A robot control method, device, handle and system

Abstract

The application discloses a robot control method and device based on force sensing feedback, a handle and a system, comprising: acquiring a finger pressure signal of the robot when grabbing an object through force sensing feedback, calculating the finger pressure of the robot when grabbing the object according to the finger pressure signal; judging whether linear transformation of the finger pressure is needed according to the size of the finger pressure, when it is judged that linear transformation is needed, linearly transforming the finger pressure to obtain linearly transformed finger pressure; generating a pressing signal corresponding to a robot control handle according to the linearly transformed finger pressure, and controlling the robot to perform an object grabbing action according to the pressing signal, so that the operator improves the immersive experience of remotely controlling the robot.

Description

Technical Field

[0001] This invention relates to the field of robot control, and more particularly to a robot control method, device, handle, and system. Background Technology

[0002] In existing technologies, the method for remotely controlling robots typically involves the slave robot completing the corresponding action under control. On the one hand, it obtains virtual feedback force relative to a preset target point or anti-vibration hammer obstacle through a virtual force feedback algorithm; on the other hand, it obtains near real-time video and actual position markers through a virtual visual feedback algorithm. The master control box provides virtual force feedback through a force feedback handle and virtual visual feedback through an LCD screen. However, the drawback of this method is that the immersive experience for the operator at a remote location is poor. Summary of the Invention

[0003] This invention provides a robot control method, device, handle, and system to solve the problem of immersive experience in remotely controlling robots.

[0004] A robot control method, comprising:

[0005] The robot obtains the finger pressure signal fed back by force sensor when grasping an object, and calculates the finger pressure of the robot when grasping the object based on the finger pressure signal.

[0006] Based on the magnitude of the finger pressure, it is determined whether a linear transformation of the finger pressure is required. If a linear transformation is required, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure. Based on the linearly transformed finger pressure, a pressure signal corresponding to the robot control handle is generated.

[0007] The robot is controlled to perform an object grasping action based on the pressure signal.

[0008] A robot control device, comprising:

[0009] The finger pressure calculation unit is used to acquire the finger pressure signal fed back by the force sensor when the robot grasps an object, and to calculate the finger pressure of the robot when grasping the object based on the finger pressure signal.

[0010] The linear transformation and judgment unit is used to determine whether the finger pressure needs to be linearly transformed based on the magnitude of the finger pressure. When it is determined that linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure. The unit then generates a pressure signal corresponding to the robot control handle based on the linearly transformed finger pressure.

[0011] The control unit is used to control the robot to perform object grasping actions according to the pressure signal.

[0012] A robot control handle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the robot control method described above.

[0013] A robot control system includes a VR device and a control handle. The signal receiving end of the VR device is used to receive a finger pressure signal sent by a force sensor installed on the robot's hand. The signal transmitting end of the VR device is used to send the finger pressure signal to the control handle. The control handle is used to implement the above-described robot control method.

[0014] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the robot control method described above.

[0015] The aforementioned robot control method, device, handle, and system remotely acquire finger pressure signals that can reflect force sensing feedback, determine the finger pressure of the robot grasping objects from a distance, and perform linear mapping based on the magnitude of the finger pressure. The linearly mapped finger pressure response is then reflected on the robot control handle, enhancing the operator's immersive experience in remotely controlling the robot. This facilitates the operator in making further maneuvers based on the force applied to the control handle, enabling the robot to successfully grasp objects. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an application environment for a robot control method according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a robot control method according to an embodiment of the present invention;

[0019] Figure 3 This is another flowchart of a robot control method in one embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of a robot control device according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of a computer device according to an embodiment of the present invention;

[0022] Figure 6 This is a schematic diagram of a control handle in one embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The robot control method provided in this embodiment of the invention can be applied to, for example... Figure 1 The application environment is shown. Specifically, this robot control method is applied in a robot control system, which includes, for example,... Figure 1 The VR device 2 and the control handle 1 are shown. The signal receiving end of the VR device 2 is used to receive the finger pressure signal sent by the force sensor set on the hand of the robot 3. The signal transmitting end of the VR device 2 is used to send the finger pressure signal to the control handle 1. The control handle 1 is used to implement the robot control method based on force sensing feedback described in the following embodiments.

[0025] In one embodiment, such as Figure 2 As shown, a robot control method is provided, which is applied to... Figure 1 Taking the control handle in the middle as an example, the following steps are included:

[0026] S201, acquire the finger pressure signal fed back by the force sensor when the robot grasps the object, and calculate the finger pressure of the robot when grasping the object based on the finger pressure signal;

[0027] The finger pressure signal is acquired by a pressure sensor installed on the robot's dexterous hand structure. This finger pressure signal is transmitted to the control handle for remotely controlling the robot via a wireless communication module.

[0028] After receiving the finger pressure signal, the control handle uses the finger pressure signal to calculate the actual finger pressure on the pressure sensor on the dexterous hand structure.

[0029] S202, determine whether the finger pressure needs to be linearly transformed based on the magnitude of the finger pressure; if it is determined that linear transformation is needed, perform linear transformation on the finger pressure to obtain the linearly transformed finger pressure; generate a pressure signal corresponding to the robot control handle based on the linearly transformed finger pressure.

[0030] The control handle calculates the actual finger pressure on the robot's dexterous hand structure, then compares and judges the specific value of the finger pressure with the preset pressure value. If the specific value of the finger pressure is greater than the preset pressure value, it is determined that a linear transformation is needed; if the specific value of the finger pressure is not greater than the preset pressure value, it is determined that a linear transformation is not needed.

[0031] When linear transformation of finger pressure is required, the finger pressure is converted to a preset pressure range according to a certain linear ratio. The lower limit of this preset pressure range is zero, and the upper limit is the aforementioned preset pressure value. Then, the control handle reflects the linearly transformed finger pressure to the force feedback triggers on the handle. For example, the control handle used to control a robot is equipped with force feedback triggers corresponding to each of the five fingers, which can individually reflect the linearly transformed finger pressure; when the operator places their five fingers on the five force feedback triggers of the control handle, they can feel the force exerted by the remote robot when grasping an object.

[0032] S203, control the robot to perform object grasping action according to the pressure signal.

[0033] In this process, based on the linearly transformed finger pressure reflected on the force feedback trigger of the control handle in the above steps, the operator can continue to apply pressure to the force feedback trigger of the control handle according to the force felt by the robot grasping the object. The pressure signal is then fed back to the remote robot through the control handle, and the robot controls the finger structure to perform the object grasping operation according to the pressure signal.

[0034] The robot control method in this embodiment collects finger pressure signals when the robot grasps an object, judges the magnitude of the finger pressure corresponding to the signal, and directly responds to finger pressures that do not require linear transformation through the control handle, providing realistic feedback on the force exerted by the remote robot when grasping the object. For finger pressures that require linear transformation, the finger pressures are linearly transformed before being responded to through the control handle, providing feedback on the force exerted by the remote robot when grasping the object to a certain extent, facilitating the control handle, achieving a combination of virtual and real control, and improving the realism and accuracy of remote control.

[0035] In one embodiment, in step S202 above, it is determined whether a linear transformation of the finger pressure is needed based on the magnitude of the finger pressure. When it is determined that a linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure; specifically including:

[0036] The finger pressure is compared with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object exceeds the force feedback range of the robot control handle, it is determined that a linear transformation is required. The finger pressure is then linearly transformed within the force feedback range to obtain the linearly transformed finger pressure.

[0037] Among them, the force feedback trigger of the robot control handle has a certain force feedback range. When controlling the robot to grasp objects of different weights from a distance, it is necessary to distinguish between finger pressure that exceeds and does not exceed the force feedback range. If the finger pressure exceeds the force feedback range, the finger pressure after linear transformation on the force feedback trigger of the robot control handle will restore the operator's real feeling of applying force to grasp the object to the greatest extent.

[0038] In one embodiment, in step S202 above, it is determined whether a linear transformation of the finger pressure is needed based on the magnitude of the finger pressure. When it is determined that a linear transformation is needed, the finger pressure is linearly transformed to obtain a linearly transformed finger pressure. The method of responding to the linearly transformed finger pressure on the robot control handle further includes:

[0039] When the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, it is determined that no linear transformation is required, and a pressure signal corresponding to the robot control handle is generated based on the finger pressure that does not require linear transformation.

[0040] If the finger pressure exceeds the force feedback range, the finger pressure will be directly responded to on the force feedback trigger of the robot control handle without linear transformation. This allows the operator to directly experience the real feeling of applying force to grasp an object on the force feedback trigger of the control handle.

[0041] In one embodiment, such as Figure 3 As shown, a robot control method is provided, which is applied to... Figure 2 Before controlling the robot to perform an object grasping action according to the pressure signal, the method further includes: acquiring an image of a first object grasped by the robot, and identifying the type of object grasped by the robot based on the first object image.

[0042] After the robot performs its first object grasping, the robot control method described above also includes the following steps:

[0043] S301, acquire the finger pressure signal fed back by the force sensor when the robot grasps the object, and calculate the finger pressure of the robot when grasping the object based on the finger pressure signal;

[0044] S302, acquire an image of the second object grasped by the robot, and identify the category of the object grasped by the robot based on the second object image;

[0045] S303, based on the magnitude of the finger pressure, combined with the object category identified using the first object image and the object category identified using the second object image, determine whether the finger pressure needs to be linearly transformed. If it is determined that a linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure; and a pressure signal corresponding to the robot control handle is generated based on the linearly transformed finger pressure.

[0046] S304, control the robot to perform object grasping action according to the pressure signal.

[0047] In step S302 and the step of acquiring the first object image grasped by the robot, a camera mounted on the robot's head can capture images of the first and second objects grasped by the robot. Then, a controller installed within the robot identifies the object type from the images. This identification can be a specific category, such as identifying an egg, box, or stone, or an abstract category, such as identifying an object with a first aspect ratio, an object with a second aspect ratio, etc. The controller is equipped with a pre-trained object recognition model; after inputting the target object image, it outputs the corresponding object category.

[0048] In step S303 above, when the object category identified by the second object image is consistent with the object category identified by the first object image, and the finger pressure is greater than the force feedback range of the robot control handle, it is determined that a linear transformation is required, and the ratio of this linear transformation is the same as the ratio of the previous linear transformation.

[0049] When the object category identified in the second object image is inconsistent with the object category identified in the first object image, and the finger pressure is greater than the force feedback range of the robot control handle, it is determined that a linear transformation is required. The ratio of this linear transformation is then reset so that the finger pressure after the linear transformation is within the force feedback range. The purpose is to redetermine the ratio of the linear transformation when the type of object being grasped changes, so as to maximize the reproduction of the operator's real feeling of applying force to grasp the object on the force feedback trigger of the control handle.

[0050] In one embodiment, step S303 above, based on the magnitude of the finger pressure, and combining the object category identified using the first object image and the object category identified using the second object image, determines whether a linear transformation of the finger pressure is needed, including:

[0051] The finger pressure is compared with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, and the object category of the second object image recognition is consistent with the object category of the first object image recognition, it is determined that a linear transformation is required.

[0052] In another implementation, when the object category identified by the second object image is consistent with the object category identified by the first object image, and the finger pressure is greater than or not greater than the force feedback range of the robot control handle, that is, regardless of whether the finger pressure exceeds the force feedback range, as long as the object category identified by the second object image is consistent with the object category identified by the first object image, it is determined that a linear transformation is required.

[0053] Step S303 above also includes: linearly transforming the finger pressure according to the previous linear transformation ratio to obtain the finger pressure after the current linear transformation.

[0054] The robot control method in this embodiment uses the same linear ratio to linearly change the finger pressure when the robot is recognizing multiple objects of the same type. This allows the operator to experience the realistic feeling of applying force to grasp similar objects by controlling the force feedback trigger of the handle.

[0055] In one embodiment, step S303 above, determining whether a linear transformation of the finger pressure is needed based on the magnitude of the finger pressure, combined with the object category identified using the first object image and the object category identified using the second object image, further includes:

[0056] When the pressure of the robot's fingers when grasping an object does not exceed the force feedback range of the robot's control handle, and the object category recognized by the second object image is inconsistent with the object category recognized by the first object image, it is determined that no linear transformation is required.

[0057] In particular, if the object category identified by the second object image is inconsistent with the object category identified by the first object image, and the finger pressure is not greater than the force feedback range of the robot control handle, it is determined that no linear transformation is required, and the finger pressure is directly responded to on the force feedback trigger of the robot control handle. This allows the operator to directly experience the real feeling of applying force to grasp the object on the force feedback trigger of the control handle.

[0058] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0059] In one embodiment, a robot control device is provided, which corresponds one-to-one with the robot control methods described in the above embodiments. For example... Figure 4 As shown, the robot control device includes a finger pressure calculation module 41, a linear transformation and judgment module 42, and a control module 43. Detailed descriptions of each functional module are as follows:

[0060] Finger pressure calculation module 41 is signal-connected to the finger pressure calculation module and is used to acquire the finger pressure signal fed back by the force sensor when the robot grasps the object, and calculate the finger pressure of the robot when grasping the object based on the finger pressure signal.

[0061] Processing module 42, which is signal-connected to the finger pressure calculation module, is used to determine whether the finger pressure needs to be linearly transformed based on the magnitude of the finger pressure. When it is determined that a linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure. Based on the linearly transformed finger pressure, a pressure signal corresponding to the robot control handle is generated.

[0062] The first control module 43 is connected to the processing module and is used to acquire the pressure signal on the robot control handle and control the robot to perform object grasping actions according to the pressure signal.

[0063] Optionally, the above processing module 42 is specifically used to: compare the finger pressure with the force feedback range of the robot control handle; when the finger pressure of the robot when grasping an object exceeds the force feedback range of the robot control handle, it is determined that a linear transformation is required; and perform a linear transformation on the finger pressure within the force feedback range to obtain the linearly transformed finger pressure.

[0064] Optionally, the above-mentioned robot control device further includes:

[0065] The second control module is used to determine that no linear transformation is needed when the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, and directly respond to the finger pressure on the robot control handle.

[0066] Optionally, the above-mentioned robot control device further includes:

[0067] The object recognition module is used to acquire a first object image grasped by the robot before controlling the robot to perform an object grasping action according to the pressure signal, and to identify the object category grasped by the robot based on the first object image; and to acquire a second object image grasped by the robot, and to identify the object category grasped by the robot based on the second object image.

[0068] Furthermore, the processing module 42 is used to determine whether a linear transformation of the finger pressure is needed based on the magnitude of the finger pressure, combined with the object category identified using the first object image and the object category identified using the second object image.

[0069] Optionally, the processing module 42 is specifically used to compare the finger pressure with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, and the object category recognized by the second object image is consistent with the object category recognized by the first object image, it is determined that a linear transformation is required. The finger pressure is then linearly transformed according to the previous linear transformation ratio to obtain the finger pressure after the current linear transformation.

[0070] Optionally, the processing module 42 is further configured to determine that no linear transformation is required when the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, and the object category of the second object image recognition is inconsistent with the object category of the first object image recognition.

[0071] Specific limitations regarding the robot control device can be found in the limitations of the robot control method described above, and will not be repeated here. Each module in the aforementioned robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0072] In one embodiment, Figure 5 This is a schematic diagram of a computer device structure for a robot control handle provided in an embodiment of the present invention. Figure 5 As shown, the computer device of this embodiment includes: at least one processor ( Figure 5 Only one is shown in the diagram), a memory, and a computer program stored in the memory and executable on at least one processor, which, when executed by the processor, implements the steps in any of the robot control method embodiments described above.

[0073] This computer device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 5 The examples of computer devices are merely examples and do not constitute a limitation on computer devices. Computer devices may include more or fewer components than shown in the illustration, or combinations of certain components, or different components, such as network interfaces, displays, and input devices.

[0074] The processor referred to can be a CPU, but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0075] Memory includes readable storage media, internal memory, etc., wherein internal memory can be the RAM of a computer device, providing an environment for the operation of the operating system and computer-readable instructions stored in the readable storage media. The readable storage media can be the hard drive of a computer device, or in other embodiments, it can be an external storage device of the computer device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, memory can include both internal storage units and external storage devices of a computer device. Memory is used to store the operating system, applications, bootloader, data, and other programs, such as program code for computer programs. Memory can also be used to temporarily store data that has been output or will be output.

[0076] In one embodiment, a robot control system is provided, comprising: a VR device 2 and a control handle 1. The signal receiving end of the VR device 2 is used to receive a finger pressure signal sent by a force sensor installed on the hand of the robot 3. The signal transmitting end of the VR device 2 is used to send the finger pressure signal to the control handle 1. The control handle 1 is used to implement the steps in any of the above robot control method embodiments.

[0077] The robot collects pressure data by installing pressure sensors on its dexterous hand structure and transmits the data to a remote controller via a 5G network. The controller then uses a VR device 2 and a control handle 1 to control the robot in real time.

[0078] Optionally, the robot control system also includes a robot 3, whose head is equipped with a camera for capturing images of objects grasped by the robot. These images are then sent to the control handle 1 via the VR device 2, enabling the control handle 1 to identify the object type. Alternatively, the robot's controller can directly identify the object category in the image and send the object category to the control handle 1 via the VR device 2. The control handle is as follows... Figure 6 As shown in the figure, the VR controller is the control controller. An extension rod is set on the controller, and five force feedback triggers are added to the extension rod, corresponding to the operator's five fingers. At the same time, control circuits, Bluetooth modules, batteries and other components are added to the extension rod to control the triggers and communicate with the PC.

[0079] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0080] The present invention can implement all or part of the processes in the methods of the above embodiments, or it can be accomplished by a computer program product. When the computer program product is run on a computer device, the computer device executes the steps in the above method embodiments.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0083] The present invention can implement all or part of the processes in the methods of the above embodiments, or it can be accomplished by a computer program product. When the computer program product is run on a computer device, the computer device executes the steps in the above method embodiments.

[0084] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0085] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0086] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / computer devices and methods can be implemented in other ways. For example, the apparatus / computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0087] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0088] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A robot control method, characterized in that, The robot control method includes the following steps: The robot obtains the finger pressure signal fed back by force sensor when grasping an object, and calculates the finger pressure of the robot when grasping the object based on the finger pressure signal. Based on the magnitude of the finger pressure, it is determined whether the finger pressure needs to be linearly transformed. When it is determined that a linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure. The pressure signal corresponding to the robot control handle is generated based on the linearly transformed finger pressure. The robot is controlled to perform an object grasping action based on the pressure signal; The step of determining whether a linear transformation of the finger pressure is needed based on the magnitude of the finger pressure, and when it is determined that a linear transformation is needed, performing a linear transformation of the finger pressure to obtain the linearly transformed finger pressure, includes: The finger pressure is compared with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object exceeds the force feedback range of the robot control handle, it is determined that a linear transformation is required. The finger pressure is then linearly transformed within the force feedback range to obtain the linearly transformed finger pressure.

2. The robot control method according to claim 1, characterized in that, The robot control method further includes: When the pressure of the robot's fingers when grasping an object does not exceed the force feedback range of the robot's control handle, it is determined that no linear transformation is required. The pressure signal corresponding to the robot control handle is generated based on the finger pressure that does not require linear transformation.

3. The robot control method according to claim 1, characterized in that, Before controlling the robot to perform the object grasping action according to the pressure signal, the method further includes: Acquire an image of a first object grasped by the robot, and identify the category of the object grasped by the robot based on the first object image; After controlling the robot to perform an object grasping action according to the pressure signal, the process returns to the step of "acquiring the finger pressure signal of the robot when grasping the object, and calculating the finger pressure of the robot when grasping the object according to the finger pressure signal", and acquires the second object image grasped by the robot, and identifies the object category grasped by the robot according to the second object image. Based on the magnitude of the finger pressure, and combining the object category identified using the first object image and the object category identified using the second object image, it is determined whether a linear transformation of the finger pressure is necessary.

4. The robot control method according to claim 3, characterized in that, Based on the magnitude of the finger pressure, and combining the object category identified using the first object image and the object category identified using the second object image, it is determined whether a linear transformation of the finger pressure is needed, including: The finger pressure is compared with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object does not exceed the force feedback range of the robot control handle, and the object category of the second object image recognition is consistent with the object category of the first object image recognition, it is determined that a linear transformation is required. The robot control method further includes: linearly transforming the finger pressure according to the previous linear transformation ratio to obtain the finger pressure after the current linear transformation.

5. The robot control method according to claim 4, characterized in that, Based on the magnitude of the finger pressure, and combining the object category identified using the first object image and the object category identified using the second object image, it is determined whether a linear transformation of the finger pressure is needed, further including: When the pressure of the robot's fingers when grasping an object does not exceed the force feedback range of the robot's control handle, and the object category recognized by the second object image is inconsistent with the object category recognized by the first object image, it is determined that no linear transformation is required.

6. A robot control device, characterized in that, include: The finger pressure calculation module is used to acquire the finger pressure signal fed back by the force sensor when the robot grasps an object, and to calculate the finger pressure of the robot when grasping the object based on the finger pressure signal. The processing module is signal-connected to the finger pressure calculation module. It is used to determine whether the finger pressure needs to be linearly transformed based on the magnitude of the finger pressure. When it is determined that linear transformation is needed, the finger pressure is linearly transformed to obtain the linearly transformed finger pressure. The processing module is used to generate a pressure signal corresponding to the robot control handle based on the linearly transformed finger pressure. A control module, which is signal-connected to the processing module, is used to control the robot to perform object grasping actions according to the pressure signal. The processing module includes: The finger pressure is compared with the force feedback range of the robot control handle. When the finger pressure of the robot when grasping an object exceeds the force feedback range of the robot control handle, it is determined that a linear transformation is required. The finger pressure is then linearly transformed within the force feedback range to obtain the linearly transformed finger pressure.

7. A robot control handle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the robot control method according to any one of claims 1 to 5.

8. A robot control system, characterized in that, The robot control system includes: a VR device and a control handle. The signal receiving end of the VR device is used to receive finger pressure signals sent by a force sensor installed on the robot's hand. The signal transmitting end of the VR device is used to send the finger pressure signals to the control handle. The control handle is used to implement the robot control method as described in any one of claims 1 to 5.

9. The robot control system according to claim 8, characterized in that, It also includes a robot, whose head is equipped with a camera for capturing images of objects grasped by the robot and sending the object images to the control handle via the VR device.

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