Contact detection method, device and medium for human-machine collaborative grinding
By calculating the force data scoring method of the robot's end force sensor, it is determined whether the grinder is in contact with the workpiece, which solves the flexibility and cost issues of contact detection in human-machine collaborative grinding and realizes efficient and reliable contact detection.
CN117840913BActive Publication Date: 2025-09-23SOUTH CHINA UNIV OF TECH
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Patent Information
- Application Number
- CN202410118018.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-26
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2044-01-26
AI Technical Summary
Technical Problem
In the existing technology, the contact detection method of human-machine collaborative grinding has the problems of insufficient flexibility or high cost, making it difficult to achieve efficient and reliable contact detection in complex and changeable processing scenarios.
Method used
By acquiring raw force data, calculating the duration score and amplitude score, and using force sensors to determine whether the grinder is in contact with the workpiece, contact detection can be achieved using a simple method and low-cost equipment.
Benefits of technology
It achieves efficient and reliable contact detection, reduces additional hardware costs, and improves processing efficiency and flexibility.
✦ Generated by Eureka AI based on patent content.
Abstract
The present invention discloses a contact detection method, device and medium for human-machine collaborative grinding, which belongs to the field of target detection and classification. The method includes: obtaining original force data; obtaining force data of a preset time length from the original force data in combination with the current timestamp; calculating a continuous score based on the obtained force data; if the continuous score is higher than the first standard score, calculating an amplitude score based on the obtained force data; if the continuous score is lower than the first standard score, determining that the grinder has not contacted the workpiece; if the amplitude score is higher than the second standard score, determining that the grinder has contacted the workpiece; if the amplitude score is lower than the second standard score, determining that the grinder has not contacted the workpiece. The present invention provides a method for realizing contact detection based on original force data, which is not only simple and convenient, but also has accurate and reliable detection results; in addition, no additional hardware costs are required.
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