Sensor abnormality detection method and device for equipment in admittance control

Abstract

The present application relates to the technical field of sensor anomaly detection, and discloses a sensor anomaly detection method for equipment in admittance control. The sensor anomaly detection method includes: obtaining the current detection force of the equipment through a first sensor, obtaining the current detection motion state of the equipment through a second sensor, and obtaining the current detection output force of the equipment through a third sensor; inputting the current detection motion state into the body dynamics model of the equipment, and obtaining the current required force corresponding to the current detection motion state output by the body dynamics model; the current calculated force corresponds to the current required force and the current detection output force; when the first force difference between the current calculated force and the current detection force does not meet the constraint condition of the preset range, it is determined that at least one of the three sensors is abnormal. The sensor anomaly detection method can be used to more accurately determine that the sensor is abnormal. The present application also discloses a sensor anomaly detection device for equipment in admittance control.

Description

Technical Field

[0001] The present application relates to the technical field of sensor anomaly detection, for example, to a method and apparatus for detecting sensor anomaly in equipment used in admittance control. Background Art

[0002] Currently, some devices are equipped with force sensors to detect the force applied by the user and then control the device based on this detected force. Specifically, the detected force is input into an admittance control algorithm, which calculates the expected position corresponding to the detected force and then controls the device based on this expected position.

[0003] During the implementation of the embodiments of the present application, it was found that at least the following problems exist in the related art:

[0004] Sensor anomalies can easily cause equipment to malfunction. These errors typically occur when the data detected by the sensor exceeds its detection range, or when the sensor itself malfunctions. In situations such as sensor aging or changes in the sensor's environment, the sensor may not be faulty and the data detected by the sensor may not exceed its detection range. However, there may be a significant deviation between the sensor's detected data and the actual data. For example, if the difference between the sensor's detected data and the actual data exceeds the range allowed by the device's design accuracy, the device may still not function as expected. At this point, the sensor anomaly is not confirmed, and the sensor anomaly alarm will not be triggered. This can easily cause the device to continue operating in an unexpected state, or increase the difficulty of troubleshooting after an equipment anomaly occurs.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Summary of the Invention

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical elements or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The embodiments of the present application provide a sensor anomaly detection method and apparatus for a device in admittance control, so as to confirm that a sensor anomaly occurs when a large deviation occurs in the correspondence between the data detected by the sensor and the actual data.

[0008] In some embodiments, a method for detecting sensor anomalies in an admittance control device includes:

[0009] The current detection force is obtained by a first sensor provided at the human-computer interaction structure of the device, the current detection motion state of the device is obtained by a second sensor, and the current detection output force of the device is obtained by a third sensor; the current actual output force corresponding to the current detection output force is the output force corresponding to the previous detection force and the previous detection motion state calculated according to the admittance control algorithm, the previous detection force was obtained by the first sensor at the detection time of the previous detection cycle before the current moment, and the previous detection motion state was obtained by the second sensor at the detection time of the previous detection cycle before the current moment;

[0010] Inputting the current detected motion state into a body dynamics model of the device to obtain a current required force output by the body dynamics model that corresponds to the current detected motion state;

[0011] When a first force difference between the currently calculated force and the currently detected force does not satisfy a constraint condition within a preset range, determining that at least one of the first sensor, the second sensor, and the third sensor is abnormal;

[0012] The currently calculated force corresponds to the currently required force and the currently detected output force.

[0013] Optionally, the preset range is determined by: obtaining the noise interference of the equipment; determining a deviation threshold corresponding to the noise interference; determining the preset range based on the deviation threshold, so that the upper limit value of the preset range is greater than or equal to the deviation threshold, and the lower limit value of the preset range is less than or equal to the inverse of the deviation threshold.

[0014] Optionally, the preset range is determined in the following manner: calculating the first force required for the device to decelerate from a preset maximum speed to zero within a preset collision duration; determining the second force difference between the first force and the safety force threshold; calculating the tracking correspondence between the device output force and the detection force in the admittance control under the preset motion state of the device; the preset motion state includes a deceleration motion state and / or a stationary state, and the tracking correspondence corresponds to the preset motion state; based on the tracking correspondence, determining the preset detection force corresponding to the second force difference; determining the preset range based on the third force difference between the safety force threshold and the preset detection force, so that the upper limit value of the preset range is less than or equal to the third force difference value, and the lower limit value of the preset range is greater than or equal to the inverse of the third force difference value; wherein, the safety force threshold is the safety force threshold of the human body at the human-computer interaction structure.

[0015] Optionally, in a preset motion state of the device, the tracking correspondence between the device output force and the detected force in the admittance control is calculated, including: in a deceleration motion state of the device, calculating a first correspondence between the device output force and the detected force in the admittance control, wherein the speed of the device in the deceleration motion state is not zero; and / or, in a stationary state of the device, calculating a second correspondence between the device output force and the detected force in the admittance control.

[0016] Optionally, according to the tracking correspondence, the preset detection force corresponding to the second force difference is determined, including: determining the first detection force corresponding to the second force difference according to the first correspondence, and using the first detection force as the preset detection force; or determining the second detection force corresponding to the second force difference according to the second correspondence, and using the second detection force as the preset detection force; or determining the first detection force corresponding to the second force difference according to the first correspondence, determining the second detection force corresponding to the second force difference according to the second correspondence, and determining the preset detection force according to the first detection force and the second detection force, the preset detection force being used to reflect the concentration trend of the first detection force and the second detection force.

[0017] Optionally, the method for judging whether the first force difference between the current calculated force and the current detected force satisfies the constraint conditions of the preset range includes: calculating the difference between the current required force and the current detected output force to obtain the current calculated force, and judging whether the first force difference between the current calculated force and the current detected force satisfies the constraint conditions of the preset range.

[0018] Optionally, the method for judging whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of the preset range includes: calculating the difference between the current required force and the current detected force to obtain the current calculated output force; if the difference between the current calculated output force and the current detected output force meets the constraint conditions of the preset range, determining that the first force difference meets the constraint conditions of the preset range; if the difference between the current calculated output force and the current detected output force does not meet the constraint conditions of the preset range, determining that the first force difference does not meet the constraint conditions of the preset range.

[0019] Optionally, the method for judging whether the first force difference between the currently calculated force and the currently detected force satisfies the constraint conditions of the preset range includes: calculating the sum of the currently detected force and the currently detected output force to obtain the currently calculated resultant force; if the difference between the currently calculated resultant force and the currently required force satisfies the constraint conditions of the preset range, determining that the first force difference satisfies the constraint conditions of the preset range; if the difference between the currently calculated resultant force and the currently required force does not satisfy the constraint conditions of the preset range, determining that the first force difference does not satisfy the constraint conditions of the preset range.

[0020] Optionally, the determination of whether the first force difference between the currently calculated force and the currently detected force meets the constraint condition of a preset range includes: obtaining the current force change rate of the currently detected force; determining the offset direction and offset amount based on the current force change rate; the offset direction corresponds to the positive and negative signs of the current force change rate, and the offset amount is positively correlated with the absolute value of the current force change rate; shifting the preset range according to the offset direction and the offset amount; if the value of the first resultant force does not belong to the preset range after the offset, determining that the first force difference between the currently calculated force and the currently calculated force does not meet the constraint condition of the preset range.

[0021] Optionally, when the first force difference value is obtained by subtracting the current calculated force from the current detected force, if the current force change rate is a positive number, the offset direction is determined to be a direction that increases the preset range value; if the current force change rate is a negative number, the offset direction is determined to be a direction that decreases the preset range value.

[0022] Optionally, when the first force difference value is obtained by subtracting the current detected force from the current calculated force, if the current change rate is a positive number, the offset direction is determined to be a direction in which the preset range is numerically reduced; if the current force change rate is a negative number, the offset direction is determined to be a direction in which the preset range is numerically increased.

[0023] Optionally, the preset range is shifted according to the offset direction and the offset amount, including: if the offset direction is a direction that increases the value of the preset range, then calculating the sum of each value in the preset range plus the offset amount, and using the numerical range consisting of several sums as the preset range after the offset; if the offset direction is a direction that decreases the value of the preset range, then calculating the difference between each value in the preset range and the offset amount, and using the numerical range consisting of several differences as the preset range after the offset.

[0024] In some embodiments, a sensor anomaly detection apparatus for a device in admittance control includes: a first obtaining module, a second obtaining module, and a determining module;

[0025] The first obtaining module is configured to obtain a current detected force through a first sensor provided at a human-computer interaction structure of the device, obtain a current detected motion state of the device through a second sensor, and obtain a current detected output force of the device through a third sensor; the current detected output force is an output force corresponding to a previous detected force and a previous detected motion state calculated according to an admittance control algorithm, the previous detected force being obtained through the first sensor at a detection time of a previous detection cycle before the current moment, and the previous detected motion state being obtained through the second sensor at a detection time of a previous detection cycle before the current moment;

[0026] The second obtaining module is used to input the current detected motion state into the body dynamics model of the device, and obtain the current required force output by the body dynamics model and corresponding to the current detected motion state;

[0027] The determining module is configured to determine that an abnormality occurs in at least one of the first sensor, the second sensor, and the third sensor when a first force difference between a currently calculated force and a currently detected force does not satisfy a constraint condition within a preset range;

[0028] The currently calculated force corresponds to the currently required force and the currently detected output force.

[0029] In some embodiments, a sensor abnormality detection device for an admittance control device includes a processor and a memory storing program instructions. The processor is configured to execute the sensor abnormality detection method for an admittance control device provided in the above embodiment when executing the program instructions.

[0030] The sensor anomaly detection method and apparatus for equipment in admittance control provided by the embodiments of the present application can achieve the following technical effects:

[0031] In admittance control, the device's current detected force (e.g., the force applied by the user) is first obtained through a first sensor in the human-machine interface. Based on this current detected force, the device's intended motion state (e.g., intended velocity, intended position, etc.) is determined. Finally, a corresponding tracker (e.g., velocity tracker, position tracker, etc.) is used to align the device's current detected motion state with the intended motion state. During this process, the device must output a certain force. The current device output force and the force applied by the user act together on the device, causing the device's current detected motion state to track the intended motion state.

[0032] The device body dynamics model is used to describe the correspondence between the resultant force acting on the device and the motion state of the device. Based on the device body dynamics model, the current required force corresponding to the current detected motion state can be obtained. When the first force difference between the current calculated force and the current detected force does not meet the constraints of the preset range, it means that there is no correct correspondence between the three detection quantities of the current detected motion state, the current detected force and the current detected output force. It can be indicated that there is a large deviation in the correspondence between the data detected by at least one of the first sensor, the second sensor and the third sensor and the real data. At this time, it is determined that at least one of the first sensor, the second sensor and the third sensor is abnormal.

[0033] Whether the sensor is abnormal is determined by whether the current detection force obtained by the first sensor, the current detection motion state obtained by the second sensor, and the current detection output force obtained by the third sensor satisfy the correspondence. If the detection data of a sensor is abnormal, even if the data obtained by the sensor is still within the detection range of the sensor, it will cause the above correspondence to be abnormal, and then determine that at least one of the first sensor, the second sensor and the third sensor is abnormal, so as to reduce the phenomenon of the equipment continuing to operate in an unexpected state. After the equipment is abnormal, it is easy to determine whether it is a sensor abnormality, which reduces the difficulty of troubleshooting.

[0034] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] One or more embodiments are exemplarily described by corresponding drawings. These exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are considered similar elements, and wherein:

[0036] Figure 1 This is a flow chart of a method for detecting sensor anomalies in an admittance control device provided by an embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of a process for determining a preset range provided by an embodiment of the present application;

[0038] Figure 3 This is another schematic diagram of a process for determining a preset range provided in an embodiment of the present application;

[0039] Figure 4 This is a schematic diagram of a process for determining that a first force difference between a currently calculated force and a currently detected force does not satisfy a constraint condition within a preset range, provided by an embodiment of the present application;

[0040] Figure 51 is a schematic diagram of a sensor abnormality detection device for an admittance control device provided by an embodiment of the present application;

[0041] Figure 6 This is a schematic diagram of a sensor anomaly detection device for equipment in admittance control provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to be able to understand the features and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application is described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference only and are not used to limit the embodiments of the present application. In the following technical description, for the sake of convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0043] In the description and claims of the embodiments of the present application and the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the purposes of describing the embodiments of the present application. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0044] Unless otherwise stated, the term "plurality" means more than two.

[0045] In the embodiments of the present application, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0046] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0047] In the embodiments of the present application, the term "device" refers to a device with human-computer interaction function, which may also be called a robot.

[0048] The device can achieve compliant control. Compliant control includes active compliant control and passive compliant control. Active compliance means that the device can actively control the force based on force feedback information and adopt a certain control strategy, such as an exoskeleton robot with a load-bearing function, a rehabilitation robot that can provide assistance to complete a specified action, etc. Passive compliance means that the device can rely on some auxiliary compliant mechanisms to naturally comply with external forces when in contact with the environment. For example, when the hand pushes the end of the robot, the end of the robot complies with the force applied by the hand and moves from one position to another. At the other position, the hand leaves the end of the robot and the end of the robot stabilizes at the other position.

[0049] The compliant control can be achieved through the admittance control algorithm.

[0050] The principle of the admittance control algorithm is as follows:

[0051]

[0052] Among them, F is the force detected by the device, M is the expected inertia parameter of the device, B is the expected damping parameter of the device, K is the expected stiffness parameter of the device, and x is the position difference of the end of the device. is the speed difference at the end of the device, is the acceleration difference at the end of the device.

[0053] In the embodiments of this application, the term "force" refers to a generalized force, which is a force corresponding to a generalized coordinate. If the generalized coordinate is a linear displacement, the dimension of the generalized force is N; if the generalized coordinate is an angular displacement, the dimension of the generalized force is N·m.

[0054] In the embodiment of the present application, the term "motion state" includes position / angle, speed / angular velocity, and acceleration / angular acceleration.

[0055] In the embodiment of the present application, the device terminal includes a human-computer interaction structure of the device.

[0056] Figure 1 This is a flow chart of a method for detecting sensor anomalies in a device during admittance control provided by an embodiment of the present application. The sensor anomaly detection method can be implemented in a controller of the device or in a controller independently installed on the device.

[0057] Combine Figure 1 As shown, the sensor abnormality detection method of the device in the admittance control includes:

[0058] S101. Obtain a current detection force through a first sensor provided at a human-computer interaction structure of the device, obtain a current detection motion state of the device through a second sensor, and obtain a current detection output force of the device through a third sensor.

[0059] In the embodiment of the present application, taking the device as an upper limb rehabilitation robot as an example, the sensor abnormality detection method of the device in admittance control is exemplified.

[0060] The upper limb rehabilitation robot comprises a tabletop and a movable handle, and the handle can move in a two-dimensional space defined by the tabletop.

[0061] The above-mentioned upper limb rehabilitation robot does not constitute a substantial limitation on the specific meaning of the device. Those skilled in the art can give the device a specific meaning based on the specific application scenario.

[0062] The human-computer interaction structure refers to the key force points of the device during the interaction between the user and the device. For example, in an upper limb rehabilitation robot, the human-computer interaction structure is the handle.

[0063] The currently detected force, the currently detected motion state, and the currently detected output force in the embodiments of the present application describe the human-computer interaction structure: the currently detected force refers to the force applied to the human-computer interaction structure by an object outside the device at the current moment, the currently detected motion state refers to the motion state of the human-computer interaction structure at the current moment, and the currently detected output force refers to the force applied to the human-computer interaction structure by the device at the current moment.

[0064] In the case of an upper limb rehabilitation robot, the human-machine interaction structure refers to the handle. This is an illustrative explanation of the human-machine interaction structure. In specific application scenarios, those skilled in the art can determine the human-machine interaction structure that corresponds to the device's function and structure based on actual conditions.

[0065] The first sensor may be a force sensor for directly detecting the force applied to the human-machine interaction structure of the device; or the first sensor may be a sensor capable of indirectly detecting force. There may be one or more first sensors.

[0066] The second sensor may be one or more of a position sensor / angle sensor, a velocity sensor / angular velocity sensor, and an acceleration sensor / angular acceleration sensor.

[0067] The third sensor can be a force sensor for directly detecting the current output force; or the third sensor can be a sensor that can indirectly detect force, for example, by detecting motor power and motor speed, and calculating the motor torque based on the motor power and motor speed. There can be one or more third sensors.

[0068] The current actual output force corresponding to the current detected output force is the output force corresponding to the previous detected force and the previous detected motion state calculated according to the admittance control algorithm. The previous detected force was obtained by the first sensor at the detection time of the previous detection cycle before the current moment, and the previous detected motion state was obtained by the second sensor at the detection time of the previous detection cycle before the current moment.

[0069] The current motion state of the device is generated through the following process:

[0070] At a detection moment of a previous detection cycle before the current moment, obtaining a previous detected force through the first sensor, obtaining a previous detected motion state through the second sensor, and obtaining a previous detected output force through the third sensor;

[0071] According to the admittance control algorithm, the current set motion state corresponding to the last detected force and the last detected motion state is obtained;

[0072] Determining a previous control instruction of the device based on the previous detected motion state and the currently set motion state so that the previous detected motion state can track the currently set motion state;

[0073] The motion state presented by the device after executing the previous control instruction is the current motion state.

[0074] Optionally, the last control instruction of the device is determined based on the last detected motion state and the currently set motion state, including: obtaining the motion state difference between the last detected motion state and the currently set motion state, inputting the motion state difference into the motion tracker, and obtaining the last control instruction output by the motion tracker corresponding to the motion state difference.

[0075] S102 : Input the current detected motion state into the body dynamics model of the device, and obtain the current required force output by the body dynamics model corresponding to the current detected motion state.

[0076] The body dynamics model usually includes the position equation, velocity equation, acceleration equation, torque equation and moment of inertia equation. The position equation is used to describe the change of position over time, the velocity equation is used to describe the change of velocity over time, the acceleration equation is used to describe the change of acceleration over time, the torque equation is used to describe the change of torque over time, and the moment of inertia is used to describe the change of moment of inertia over time.

[0077] The ontological dynamics model includes but is not limited to the following establishment methods: Newton-Euler equation method, Lagrange equation method, Kane equation method, etc.

[0078] The ontological dynamics model can solve both forward and inverse dynamics problems. The forward dynamics problem is based on the ontological dynamics model and calculates the motion state of the device according to the forces acting on the device. The inverse dynamics problem is based on the ontological dynamics model and calculates the force required to achieve the motion state according to the motion state of the device.

[0079] The embodiment of the present application is an inverse dynamics problem: based on the body dynamics model, the current required force required for the device to be in the current motion state is calculated according to the current detected motion state.

[0080] S103: When a first force difference between the currently calculated force and the currently detected force does not satisfy a constraint condition within a preset range, determine that at least one of the first sensor, the second sensor, and the third sensor is abnormal.

[0081] Among them, the current calculated force corresponds to the current required force and the current detected output force.

[0082] The difference between the current required force and the current detected output force can be directly calculated to obtain the current calculated force, and it can be directly determined whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of the preset range.

[0083] The current calculated force has a corresponding relationship with the current required force and the current detected output force. Based on this corresponding relationship, it can also be determined whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of the preset range in the following manner:

[0084] Calculate the difference between the current required force and the current detected force to obtain the current calculated output force. If the difference between the current calculated output force and the current detected output force meets the constraints of the preset range, determine that the first force difference meets the constraints of the preset range; if the difference between the current calculated output force and the current detected output force does not meet the constraints of the preset range, determine that the first force difference does not meet the constraints of the preset range.

[0085] Alternatively, it is determined whether the first force difference between the current calculated force and the current detected force satisfies the constraint condition of the preset range by the following method:

[0086] Calculate the sum of the current detected force and the current detected output force to obtain the current calculated resultant force. If the difference between the current calculated resultant force and the current required force meets the constraints of the preset range, determine that the first force difference meets the constraints of the preset range; if the difference between the current calculated resultant force and the current required force does not meet the constraints of the preset range, determine that the first force difference does not meet the constraints of the preset range.

[0087] Setting the above preset range is related to the precision requirements for the device. The higher the precision requirements for the device, the smaller the value of the preset range; the lower the precision requirements for the device, the higher the value of the preset range. Typically, the upper limit of the preset range is greater than zero, and the lower limit of the preset range is less than zero. Those skilled in the art can determine a preset range that meets the actual requirements for device precision in actual application scenarios.

[0088] In admittance control, the device's current detected force (e.g., the force applied by the user) is first obtained through a first sensor in the human-machine interface. Based on this current detected force, the device's intended motion state (e.g., intended velocity, intended position, etc.) is determined. Finally, a corresponding tracker (e.g., velocity tracker, position tracker, etc.) is used to align the device's current detected motion state with the intended motion state. During this process, the device must output a certain force. The current device output force and the force applied by the user act together on the device, causing the device's current detected motion state to track the intended motion state.

[0089] The device body dynamics model is used to describe the correspondence between the resultant force acting on the device and the motion state of the device. Based on the device body dynamics model, the current required force corresponding to the current detected motion state can be obtained. When the first force difference between the current calculated force and the current detected force does not meet the constraints of the preset range, it means that there is no correct correspondence between the three detection quantities of the current detected motion state, the current detected force and the current detected output force. It can be indicated that there is a large deviation in the correspondence between the data detected by at least one of the first sensor, the second sensor and the third sensor and the real data. At this time, it is determined that at least one of the first sensor, the second sensor and the third sensor is abnormal.

[0090] Whether the sensor is abnormal is determined by whether the current detection force obtained by the first sensor, the current detection motion state obtained by the second sensor, and the current detection output force obtained by the third sensor satisfy the correspondence. If the detection data of a sensor is abnormal, even if the data obtained by the sensor is still within the detection range of the sensor, it will cause the above correspondence to be abnormal, and then determine that at least one of the first sensor, the second sensor and the third sensor is abnormal, so as to reduce the phenomenon of the equipment continuing to operate in an unexpected state. After the equipment is abnormal, it is easy to determine whether it is a sensor abnormality, which reduces the difficulty of troubleshooting.

[0091] Figure 2 This is a schematic diagram of a process for determining a preset range provided by an embodiment of the present application. Figure 2 As shown, the preset range is determined as follows:

[0092] S201. Obtain noise interference of a device.

[0093] Noise interference includes electronic interference with random changes in frequency, amplitude and phase. Such electronic interference will cause the parameters detected by the sensor to be inaccurate.

[0094] The unit of noise interference can be electric field strength V / m, magnetic field strength A / m or power flux density W / m 2 Alternatively, it can be decibel db, the specific value of decibel db is obtained by electric field intensity V / m, magnetic field intensity A / m or power flux density W / m 2 The specific value of is obtained through mapping according to the preset mapping relationship.

[0095] S202: Determine a deviation threshold corresponding to noise interference.

[0096] The deviation threshold is positively correlated with the severity of the noise interference. The greater the severity of the noise interference, the larger the deviation threshold; the smaller the severity of the noise interference, the smaller the deviation threshold. Generally speaking, the larger the specific value of the noise interference, the greater the severity of the noise interference; the smaller the severity of the noise interference, the less severe the noise interference.

[0097] The deviation threshold is used to quantify the adverse effects of noise interference on the first sensor, the second sensor, and the third sensor. Those skilled in the art can determine the specific correspondence between noise interference and the deviation threshold based on experience or experiments.

[0098] The corresponding relationship between the noise interference and the deviation threshold may be pre-stored in a database. After the noise interference is obtained, the deviation threshold corresponding to the noise interference may be obtained by querying the database.

[0099] S203 . Determine a preset range according to the deviation threshold, such that an upper limit of the preset range is greater than or equal to the deviation threshold, and a lower limit of the preset range is less than or equal to the inverse of the deviation threshold.

[0100] The deviation threshold in the above technical solution can represent the adverse effects of noise interference on the first sensor, the second sensor, and the third sensor. The preset range is then determined based on the deviation threshold. When noise interference exists in the device application scenario, it is not easy to misjudge the noise interference as a sensor abnormality, thereby improving the accuracy of the sensor abnormality detection method.

[0101] Figure 3 This is another schematic diagram of the process of determining the preset range provided by the embodiment of the present application. Figure 3 As shown, the preset range is determined as follows:

[0102] S301 : Calculate the first force required for the device to decelerate from a preset maximum speed to zero within a preset collision duration.

[0103] Within the range of motion of the human-computer interaction structure of the device, there may be other structures of the device, or other components used in conjunction with the device, which may lead to the risk of collision and injury between the human-computer interaction structure and other structures or components; or the human-computer interaction structure of the device may have a certain motion track, and if the motion track is exposed, there is a risk of injury.

[0104] For example, in the aforementioned upper limb rehabilitation robot, a barrier structure may be provided at the edge of the desktop to limit the range of movement of the handle. There is a risk of collision between the barrier structure and the handle, resulting in a risk of injury to the user's hand.

[0105] In the embodiment of the present application, the preset collision duration is used to represent the time required for the human-computer interaction structure to gradually change from a moving state to a stopped state when colliding with other structural parts / components.

[0106] The above-mentioned preset maximum speed is used to indicate the rated maximum movement speed of the human-computer interaction structure of the device, or, in a specific application scenario, the preset maximum speed is used to indicate the maximum movement speed of the human-computer interaction structure in the application scenario, or, the preset maximum speed is used to indicate the maximum movement speed in the historical usage record of the device.

[0107] In the embodiment of the present application, the preset collision duration and the preset maximum speed are used to determine the upper and lower limits of the preset range. The longer the preset collision duration, the smaller the upper limit of the preset range and the larger the lower limit; the shorter the preset collision duration, the larger the upper limit of the preset range and the smaller the lower limit; the shorter the preset maximum speed, the smaller the upper limit of the preset range and the larger the lower limit; the higher the preset maximum speed, the larger the upper limit of the preset range and the smaller the lower limit;

[0108] If the upper limit of the preset range is too large or the lower limit is too small, risks may arise; if the upper limit of the preset range is too small or the lower limit is too large, it may easily lead to misjudgment. Those skilled in the art can determine the appropriate preset collision time and preset maximum speed based on actual conditions.

[0109] S302: Determine a second force difference between the first acting force and a safety force threshold.

[0110] The safe force threshold is the safe force threshold of the human body at the human-machine interaction structure. For example, if the device is an upper limb rehabilitation robot and the user holds the handle with their hand, the safe force threshold is the safe force threshold of the palm at the human-machine interaction structure.

[0111] The safety force threshold is less than the force that can cause injury to the human body at the human-computer interaction structure; or, the safety force threshold is less than the force that can cause obvious discomfort to the human body at the human-computer interaction structure. Those skilled in the art can determine the force that is likely to cause obvious discomfort to the human body based on actual conditions.

[0112] S303: Under the preset motion state of the device, calculate the tracking correspondence between the output force of the device and the detected force in the admittance control.

[0113] Tracking correspondence refers to the device outputting force to drive the device to move in order to track and detect the motion state corresponding to the force.

[0114] The preset motion state includes a decelerated motion state and / or a stationary state, and the tracking correspondence corresponds to the preset motion state. That is, when the device is in a decelerated motion state, the device output force and the detected force in the admittance control have one correspondence; when the device is in a stationary state, the device output force and the detected force in the admittance control have another correspondence, and the above two correspondences are different.

[0115] Specifically, under the preset motion state of the device, the tracking correspondence between the device output force and the detected force in the admittance control is calculated, including: under the deceleration motion state of the device, the first correspondence between the device output force and the detected force in the admittance control is calculated, and the speed of the device in the deceleration motion state is not zero.

[0116] The deceleration state of the device is any state during the process of the device decelerating from the preset maximum speed to zero. For example, when the speed of the device is the preset maximum speed and the detection force is opposite to the direction of the device movement, the first corresponding relationship between the device output force and the detection force in the admittance control is calculated; or,

[0117] When the speed of the device is greater than zero and less than a preset maximum speed, and the detected force is opposite to the direction of movement of the device, a first corresponding relationship between the device output force and the detected force in the admittance control is calculated.

[0118] Alternatively, in a preset motion state of the device, calculating the tracking correspondence between the device output force and the detected force in the admittance control includes: in a static state of the device, calculating the second correspondence between the device output force and the detected force in the admittance control.

[0119] Alternatively, in the preset motion state of the device, the tracking correspondence between the device output force and the detected force in the admittance control is calculated, including: in the deceleration motion state of the device, the first correspondence between the device output force and the detected force in the admittance control is calculated, and the speed of the device in the deceleration motion state is not zero; and, in the static state of the device, the second correspondence between the device output force and the detected force in the admittance control is calculated.

[0120] S304: Determine a preset detection force corresponding to the second force difference value according to the tracking correspondence.

[0121] For example, when only the first corresponding relationship is obtained, the first detection force corresponding to the second force difference value can be determined according to the first corresponding relationship, and the first detection force can be used as the preset detection force.

[0122] Alternatively, when only the second corresponding relationship is obtained, the second detection force corresponding to the second force difference value can be determined according to the second corresponding relationship, and the second detection force can be used as the preset detection force.

[0123] Alternatively, when the first and second correspondences are obtained simultaneously, the first detected force corresponding to the second force difference is determined based on the first correspondence, the second detected force corresponding to the second force difference is determined based on the second correspondence, and a preset detected force is determined based on the first and second detected forces. The preset detected force is used to reflect the concentration trend of the first and second detected forces.

[0124] Determining the preset detection force according to the first detection force and the second detection force may include:

[0125] An average value of the first detection force and the second detection force is determined as the preset detection force.

[0126] The number of first corresponding relationships is one or more. The situation where the force is opposite to the direction of movement of the device may correspond to different first corresponding relationships. For example, if the movement speed of the device is different, the first corresponding relationship will be different; the number of the first detected force is the same as the number of the first corresponding relationships, and the number of the second corresponding relationships is one.

[0127] In the case where there are multiple first corresponding relationships, determining the preset detection force based on the first detection force and the second detection force may include: determining the average value of the multiple first detection forces and the second detection force as the preset detection force; or determining the median value of the multiple first detection forces and the second detection force as the preset detection force.

[0128] Of course, under appropriate circumstances, the weighted average, geometric mean or sum-square mean of the median values ​​of multiple first detection forces and second detection forces can also be used as the preset detection force. Those skilled in the art can determine the specific method of obtaining the preset detection force from the first detection force and the second detection force based on actual conditions.

[0129] S305: Determine a preset range according to a third force difference between the safety force threshold and the preset detection force.

[0130] The upper limit value of the preset range is smaller than or equal to the third force difference value, and the lower limit value of the preset range is larger than or equal to the inverse of the third force difference value.

[0131] The upper limit of the preset range is generally greater than zero, and the lower limit of the preset range is generally less than zero. In determining the preset range, a positive number less than or equal to the third force difference is used as the upper limit of the preset range, and a negative number greater than or equal to the opposite of the third force difference is used as the lower limit of the preset range.

[0132] The preset range determined by the above technical solution improves the safety performance of the equipment.

[0133] Furthermore, when the deviation threshold and the third force difference value are determined at the same time, the upper limit value of the preset range is less than or equal to the third force difference value, and greater than or equal to the deviation threshold value; the lower limit value of the preset range is greater than or equal to the opposite of the third force difference value, and less than or equal to the opposite of the deviation threshold value.

[0134] Figure 4 This is a schematic diagram of a process provided by an embodiment of the present application for determining that a first force difference between a currently calculated force and a currently detected force does not satisfy a constraint condition within a preset range.

[0135] Combine Figure 4 As shown, the determination that the first force difference between the current calculated force and the current detected force does not satisfy the constraint condition of the preset range includes:

[0136] S401: Obtain the current force change rate of the current detected force.

[0137] The value of the current force change rate can be positive or negative.

[0138] For example, the current detected force is subtracted from the previous detected force, and the difference obtained is used as the current force change rate. If the current detected force value is greater than the previous detected force value, the current force change rate is a positive number; if the current detected force value is less than the previous detected force value, the current force change rate is a negative number.

[0139] S402: Determine the offset direction and offset amount according to the current force change rate.

[0140] The offset direction corresponds to the sign of the current force change rate, and the offset is positively correlated with the absolute value of the current force change rate. If the current force change rate is zero, the offset is zero.

[0141] Specifically, when the first force difference is obtained by subtracting the current calculated force from the current detected force, if the current force change rate is a positive number, the offset direction is determined to be the direction that increases the preset range value; if the current force change rate is a negative number, the offset direction is determined to be the direction that decreases the preset range value.

[0142] When the first force difference is obtained by subtracting the current detected force from the current calculated force, if the current change rate is a positive number, the offset direction is determined to be the direction in which the preset range is numerically reduced; if the current force change rate is a negative number, the offset direction is determined to be the direction in which the preset range is numerically increased.

[0143] For example, the preset range is an interval on the number axis, the direction in which the value of the preset range decreases is the negative direction of the number axis, and the direction in which the value of the preset range increases is the positive direction of the number axis.

[0144] The offset is positively correlated with the absolute value of the current force change rate. The positive correlation between the offset and the current force change rate can be obtained through experiments.

[0145] The positive correlation between the offset and the absolute value of the current force change rate can be stored in the database in the form of a one-to-one correspondence data table. After obtaining the current force change rate, the absolute value of the current force change rate is retrieved in the database to obtain the offset corresponding to the absolute value of the current force change rate.

[0146] S403: Shift the preset range according to the offset direction and offset amount.

[0147] Optionally, the preset range is shifted according to the offset direction and the offset amount, including:

[0148] If the offset direction is a direction that increases the value of the preset range, then the sum of each value in the preset range plus the offset is calculated, and the value range formed by the sums is used as the preset range after the offset;

[0149] If the offset direction is a direction that reduces the value of the preset range, the difference between each value in the preset range and the offset is calculated, and the value range formed by the plurality of differences is used as the preset range after the offset.

[0150] For example, the preset range is an interval on the number axis. If the offset direction is a direction that increases the value of the preset range, the preset range is shifted by the offset amount in the positive direction of the number axis; if the offset direction is a direction that decreases the value of the preset range, the preset range is shifted by the offset amount in the negative direction of the number axis.

[0151] S404: If the value of the first resultant force does not fall within the preset range after the offset, determine that the difference between the current calculated force and the first force of the current calculated force does not satisfy the constraint condition of the preset range.

[0152] The adoption of the above technical solution can improve the accuracy of sensor abnormality detection results.

[0153] In admittance control, the current detection output force of the device is the output force corresponding to the last detected force and the last detected motion state calculated according to the admittance control algorithm. The last detected force was obtained by the first sensor at the detection time of the last detection cycle before the current moment, and the last detected motion state was obtained by the second sensor at the detection time of the last detection cycle before the current moment.

[0154] It can be seen that in admittance control, the device adjusts the motion state of the device according to the current detected force; in its technical thinking, force is the active quantity and the motion state is the slave quantity.

[0155] In inverse dynamics applications based on a body dynamics model, the required force of the device is calculated based on the motion state. In conventional device trajectory control, after calculating the required force, the device's net force is adjusted to equal the required force, thereby ensuring the device moves along the desired trajectory. In this conventional application, the motion state is the active quantity, and the force is the passive quantity. This is completely contrary to the overall technical concept of admittance control described above.

[0156] In an embodiment of the present application, the current required force calculated by the body dynamics model in the inverse dynamics application is not used to control the output of the device, but is used to evaluate whether the correspondence between the force and motion of the device in the admittance control is accurate. If it is accurate, it is determined that the data detected by the first sensor, the second sensor and the third sensor are correct; if it is inaccurate, it is determined that at least one of the first sensor, the second sensor and the third sensor has an abnormality.

[0157] By adjusting the role of bulk dynamics in inverse dynamics applications, the conflict between the technical ideas of bulk dynamics in inverse dynamics and admittance control is avoided.

[0158] Furthermore, in the application of inverse dynamics of the body dynamics model, the force is the momentum; during normal use of the device, the force applied to the device by the user is difficult to maintain constant, the detected force is difficult to maintain constant, and the changing force applied to the device by the user is difficult to be consistent with the force calculated by the body dynamics model.

[0159] In an embodiment of the present application, the device in the admittance control has the following characteristics: if the current detection force at the current moment starts to increase from constant, then at the next detection moment, the detection output force will also show an increasing trend; if the current detection force at the current moment starts to decrease from constant, then at the next detection moment, the detection output force will also show a decreasing trend.

[0160] When the current detection force starts to increase from constant, at the current moment, the sum of the current detection force and the current detection output force will be greater than the current required force calculated by the body dynamics model; at the next detection moment, since the detection output force also shows an increasing trend, the sum of the next detection force and the next detection output force will be greater than the next required force calculated by the body dynamics model.

[0161] When the current detection force starts to decrease from being constant, at the current moment, the sum of the current detection force and the current detection output force will be smaller than the current required force calculated by the body dynamics model; at the next detection moment, since the detection output force also shows a decreasing trend, the sum of the next detection force and the next detection output force will be even smaller than the next required force calculated by the body dynamics model.

[0162] In this way, no matter what the ratio of the detection force to the detection output force is, as long as the current force change rate of the current detection force is not zero, the change in the sum of the detection force and the detection output cannot be ignored.

[0163] Based on the characteristics of admittance control, combined with the embodiment itself, the condition for determining that the sensor is abnormal is "the first force difference between the current calculated force and the current detected force does not meet the constraint condition of the preset range":

[0164] When the current force change rate is zero, there is a certain correspondence between the sum of the current detected force and the current detected output force and the required force calculated by the body dynamics model, that is, the first force difference between the current calculated force and the current detected force has a certain correspondence with the preset range. For example, under ideal conditions, the first force difference is the median of the preset range.

[0165] When the current force change rate is not zero, the correspondence between the sum of the current detected force and the current detected output force and the required force calculated by the body dynamics is offset. That is, the correspondence between the first force difference between the current calculated force and the current detected force and the preset range is offset. In this case, the preset range is shifted according to the current force change rate to maintain the correspondence between the first force difference and the preset range. For example, under ideal conditions, the first force difference remains the median of the preset range. This ensures the accuracy of the sensor abnormality detection results when the current force change rate is not zero.

[0166] The first force difference value listed above is the median value of the preset range and is provided for illustrative purposes only. In specific applications, the first force difference value may alternatively be a value less than or greater than the median value of the preset range. Those skilled in the art will determine the specific correspondence between the first force difference value and the preset range based on actual circumstances to ensure that the sensor anomaly detection results meet required accuracy.

[0167] Specifically, when the first force difference is obtained by subtracting the current calculated force from the current detected force, if the current force change rate is a positive number, the current detected force is too large, and the first force difference is too large. At this time, the offset direction is the direction of increasing the preset range value; if the current force change rate is a negative number, the current detected force is too small, and the first force difference is too small. At this time, the offset direction is the direction of reducing the preset range value; in this way, compared with the ideal situation where the detected force remains unchanged, the larger first force difference value and the larger preset range still have a relatively stable correspondence, so that the judgment result of the sensor abnormality maintains a certain stability.

[0168] When the first force difference is obtained by subtracting the current detected force from the current calculated force, if the current force change rate is a positive number, the current detected force is too large and the first force difference is too small. At this time, the offset direction is the direction of reducing the value of the preset range; if the current force change rate is a negative number, the current detected force is too small and the first force difference is too large. At this time, the offset direction is the direction of increasing the value of the preset range; in this way, compared with the ideal situation where the detected force remains unchanged, the larger first force difference and the larger preset range still have a relatively stable correspondence, so that the judgment result of the sensor abnormality maintains a certain stability.

[0169] Figure 5 FIG2 is a schematic diagram of a sensor anomaly detection device for an admittance control device provided by an embodiment of the present application. The sensor anomaly detection device can be implemented in the form of software, hardware, or a combination of the two.

[0170] Combine Figure 5 As shown, the sensor abnormality detection device of the device in the admittance control includes a first obtaining module 51, a second obtaining module 52 and a determining module 53.

[0171] The first obtaining module 51 is used to obtain the current detection force through a first sensor provided at the human-computer interaction structure of the device, obtain the current detection motion state of the device through a second sensor, and obtain the current detection output force of the device through a third sensor; the current detection output force is the output force corresponding to the last detection force and the last detection motion state calculated according to the admittance control algorithm, the last detection force was obtained by the first sensor at the detection time of the last detection cycle before the current moment, and the last detection motion state was obtained by the second sensor at the detection time of the last detection cycle before the current moment;

[0172] The second obtaining module 52 is used to input the current detected motion state into the body dynamics model of the device, and obtain the current required force output by the body dynamics model corresponding to the current detected motion state;

[0173] The determination module 53 is configured to determine that at least one of the first sensor, the second sensor, and the third sensor is abnormal if a first force difference between the currently calculated force and the currently detected force does not satisfy a constraint condition within a preset range;

[0174] Among them, the current calculated force corresponds to the current required force and the current detected output force.

[0175] Optionally, the preset range is determined by: obtaining the noise interference of the device; determining a deviation threshold corresponding to the noise interference; determining the preset range based on the deviation threshold, so that the upper limit value of the preset range is greater than or equal to the deviation threshold, and the lower limit value of the preset range is less than or equal to the inverse of the deviation threshold.

[0176] Optionally, the preset range is determined as follows: calculating the first force required for the device to decelerate from a preset maximum speed to zero within a preset collision time; determining the second force difference between the first force and the safety force threshold; calculating the tracking correspondence between the device output force and the detection force in the admittance control under the preset motion state of the device; the preset motion state includes a deceleration motion state and / or a stationary state, and the tracking correspondence corresponds to the preset motion state; based on the tracking correspondence, determining the preset detection force corresponding to the second force difference; determining the preset range based on the third force difference between the safety force threshold and the preset detection force, so that the upper limit value of the preset range is less than or equal to the third force difference value, and the lower limit value of the preset range is greater than or equal to the inverse of the third force difference value; wherein the safety force threshold is the safety force threshold value of the human body at the human-computer interaction structure.

[0177] Optionally, in a preset motion state of the device, the tracking correspondence between the device output force and the detected force in the admittance control is calculated, including: in a deceleration motion state of the device, calculating the first correspondence between the device output force and the detected force in the admittance control, the speed of the device in the deceleration motion state is not zero; and / or, in a stationary state of the device, calculating the second correspondence between the device output force and the detected force in the admittance control.

[0178] Optionally, according to the tracking correspondence, the preset detection force corresponding to the second force difference is determined, including: determining the first detection force corresponding to the second force difference according to the first correspondence, and using the first detection force as the preset detection force; or, determining the second detection force corresponding to the second force difference according to the second correspondence, and using the second detection force as the preset detection force; or, determining the first detection force corresponding to the second force difference according to the first correspondence, determining the second detection force corresponding to the second force difference according to the second correspondence, and determining the preset detection force based on the first detection force and the second detection force, the preset detection force being used to reflect the concentration trend of the first detection force and the second detection force.

[0179] Optionally, the method for determining whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of a preset range includes: calculating the difference between the current required force and the current detected output force to obtain the current calculated force, and determining whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of a preset range.

[0180] Optionally, the method for judging whether the first force difference between the current calculated force and the current detected force satisfies the constraint conditions of a preset range includes: calculating the difference between the current required force and the current detected force to obtain the current calculated output force; if the difference between the current calculated output force and the current detected output force satisfies the constraint conditions of a preset range, then determining that the first force difference satisfies the constraint conditions of the preset range; if the difference between the current calculated output force and the current detected output force does not satisfy the constraint conditions of the preset range, then determining that the first force difference does not satisfy the constraint conditions of the preset range.

[0181] Optionally, the method for judging whether the first force difference between the current calculated force and the current detected force satisfies the constraint conditions of a preset range includes: calculating the sum of the current detected force and the current detected output force to obtain the current calculated resultant force; if the difference between the current calculated resultant force and the current required force satisfies the constraint conditions of the preset range, then determining that the first force difference satisfies the constraint conditions of the preset range; if the difference between the current calculated resultant force and the current required force does not satisfy the constraint conditions of the preset range, then determining that the first force difference does not satisfy the constraint conditions of the preset range.

[0182] Optionally, the determination of whether the first force difference between the current calculated force and the current detected force does not satisfy the constraint condition of the preset range includes: obtaining the current force change rate of the current detected force; determining the offset direction and offset amount based on the current force change rate; the offset direction corresponds to the positive and negative signs of the current force change rate, and the offset amount is positively correlated with the absolute value of the current force change rate; shifting the preset range according to the offset direction and offset amount; if the value of the first resultant force does not belong to the preset range after the offset, determining that the first force difference between the current calculated force and the current calculated force does not satisfy the constraint condition of the preset range.

[0183] Optionally, when the first force difference is obtained by subtracting the current calculated force from the current detected force, if the current force change rate is a positive number, the offset direction is determined to be a direction that increases the preset range value; if the current force change rate is a negative number, the offset direction is determined to be a direction that decreases the preset range value.

[0184] Optionally, when the first force difference is obtained by subtracting the current detected force from the current calculated force, if the current change rate is a positive number, the offset direction is determined to be a direction in which the preset range is numerically reduced; if the current force change rate is a negative number, the offset direction is determined to be a direction in which the preset range is numerically increased.

[0185] Optionally, the preset range is shifted according to the offset direction and offset amount, including: if the offset direction is a direction that increases the preset range value, then calculating the sum of each value in the preset range plus the offset amount, and using the value range composed of several sums as the preset range after offset.

[0186] Optionally, the preset range is shifted according to the offset direction and offset amount, including: if the offset direction is a direction that reduces the preset range value, then the difference between each value in the preset range and the offset amount is calculated, and the numerical range composed of several differences is used as the preset range after offset.

[0187] In some embodiments, a sensor abnormality detection device for an admittance control device includes a processor and a memory storing program instructions. The processor is configured to execute the sensor abnormality detection method for an admittance control device provided in the aforementioned embodiment when executing the program instructions.

[0188] Figure 6 Schematic diagram of a sensor abnormality detection device for an admittance control device provided by an embodiment of the present application. Figure 6 As shown, the sensor abnormality detection device of the device in the admittance control includes:

[0189] The processor 61 and memory 62 may also include a communication interface 63 and a bus 64. The processor 61, communication interface 63, and memory 62 may communicate with each other via the bus 64. The communication interface 63 may be used for information transmission. The processor 61 may invoke logic instructions in the memory 62 to execute the sensor anomaly detection method for an admittance control device provided in the aforementioned embodiment.

[0190] In addition, the logic instructions in the memory 62 can be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as an independent product.

[0191] Memory 62, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present application. Processor 61 executes the software programs, instructions, and modules stored in memory 62 to perform functional applications and data processing, thereby implementing the methods in the above-mentioned method embodiments.

[0192] The memory 62 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the terminal device. Furthermore, the memory 62 may include high-speed random access memory and non-volatile memory.

[0193] An embodiment of the present application provides a sensor abnormality detection device, including the sensor abnormality detection apparatus for the admittance control device provided in the aforementioned embodiment.

[0194] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the sensor abnormality detection method in admittance control provided in the aforementioned embodiment.

[0195] An embodiment of the present application provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the sensor abnormality detection method in admittance control provided by the aforementioned embodiment.

[0196] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0197] The technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiments of the present application. The aforementioned storage medium can be a non-transitory storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code, or a transient storage medium.

[0198] The above description and accompanying drawings sufficiently illustrate the embodiments of the present application to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Unless expressly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or substituted for portions and features of other embodiments. Furthermore, the terms used in this application are intended only to describe the embodiments and are not intended to limit the claims. As used in the embodiments and in the claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. In addition, when used in this application, the terms "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. In the absence of further limitations, the phrase "comprising a..." does not preclude the presence of other identical elements in the process, method, or apparatus comprising the elements. In this document, each embodiment may focus on the differences from other embodiments, and similar portions between the embodiments may refer to each other. For methods, products, etc. disclosed in the embodiments, if they correspond to the method portion disclosed in the embodiments, the relevant portions may refer to the description of the method portion.

[0199] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application. Technicians can clearly understand that for the convenience and brevity of description, the specific working process of the above-described systems, devices and units can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0200] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units can be merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, the functional units in the embodiments of the present application may be integrated into a processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

[0201] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a part of a module, program segment or code, and a part of a module, program segment or code comprises one or more executable instructions for realizing the logical function of the specification. In some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a special hardware-based system that performs the function or action of the specification, or can be implemented by a combination of special hardware and computer instructions.

Claims

1. A method for detecting sensor anomalies in a device in admittance control, wherein the device is capable of implementing compliant control, characterized in that: The sensor abnormality detection method comprises: The current detection force is obtained by a first sensor arranged at the human-machine interaction structure of the device, the current detection motion state of the device is obtained by a second sensor, and the current detection output force of the device is obtained by a third sensor; the current actual output force corresponding to the current detection output force is the output force corresponding to the last detection force and the last detection motion state calculated according to the admittance control algorithm, the last detection force is obtained by the first sensor at the detection time of the last detection cycle before the current moment, and the last detection motion state is obtained by the second sensor at the detection time of the last detection cycle before the current moment; Inputting the current detected motion state into a body dynamics model of the device to obtain a current required force output by the body dynamics model and corresponding to the current detected motion state; When the first force difference between the currently calculated force and the currently detected force does not satisfy the constraint condition of the preset range, determining that at least one of the first sensor, the second sensor and the third sensor is abnormal; Wherein, the current calculated force corresponds to the current required force and the current detected output force; The difference between the current required force and the current detected output force can be directly calculated to obtain the current calculated force, and directly determine whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of the preset range; The current calculated force has a corresponding relationship with the current required force and the current detected output force. Based on the corresponding relationship, it can also be determined in the following way whether the first force difference between the current calculated force and the current detected force meets the constraint condition of the preset range: Calculate the difference between the current required force and the current detected force to obtain the current calculated output force. If the difference between the current calculated output force and the current detected output force satisfies the constraint condition of the preset range, determine that the first force difference satisfies the constraint condition of the preset range; if the difference between the current calculated output force and the current detected output force does not satisfy the constraint condition of the preset range, determine that the first force difference does not satisfy the constraint condition of the preset range; Alternatively, it is determined whether the first force difference between the current calculated force and the current detected force satisfies the constraint condition of the preset range by the following method: Calculate the sum of the current detected force and the current detected output force to obtain the current calculated resultant force. If the difference between the current calculated resultant force and the current required force meets the constraints of the preset range, determine that the first force difference meets the constraints of the preset range; if the difference between the current calculated resultant force and the current required force does not meet the constraints of the preset range, determine that the first force difference does not meet the constraints of the preset range.

2. The sensor abnormality detection method according to claim 1, characterized in that: The preset range is determined as follows: Obtain the noise interference of the equipment; determining a deviation threshold corresponding to the noise interference; The preset range is determined according to the deviation threshold, so that the upper limit value of the preset range is greater than or equal to the deviation threshold, and the lower limit value of the preset range is less than or equal to the inverse of the deviation threshold.

3. The sensor abnormality detection method according to claim 1, characterized in that: The preset range is determined as follows: Calculate the first force required for the device to decelerate from a preset maximum speed to zero within a preset collision time; Determine a second force difference between the first acting force and a safety force threshold; Under the preset motion state of the device, calculate the tracking correspondence between the output force of the device and the detected force in the admittance control; The preset motion state includes a deceleration motion state and / or a stationary state, and the tracking correspondence relationship corresponds to the preset motion state; Determining a preset detection force corresponding to the second force difference value according to the tracking correspondence; Determine the preset range according to the safety force threshold and the third force difference value of the preset detection force, so that the upper limit value of the preset range is less than or equal to the third force difference value, and the lower limit value of the preset range is greater than or equal to the opposite number of the third force difference value; The safety stress threshold is a safety stress threshold of a human body at the human-computer interaction structure.

4. The sensor abnormality detection method according to claim 3, characterized in that: Under the preset motion state of the device, the tracking correspondence between the output force of the device and the detected force in the admittance control is calculated, including: When the device is in a decelerated motion state, a first corresponding relationship between the output force of the device and the detected force in the admittance control is calculated, wherein the speed of the device in the decelerated motion state is not zero; when the device is in a stationary state, a second corresponding relationship between the output force of the device and the detected force in the admittance control is calculated; Determining a preset detection force corresponding to the second force difference value according to the tracking correspondence includes: According to the first corresponding relationship, the first detection force corresponding to the second force difference is determined, and the first detection force is used as the preset detection force; or, according to the second corresponding relationship, the second detection force corresponding to the second force difference is determined, and the second detection force is used as the preset detection force; or, according to the first corresponding relationship, the first detection force corresponding to the second force difference is determined, according to the second corresponding relationship, the second detection force corresponding to the second force difference is determined, and the preset detection force is determined according to the first detection force and the second detection force, and the preset detection force is used to reflect the concentration trend of the first detection force and the second detection force.

5. The sensor abnormality detection method according to any one of claims 1 to 4, characterized in that: The determination that the first force difference between the current calculated force and the current detected force does not satisfy the constraint condition within a preset range includes: Obtaining a current force change rate of the currently detected force; Determine the offset direction and offset amount according to the current force change rate; the offset direction corresponds to the positive and negative signs of the current force change rate, and the offset amount is positively correlated with the absolute value of the current force change rate; Shifting the preset range according to the offset direction and the offset amount; If the value of the first resultant force does not belong to the preset range after the offset, it is determined that the first force difference between the current calculated force and the current calculated force does not satisfy the constraint condition of the preset range.

6. The sensor abnormality detection method according to claim 5, characterized in that: In the case where the first force difference value is obtained by subtracting the current calculated force from the current detected force, if the current force change rate is a positive number, determining the offset direction as a direction that increases the value of the preset range; If the current force change rate is a negative number, determining the offset direction to be a direction that reduces the value of the preset range; In the case where the first force difference value is obtained by subtracting the current detected force from the current calculated force, if the current force change rate is a positive number, determining the offset direction as a direction that reduces the preset range in value; If the current force change rate is a negative number, the offset direction is determined to be a direction that increases the preset range in value.

7. The sensor abnormality detection method according to claim 5, characterized in that: Shifting the preset range according to the offset direction and the offset amount includes: If the offset direction is a direction that increases the value of the preset range, then the sum of each value in the preset range plus the offset is calculated, and the value range formed by the sums is used as the preset range after the offset; If the offset direction is a direction that reduces the value of the preset range, the difference between each value in the preset range and the offset is calculated, and the value range formed by the several differences is used as the preset range after the offset.

8. A sensor anomaly detection device for a device in admittance control, wherein the device is capable of implementing compliant control, characterized in that: The sensor abnormality detection device comprises: A first obtaining module is used to obtain a current detection force through a first sensor provided at a human-machine interaction structure of the device, obtain a current detection motion state of the device through a second sensor, and obtain a current detection output force of the device through a third sensor; the current detection output force is an output force corresponding to a previous detection force and a previous detection motion state calculated according to an admittance control algorithm, the previous detection force is obtained through the first sensor at a detection time of a previous detection cycle before the current moment, and the previous detection motion state is obtained through the second sensor at a detection time of a previous detection cycle before the current moment; A second obtaining module is used to input the current detected motion state into a body dynamics model of the device to obtain a current required force output by the body dynamics model and corresponding to the current detected motion state; a determination module, configured to determine that at least one of the first sensor, the second sensor and the third sensor is abnormal when a first force difference between a currently calculated force and the currently detected force does not satisfy a constraint condition within a preset range; Wherein, the current calculated force corresponds to the current required force and the current detected output force; The difference between the current required force and the current detected output force can be directly calculated to obtain the current calculated force, and directly determine whether the first force difference between the current calculated force and the current detected force meets the constraint conditions of the preset range; The current calculated force has a corresponding relationship with the current required force and the current detected output force. Based on the corresponding relationship, it can also be determined in the following way whether the first force difference between the current calculated force and the current detected force meets the constraint condition of the preset range: Calculate the difference between the current required force and the current detected force to obtain the current calculated output force. If the difference between the current calculated output force and the current detected output force satisfies the constraint condition of the preset range, determine that the first force difference satisfies the constraint condition of the preset range; if the difference between the current calculated output force and the current detected output force does not satisfy the constraint condition of the preset range, determine that the first force difference does not satisfy the constraint condition of the preset range; Alternatively, it is determined whether the first force difference between the current calculated force and the current detected force satisfies the constraint condition of the preset range by the following method: Calculate the sum of the current detected force and the current detected output force to obtain the current calculated resultant force. If the difference between the current calculated resultant force and the current required force meets the constraints of the preset range, determine that the first force difference meets the constraints of the preset range; if the difference between the current calculated resultant force and the current required force does not meet the constraints of the preset range, determine that the first force difference does not meet the constraints of the preset range.

9. A sensor anomaly detection device for equipment in admittance control, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to perform the sensor abnormality detection method for a device in admittance control as claimed in any one of claims 1 to 7 when executing the program instructions.

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