinates, and controlling the end effector of the robot to perform a massage action on the massage point based on the updated three-dimensional massage coordinates.

[0083] In one embodiment, determining the three-dimensional massage coordinates corresponding to the massage point based on the tangential plane massage coordinates includes: determining the sum of the preset massage bed height, target object thickness, and safe height distance as the initial normal massage coordinates of the robotic arm end on the contact normal plane; and combining the tangential plane massage coordinates and the initial normal massage coordinates to obtain the three-dimensional massage coordinates corresponding to the massage point.

[0084] In one implementation, determining the end-effector sensing force of the robotic arm includes: determining the end-effector sensing force of the robotic arm based on joint torque data of the massage robot.

[0085] In one embodiment, determining the end-effector sensing force of the robotic arm based on the joint torque data of the massage robot includes: determining the difference between the joint torque data of the massage robot and the inertia matrix, Coriolis force and centripetal force terms, and the gravity term of the robotic arm; and determining the end-effector sensing force of the robotic arm as the product of the inverse matrix corresponding to the transpose of the preset Jacobian matrix and the difference.

[0086] In one implementation, obtaining the target normal massage coordinates until the end-effector sensing force meets a preset contact condition further includes: determining whether the contact force deviation between the preset expected force and the end-effector sensing force is less than a preset deviation threshold; if yes, determining that the end-effector sensing force meets the preset contact condition, and determining the target normal massage coordinates based on the contact force deviation; if no, determining that the end-effector sensing force does not meet the contact condition, and continuing to adjust the initial normal massage coordinates of the robotic arm end on the contact normal plane until the end-effector sensing force meets the preset contact condition to obtain the target normal massage coordinates.

[0087] In one implementation, determining the target normal massage coordinates based on the contact force deviation includes: determining the difference between the contact force deviation and the equivalent damping coefficient, the sum of the difference and the equivalent stiffness coefficient, and the quotient between the sum and the equivalent mass coefficient; determining the quotient as the acceleration deviation between the actual normal acceleration and the desired normal acceleration; and determining the target normal massage coordinates based on the acceleration deviation.

[0088] In one embodiment, determining the target normal massage coordinates based on acceleration deviation includes: integrating the acceleration deviation to obtain a velocity deviation, and integrating the velocity deviation to obtain a position deviation; and determining the sum of the position deviation and the initial normal massage coordinates as the target normal massage position.

[0089] The electronic device and method provided in this invention determine the tangential massage coordinates of the massage point on the contact tangential plane. Precise control of the massage trajectory can be achieved on the contact tangential plane through position following. When the end effector of the robotic arm moves to the three-dimensional massage coordinates corresponding to the massage point, the initial normal massage coordinates of the end effector on the contact normal plane are adjusted by combining the end effector sensing force. The target normal massage coordinates are obtained when the end effector sensing force meets preset contact conditions. Thus, massage force following without precise position feedforward is achieved on the contact normal plane through stiffness-free pure damping force control. Finally, based on the updated three-dimensional massage coordinates, the end effector of the robotic arm is controlled to perform massage actions on the massage point. This invention can achieve force and position following of the end effector on the contact normal plane even under conditions of inaccurate visual feedforward, making it well-suited for human massage scenarios and significantly improving the massage effect of the massage robot.

[0090] Figure 5 The present invention provides a schematic diagram of the structure of an electronic device 100, which includes a processor 50, a memory 51, a bus 52 and a communication interface 53. The processor 50, the communication interface 53 and the memory 51 are connected through the bus 52. The processor 50 is used to execute executable modules, such as computer programs, stored in the memory 51.

[0091] The memory 51 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 53 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0092] Bus 52 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0093] The memory 51 is used to store programs. After receiving an execution instruction, the processor 50 executes the programs. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0094] Processor 50 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 50 or by instructions in software form. Processor 50 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 51. The processor 50 reads the information in memory 51 and, in conjunction with its hardware, completes the steps of the above method.

[0095] The computer program product of the readable storage medium provided in the embodiments of the present invention includes a computer-readable storage medium storing program code, wherein the program code includes instructions that can be executed:

[0096] A control method for a massage robot includes: acquiring a massage point corresponding to a target object and determining the tangential massage coordinates of the massage point on a contact tangential plane; wherein the tangential massage coordinates are used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane; determining the three-dimensional massage coordinates corresponding to the massage point based on the tangential massage coordinates, and adjusting the initial normal massage coordinates of the end effector on the contact normal plane when the end effector is detected to have moved to the three-dimensional massage coordinates; determining the end effector sensing force of the end effector during the adjustment of the initial normal massage coordinates, until the end effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates; updating the three-dimensional massage coordinates based on the target normal massage coordinates, and controlling the end effector of the robot to perform a massage action on the massage point based on the updated three-dimensional massage coordinates.

[0097] In one embodiment, determining the three-dimensional massage coordinates corresponding to the massage point based on the tangential plane massage coordinates includes: determining the sum of the preset massage bed height, target object thickness, and safe height distance as the initial normal massage coordinates of the robotic arm end on the contact normal plane; and combining the tangential plane massage coordinates and the initial normal massage coordinates to obtain the three-dimensional massage coordinates corresponding to the massage point.

[0098] In one implementation, determining the end-effector sensing force of the robotic arm includes: determining the end-effector sensing force of the robotic arm based on joint torque data of the massage robot.

[0099] In one embodiment, determining the end-effector sensing force of the robotic arm based on the joint torque data of the massage robot includes: determining the difference between the joint torque data of the massage robot and the inertia matrix, Coriolis force and centripetal force terms, and the gravity term of the robotic arm; and determining the end-effector sensing force of the robotic arm as the product of the inverse matrix corresponding to the transpose of the preset Jacobian matrix and the difference.

[0100] In one implementation, obtaining the target normal massage coordinates until the end-effector sensing force meets a preset contact condition further includes: determining whether the contact force deviation between the preset expected force and the end-effector sensing force is less than a preset deviation threshold; if yes, determining that the end-effector sensing force meets the preset contact condition, and determining the target normal massage coordinates based on the contact force deviation; if no, determining that the end-effector sensing force does not meet the contact condition, and continuing to adjust the initial normal massage coordinates of the robotic arm end on the contact normal plane until the end-effector sensing force meets the preset contact condition to obtain the target normal massage coordinates.

[0101] In one implementation, determining the target normal massage coordinates based on the contact force deviation includes: determining the difference between the contact force deviation and the equivalent damping coefficient, the sum of the difference and the equivalent stiffness coefficient, and the quotient between the sum and the equivalent mass coefficient; determining the quotient as the acceleration deviation between the actual normal acceleration and the desired normal acceleration; and determining the target normal massage coordinates based on the acceleration deviation.

[0102] In one embodiment, determining the target normal massage coordinates based on acceleration deviation includes: integrating the acceleration deviation to obtain a velocity deviation, and integrating the velocity deviation to obtain a position deviation; and determining the sum of the position deviation and the initial normal massage coordinates as the target normal massage position.

[0103] The readable storage medium provided in this invention provides a method that determines the tangential massage coordinates of the massage point on the contact tangential plane. This allows for precise control of the massage trajectory on the contact tangential plane through position following. When the end effector of the robotic arm moves to the three-dimensional massage coordinates corresponding to the massage point, it adjusts the initial normal massage coordinates of the end effector on the contact normal plane based on the end effector's sensing force. When the end effector's sensing force meets preset contact conditions, the target normal massage coordinates are obtained. Thus, massage force following without precise position feedforward is achieved on the contact normal plane through stiffness-free pure damping force control. Finally, based on the updated three-dimensional massage coordinates, the end effector of the robotic arm is controlled to perform massage actions on the massage point. This invention can achieve force and position following of the end effector on the contact normal plane even under conditions of inaccurate visual feedforward, making it well-suited for human massage scenarios and significantly improving the massage effect of the massage robot.

[0104] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a massage robot, characterized in that, include: Obtain the massage application point corresponding to the target object, and determine the tangential plane massage coordinates of the massage application point on the contact tangential plane; wherein, the tangential plane massage coordinates are used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane; The three-dimensional massage coordinates corresponding to the massage point are determined based on the tangential plane massage coordinates, and when the robotic arm end is detected to have moved to the three-dimensional massage coordinates, the initial normal massage coordinates of the robotic arm end on the contact normal plane are adjusted. During the process of adjusting the initial normal massage coordinates, the end-effector sensing force of the robotic arm is determined until the end-effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates. The three-dimensional massage coordinates are updated based on the target normal massage coordinates, and the end effector of the robotic arm is controlled based on the updated three-dimensional massage coordinates to perform massage actions on the massage action point.

2. The control method for the massage robot according to claim 1, characterized in that, Determining the three-dimensional massage coordinates corresponding to the massage application point based on the tangential plane massage coordinates includes: The sum of the preset massage bed height, target object thickness, and safe height distance is determined as the initial normal massage coordinates of the robotic arm end on the contact normal plane; By combining the tangential plane massage coordinates and the initial normal massage coordinates, the three-dimensional massage coordinates corresponding to the massage point are obtained.

3. The control method for the massage robot according to claim 1, characterized in that, Determining the end-effector sensing force of the robotic arm includes: The end-effector force of the robotic arm is determined based on the joint torque data of the massage robot.

4. The control method for the massage robot according to claim 3, characterized in that, Determining the end-effector sensing force of the robotic arm based on the joint torque data of the massage robot includes: Determine the joint torque data of the massage robot and the difference between it and the inertia matrix, Coriolis force and centripetal force terms, and gravity term of the robotic arm; The product of the inverse matrix corresponding to the transpose of the preset Jacobian matrix and the difference is determined as the end-effector sensing force of the robotic arm.

5. The control method for the massage robot according to claim 1, characterized in that, The target normal massage coordinates are obtained until the end-effector sensing force meets the preset contact conditions, and the method further includes: Determine whether the contact force deviation between the preset expected force and the end-sensing force is less than a preset deviation threshold; If so, determine that the end-sensing force meets the preset contact conditions, and determine the target normal massage coordinates based on the contact force deviation; If not, determine that the end-effector sensing force does not meet the contact condition, and continue to adjust the initial normal massage coordinates of the robotic arm end on the contact normal plane until the end-effector sensing force meets the preset contact condition to obtain the target normal massage coordinates.

6. The control method for the massage robot according to claim 5, characterized in that, Determining the target normal massage coordinates based on the contact force deviation includes: Determine the difference between the contact force deviation and the equivalent damping coefficient, the sum of the difference and the equivalent stiffness coefficient, and the quotient of the sum and the equivalent mass coefficient; The quotient is defined as the acceleration deviation between the actual normal acceleration and the desired normal acceleration; The target normal massage coordinates are determined based on the acceleration deviation.

7. The control method for the massage robot according to claim 6, characterized in that, Determining the target normal massage coordinates based on the acceleration deviation includes: Integrating the acceleration deviation yields the velocity deviation, and integrating the velocity deviation yields the position deviation. The sum of the positional deviation and the initial normal massage coordinates is determined as the target normal massage position.

8. A control device for a massage robot, characterized in that, include: The tangential plane coordinate determination module is used to obtain the massage application point corresponding to the target object and determine the tangential plane massage coordinates of the massage application point on the contact tangential plane; wherein, the tangential plane massage coordinates are used to characterize the massage trajectory of the end effector of the massage robot on the contact tangential plane; The normal coordinate adjustment module is used to determine the three-dimensional massage coordinates corresponding to the massage action point based on the tangential plane massage coordinates, and adjust the normal massage coordinates of the robotic arm end on the contact normal plane when the robotic arm end moves to the three-dimensional massage coordinates. The normal coordinate determination module is used to determine the end-effector sensing force of the robotic arm during the adjustment of the normal massage coordinates, until the end-effector sensing force meets the preset contact conditions to obtain the target normal massage coordinates. The massage control module is used to update the three-dimensional massage coordinates based on the target normal massage coordinates, and control the end effector of the robotic arm based on the updated three-dimensional massage coordinates to perform massage actions on the massage action point.

9. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when invoked and executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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