Physical haptic feedback system for humanoids to interact with the environment

Abstract

The present application relates to the technical field of force feedback system, and particularly relates to a physical force feedback system for human-shaped robot and environment interaction, which comprises an object force analysis module, an object deformation analysis module, a control module, a grasping force judgment module and a communication module; the object force analysis module is used for analyzing and obtaining relevant information of object force, and transmitting the relevant information to the control module; the object deformation analysis module is used for analyzing and obtaining relevant information of object deformation, and transmitting the relevant information to the control module; the control module obtains a grasping index according to the relevant information of object force and the relevant information of object deformation, and transmits the grasping index to the grasping force judgment module; the grasping force judgment module obtains information that the grasping force of the robot is too large or appropriate according to the grasping index, and transmits the information to the communication module; the communication module transmits the information that the grasping force of the robot is too large or appropriate to a robot hand execution module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of force feedback systems, and in particular to a physical force feedback system for human-shaped robots interacting with the environment. BACKGROUND

[0002] A human-shaped robot refers to a robot that imitates the appearance and behavior of a human being, usually possessing structural features of a human being, such as a head, a torso, arms, legs, etc., and is capable of effectively interacting with the human environment. These robots not only can perform some simple actions, but also can have the ability of perception and autonomous decision-making. Environmental interaction refers to the physical contact or perception of a robot with its surrounding environment, including objects, other living beings, etc. The robot can interact with the external environment through sensors and actuators, including touching, grasping, pushing, pulling, etc. Such interaction is a very important part of the robot when performing tasks, especially in fields such as object handling, health care, service, etc. Force feedback is a way to enhance the interaction experience between a robot and a human being or between a robot and an object by simulating the feeling (such as pressure, friction, vibration, etc.) when physically contacting. In simple terms, when a robot contacts an object, it not only "knows" the existence of the object through visual or tactile sensors, but also can "feel" information such as the hardness, weight, or shape of the object.

[0003] In the field of robotics, force feedback systems can help robots perform more precise operations and more natural interactions. For example, when grasping an object, the robot can perceive the weight and elasticity of the object, thereby adjusting the force to avoid damaging the object due to excessive force.

[0004] The application file with publication number CN115079684A discloses a feedback method for a robot and a robot, relating to the field of robotics, which can improve the degree of humanization of the robot. Among them, an IMU is installed in the robot, and a touch sensor is arranged on the inner side of the shell of the robot in a plurality of first preset areas. The touch sensor is used to collect operations acting on the robot, and the IMU is used to collect the heading angle of the robot. The robot can receive a first operation acting on a first area, which is any area in the plurality of first preset areas. Moreover, the robot can obtain position information of the first area, an operation type of the first operation, and a first offset, which is used to reflect the force of the first operation acting on the robot. Then, in response to the first operation, the robot can execute a first control event corresponding to the position information of the first area, the operation type of the first operation, and the force of the first operation acting on the robot.

[0005] The prior art mainly collects simple operation information and force offset through touch sensors, while ignoring the judgment and adjustment of the grasping behavior of the robot through more comprehensive physical force analysis. SUMMARY

[0006] The present application aims at the above-mentioned deficiencies, and proposes a physical force feedback system for human-shaped robot and environment interaction.

[0007] The present application adopts the following technical solutions:

[0008] The physical force feedback system for human-shaped robot and environment interaction comprises an object force analysis module, an object deformation analysis module, a control module, a grasping force judgment module and a communication module; the object force analysis module is used for analyzing and obtaining relevant information of object force, and transmitting the information to the control module; the object deformation analysis module is used for analyzing and obtaining relevant information of object deformation, and transmitting the information to the control module; the control module obtains a grasping index according to the relevant information of object force and the relevant information of object deformation, and transmits the grasping index to the grasping force judgment module; the grasping force judgment module obtains information of overlarge or appropriate grasping force of the robot on the object according to the grasping index, and transmits the information to the communication module; and the communication module transmits the information of overlarge or appropriate grasping force of the robot on the object to a robot hand execution module.

[0009] Optionally, the object force analysis module is used for analyzing and obtaining the total number of grasping points, the contact pressure of each grasping point, the contact area of each grasping point, the normal vector of the robot finger contact surface and the normal vector of the object contact surface, and transmitting the information to the control module; the object deformation analysis module is used for analyzing and obtaining the curvature of each reference area of the object surface before grasping, the maximum curvature of each reference area of the object surface after grasping, the minimum curvature of each reference area of the object surface after grasping, the surface area of the object, the surface area of the reference area and the volume of the object, and transmitting the information to the control module; the control module obtains the total number of reference areas according to the total number of grasping points, the surface area of the object, the surface area of the reference area and the volume of the object, obtains an object deformation index according to the total number of reference areas, the curvature of each reference area of the object surface before grasping, the maximum curvature of each reference area of the object surface after grasping and the minimum curvature of each reference area of the object surface after grasping, obtains the contact angle of each grasping point according to the normal vector of the robot finger contact surface and the normal vector of the object contact surface, obtains an object force index according to the total number of grasping points, the contact pressure of each grasping point, the contact area of each grasping point and the contact angle of each grasping point, and obtains the grasping index according to the object force index and the object deformation index.

[0010] Optionally, the object force analysis module comprises a contact pressure analysis submodule, a contact area analysis submodule and a normal vector analysis submodule; the contact pressure analysis submodule is configured to analyze and obtain the total number of the gripping points and the contact pressure of each gripping point, and transmit the total number of the gripping points and the contact pressure of each gripping point to the control module; the contact area analysis submodule is configured to analyze and obtain the contact area of each gripping point, and transmit the contact area of each gripping point to the control module; the normal vector analysis submodule is configured to analyze and obtain the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object, and transmit the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object to the control module.

[0011] Optionally, the contact pressure analysis submodule comprises a contact pressure monitoring unit and a number counting unit; the contact pressure monitoring unit is configured to monitor and obtain the contact pressure of each gripping point, and transmit the contact pressure of each gripping point to the control module; the number counting unit is configured to obtain the total number of the gripping points according to the contact pressure of each gripping point, and transmit the total number of the gripping points to the control module.

[0012] Optionally, the contact area analysis submodule comprises a depth camera unit, an image segmentation unit and an area calculation unit; the depth camera unit is configured to shoot and obtain a contact image; the image segmentation unit is configured to segment a contact region from the contact image by using an edge detection algorithm; the area calculation unit is configured to obtain the contact area of each gripping point according to the contact region, and transmit the contact area of each gripping point to the control module.

[0013] Optionally, the normal vector analysis submodule comprises a data acquisition unit, a coordinate establishment unit and a normal vector analysis unit; the data acquisition unit is configured to acquire information of the contact surfaces of the robot finger and the object; the coordinate establishment unit is configured to define a local coordinate system according to the information of the contact surfaces of the robot finger and the object; the normal vector analysis unit is configured to obtain the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object by local fitting calculation, and transmit the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object to the control module.

[0014] Optionally, the object deformation analysis module comprises a curvature analysis submodule, a geometry analysis submodule and a data setting submodule; the curvature analysis submodule is configured to analyze and obtain the curvature of each reference region of the object surface before gripping, the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping, and transmit the curvature of each reference region of the object surface before gripping, the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping to the control module; the geometry analysis submodule is configured to analyze and obtain the surface area of the object and the volume of the object, and transmit the surface area of the object and the volume of the object to the control module; the data setting submodule is configured to set the surface area of the reference region, and transmit the surface area of the reference region to the control module.

[0015] Optionally, the curvature analysis submodule comprises a visual sensing unit, a curvature calculation unit and a data transmission unit; the visual sensing unit acquires three-dimensional point cloud data of the object surface before and after gripping, and divides the object surface into a plurality of reference regions; the curvature calculation unit calculates the curvature of each reference region of the object surface before gripping and the curvature of each reference region of the object surface after gripping by a method of fitting a curved surface, and screens the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping according to the curvature of each reference region of the object surface after gripping; and the data transmission unit transmits the curvature of each reference region of the object surface before gripping, the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping to the control module.

[0016] Optionally, the geometric analysis submodule comprises a visual processing unit and a geometric calculation unit; the visual processing unit is used to acquire the surface profile of the object and construct a three-dimensional model of the object; and the geometric calculation unit calculates the surface area of the object and the volume of the object according to the three-dimensional model of the object and transmits them to the control module.

[0017] Optionally, when the control module calculates the gripping index, the following formula is satisfied: F = PW + CV; wherein F is the gripping index, PW is the object force index, and CV is the object deformation index.

[0018] The beneficial effects achieved by the present application are as follows:

[0019] 1. Through real-time feedback of object force analysis and object deformation analysis, the gripping force can be adjusted according to the characteristics (such as fragility, deformation ability, etc.) of the object, so that the robot can safely interact with different types of objects;

[0020] 2. The object force analysis module can monitor the applied force of each contact point in real time by analyzing the force of the contact points between the object and the robot, including contact pressure, contact area and other key information. These information are transmitted to the control module to provide data support for force adjustment of the robot, reducing the risk of damaging the object by the robot applying excessive force;

[0021] 3. The control module calculates the gripping index according to multiple information (mechanics and deformation data) to accurately determine whether the gripping force is appropriate, avoiding damage or instability of the object;

[0022] 4. The cooperative work of the object force analysis module, the object deformation analysis module and the control module enables the robot to perform more accurate and sensitive operations in complex environments, and adapt to the grasping needs of different objects.

[0023] For further understanding of the features and technical contents of the present application, please refer to the following detailed description of the present application and the accompanying drawings. However, the accompanying drawings are provided only for reference and illustration, and are not intended to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The figure is a schematic diagram of the overall structure of the present application.

[0025] Figure 2 The figure is a schematic diagram of the structure of the contact pressure analysis submodule in the present application.

[0026] Figure 3 The figure is a schematic diagram of the structure of the contact area analysis submodule in the present application.

[0027] Figure 4 The figure is a schematic diagram of the structure of the normal vector analysis submodule in the present application.

[0028] Figure 5 The figure is a schematic diagram of the structure of the curvature analysis submodule in the present application.

[0029] Figure 6 The figure is a schematic diagram of the structure of the geometry analysis submodule in the present application.

[0030] Figure 7 The figure is an effect diagram of the present application.

[0031] Figure 8 The figure is a schematic diagram of the overall structure of the second embodiment of the present application.

[0032] Figure 9 The figure is an effect diagram of the second embodiment of the present application. DETAILED DESCRIPTION

[0033] The following is an embodiment of the present application by means of specific embodiments, and those skilled in the art can understand the advantages and effects of the present application from the disclosure. The present application can be implemented or applied by other different embodiments, and the details in the specification can be modified and changed based on different views and applications without departing from the spirit of the present application. In addition, the drawings of the present application are only simple schematic illustrations, not actual size drawings, and the prior declaration is made. The following embodiments will further illustrate the related technical contents of the present application, but the disclosed contents are not intended to limit the protection scope of the present application.

[0034] Embodiment one: the embodiment provides a physical force feedback system for human-shaped robot and environment interaction, which combines the advantages of the prior art Figures 1 to 7 as shown.

[0035] A physical force feedback system for interaction between a humanoid robot and its environment, the system comprising an object force analysis module, an object deformation analysis module, a control module, a gripping force judgment module and a communication module; the object force analysis module is used to analyze and obtain relevant information about the object force, and transmit it to the control module; the object deformation analysis module is used to analyze and obtain relevant information about the object deformation, and transmit it to the control module; the control module obtains a gripping index based on relevant information about the object force and relevant information about the object force, and transmits it to the gripping force judgment module; the gripping force judgment module obtains information whether the force of the robot gripping the object is too large or appropriate based on the gripping index, and transmits it to the communication module; the communication module transmits the information whether the force of the robot gripping the object is too large or appropriate to the robot hand execution module.

[0036] Specifically, when the grasping force judgment module makes judgments, it refers to the following judgment principles: when the grasping index is greater than or equal to the selection threshold of the grasping index, it indicates that the robot grasps the object with too much force; when the grasping index is less than the selection threshold of the grasping index, it indicates that the robot grasps the object with appropriate force; the selection threshold of the grasping index is set by technical personnel in this field; the above two situations do not involve "the robot grasps the object with too little force" because: after the robot grasps the object and lifts it to an appropriate height (set by technical personnel in this field), the grasping index is calculated only when the object is stably maintained at the appropriate height. Assuming the object falls, the above lifting action should be adjusted and repeated until the object is maintained at the appropriate height before calculation.

[0037] Optionally, the object force analysis module is used to analyze and obtain the total number of grasping points, the contact pressure of each grasping point, the contact area of ​​each grasping point, the normal vector of the robot finger contact surface and the normal vector of the object contact surface, and transmit them to the control module; the object deformation analysis module is used to analyze and obtain the curvature of each reference area on the object surface before grasping, the maximum curvature of each reference area on the object surface after grasping, the minimum curvature of each reference area on the object surface after grasping, the surface area of ​​the object, the surface area of ​​the reference area and the volume of the object, and transmit them to the control module; the control module calculates the surface area of ​​the object according to the total number of grasping points, the surface area of ​​the object, The total number of reference areas is obtained from the surface area of ​​the reference areas and the volume of the object. The object deformation index is obtained based on the total number of reference areas, the curvature of each reference area on the object surface before grasping, the maximum curvature of each reference area on the object surface after grasping, and the minimum curvature of each reference area on the object surface after grasping. The contact angle of each grasping point is obtained based on the normal vector of the robot finger contact surface and the normal vector of the object contact surface. The object force index is obtained based on the total number of grasping points, the contact pressure of each grasping point, the contact area of ​​each grasping point, and the contact angle of each grasping point. The grasping index is obtained based on the object force index and the object deformation index.

[0038] Optionally, the object force analysis module comprises a contact pressure analysis submodule, a contact area analysis submodule, and a normal vector analysis submodule; the contact pressure analysis submodule is configured to analyze and obtain the total number of gripping points and the contact pressure of each gripping point, and transmit the total number of gripping points and the contact pressure of each gripping point to the control module; the contact area analysis submodule is configured to analyze and obtain the contact area of each gripping point, and transmit the contact area of each gripping point to the control module; and the normal vector analysis submodule is configured to analyze and obtain the normal vector of the robot finger contact surface and the normal vector of the object contact surface, and transmit the normal vector of the robot finger contact surface and the normal vector of the object contact surface to the control module.

[0039] Specifically, the normal vector of the robot finger contact surface and the normal vector of the object contact surface can be detected by measuring the contact force acting on the finger through the torque sensor installed on the robot finger as follows: r = (F x , F y , F z ), wherein F x , F y , F z are the force components of the robot finger converted to the robot base coordinate system (the robot base coordinate system is set by a person skilled in the art, and the conversion method can apply the method of homogeneous transformation matrix), the direction of the contact force is consistent with the normal direction of the contact surface, and the corresponding normal vector of the robot finger contact surface is: The reaction force of the object on the finger can be measured by the torque sensor installed on the object contact surface or the force sensor on the contact surface of the robot finger as follows: o = (F x , F y , F z ), wherein F x , F y , F z are the force components of the object contact point converted to the robot base coordinate system, the normal vector direction is opposite to the direction of the contact force, and the corresponding normal vector of the object contact surface is:

[0040] The negative sign indicates that the normal vector direction points to the outside of the object surface.

[0041] Optionally, the contact pressure analysis submodule comprises a contact pressure monitoring unit and a number counting unit; the contact pressure monitoring unit is configured to monitor and obtain the contact pressure of each gripping point, and transmit the contact pressure of each gripping point to the control module; and the number counting unit is configured to obtain the total number of gripping points according to the contact pressure of each gripping point, and transmit the total number of gripping points to the control module.

[0042] Optionally, the contact area analysis submodule comprises a depth camera unit, an image segmentation unit and an area calculation unit; the depth camera unit is configured to capture and obtain a contact image; the image segmentation unit is configured to segment a contact region from the contact image using an edge detection algorithm; and the area calculation unit is configured to obtain the contact area of each grip point according to the contact region and transmit the contact area to the control module.

[0043] Optionally, the normal vector analysis submodule comprises a data acquisition unit, a coordinate establishment unit and a normal vector analysis unit; the data acquisition unit is configured to acquire information of the contact surface of the robot finger and the object; the coordinate establishment unit is configured to define a local coordinate system according to the information of the contact surface of the robot finger and the object; and the normal vector analysis unit is configured to obtain the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object by local fitting calculation and transmit the normal vectors to the control module.

[0044] Optionally, the object deformation analysis module comprises a curvature analysis submodule, a geometric analysis submodule and a data setting submodule; the curvature analysis submodule is configured to analyze and obtain the curvature of each reference region of the object surface before gripping, the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping, and transmit the curvatures to the control module; the geometric analysis submodule is configured to analyze and obtain the surface area of the object and the volume of the object, and transmit the surface area and the volume to the control module; and the data setting submodule is configured to set the surface area of the reference region, and transmit the surface area to the control module.

[0045] Optionally, the curvature analysis submodule comprises a visual sensing unit, a curvature calculation unit and a data transmission unit; the visual sensing unit is configured to acquire three-dimensional point cloud data of the object surface before gripping and after gripping, and divide the object surface into a plurality of reference regions; the curvature calculation unit is configured to calculate the curvature of each reference region of the object surface before gripping and the curvature of each reference region of the object surface after gripping by a fitting surface method, and screen the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping according to the curvature of each reference region of the object surface after gripping; and the data transmission unit is configured to transmit the curvature of each reference region of the object surface before gripping, the maximum curvature of each reference region of the object surface after gripping and the minimum curvature of each reference region of the object surface after gripping to the control module.

[0046] Optionally, the geometric analysis submodule comprises a visual processing unit and a geometric calculation unit; the visual processing unit is configured to acquire the surface profile of the object and construct a three-dimensional model of the object; and the geometric calculation unit is configured to calculate the surface area of the object and the volume of the object according to the three-dimensional model of the object, and transmit the surface area and the volume to the control module.

[0047] Optionally, when the control module calculates the grasping index, the following formula is satisfied: F=PW+CV; wherein F is the grasping index, PW is the object force index, and CV is the object deformation index.

[0048] Optionally, when the control module calculates the grasping index, the following formula is satisfied:

[0049] Where I is the total number of grasping points, p i is the contact pressure of the i-th grasping point, a i is the contact area of ​​the i-th grasping point, θ i is the contact angle of the i-th grasping point;

[0050] n r is the normal vector of the robot finger contact surface, n o is the normal vector of the contact surface of the object;

[0051] N is the total number of reference areas, ql n is the curvature of the nth reference area on the object surface before grasping, is the maximum curvature of the nth reference area on the surface of the grasped object, is the minimum curvature of the nth reference area on the object surface after grasping;

[0052] s all is the surface area of ​​the object, s ck is the surface area of ​​the reference region, v all is the volume of the object.

[0053] Specifically, when the control module calculates the grasping index, refer to the following program code:

[0054]

[0055]

[0056] Specifically, the following matters need to be noted when calculating the grasping index: This embodiment studies three-dimensional objects with non-special-shaped structures.

[0057] The total number of grasping points is illustrated by the following example: assuming that the total number of fixed grasping points on the robot hand is 20, after the robot grasps, the total number of grasping points sensed by the sensors to be activated (activation means that the sensor measures a contact pressure greater than 0) is 10, then the corresponding total number of grasping points is 10; in the robot hand, especially a robot designed to be similar to a human hand, its grasping points are located in the following parts: fingertips, finger bases, the opposite side of the thumb, the center of the palm, the palm-finger connection, the fingertips, the sides of the fingers and the wrist.

[0058] The contact pressure of each grip point is measured in Newton.

[0059] The contact area of each grip point is measured in square centimeter.

[0060] The contact angle of each grip point is measured in radian, which refers to the angle between the object surface and the contact point of the robot finger.

[0061] The surface area of the object and the surface area of the reference region are both measured in square meter; the contact angle of each grip point is calculated by the normal vector of the corresponding surface, because each contact point on the object surface can be regarded as a part of the object surface, and the normal vector of each contact surface describes the overall orientation of the contact surface.

[0062] The volume of the object is measured in cubic meter.

[0063] The surface area of each reference region is the same, and the position of the corresponding reference region needs to be set by the person skilled in the art, who generally selects a plane as the reference region, so that there is only one curvature before gripping, and when the corresponding reference region deforms after gripping, there are multiple curvatures after gripping, at which time the corresponding maximum curvature and minimum curvature are obtained through analysis and screening.

[0064] The above units are only examples, and the person skilled in the art can set different units according to actual needs when implementing the present solution.

[0065] The embodiment solves the problem of greater risk of damage to the object in the traditional feedback system, and the object stress analysis module can monitor the applied force of each contact point in real time by analyzing the stress of the contact point between the object and the robot, including the contact pressure, contact area and other key information, which are transmitted to the control module to provide data support for the force adjustment of the robot, thereby reducing the risk of damage to the object caused by excessive force applied by the robot.

[0066] Embodiment two: the embodiment includes all the contents of embodiment one, and provides a physical force feedback system for the interaction between the humanoid robot and the environment, which is combined with Figure 8 and Figure 9 as shown.

[0067] The physical force feedback system for human-shaped robot to interact with environment further comprises a position analysis module and an information storage module; the position analysis module is used to analyze and obtain the exerted force before the highest gripping point is adjusted and transmit to the control module; the information storage module is used to store the selection threshold of the gripping index and transmit to the control module; the control module obtains the exerted force after the highest gripping point is adjusted according to the exerted force before the highest gripping point is adjusted, the selection threshold of the gripping index, the gripping index and the total number of gripping points and transmits to the communication module; the communication module transmits the exerted force after the highest gripping point is adjusted to the robot hand execution module; the robot adjusts according to the exerted force after the highest gripping point is adjusted.

[0068] Optionally, the position analysis module comprises a contact point identification sub-module, a position identification sub-module and a data feedback sub-module; the contact point identification sub-module identifies the distribution of the contact points and the area where the robot fingers contact the object by image processing and force distribution analysis and outputs the number and position coordinates of the contact points; the position identification sub-module obtains the highest gripping point according to different position coordinates; the data feedback sub-module selects the exerted force before the highest gripping point is adjusted corresponding to the highest gripping point and transmits to the control module.

[0069] Optionally, when the control module calculates the exerted force after the highest gripping point is adjusted, the following formula is satisfied:

[0070] wherein, AM is the exerted force after the highest gripping point is adjusted, yh is the exerted force before the highest gripping point is adjusted, f ref is the selection threshold of the gripping index.

[0071] Optionally, when the control module calculates the exerted force after the highest gripping point is adjusted, the following program code is referred to:

[0072]

[0073] Specifically, when the gripping index is greater than or equal to the selection threshold of the gripping index, it indicates that the force for the robot to grip the object is too large, at this time, the force exerted by the contact point at the highest position can be adjusted, after the adjustment, if the object still remains at the appropriate height, the corresponding gripping index can be calculated and then it is judged whether the requirement is met, assuming that it is not met, the rest of the adjustment operation is performed by the person skilled in the art (such as adjusting the force exerted by the contact point at the highest position according to the same method described above), when the object falls after the adjustment, the rest of the adjustment operation is performed by the person skilled in the art; the unit of the exerted force after the highest gripping point is adjusted and the exerted force before the highest gripping point is adjusted is Newton; the exerted force before the highest gripping point is adjusted refers to the force that the robot pre-sets to exert on the corresponding gripping point, which is not necessarily the same as the contact pressure obtained by testing.

[0074] The above units are only examples, and a person skilled in the art can set different units according to actual needs when implementing the present scheme.

[0075] The embodiment solves the problem of poor flexibility of the traditional feedback system, can cope with diversified gripping requirements, and flexibly adjusts the applied force according to actual conditions.

[0076] The above disclosed content is only a preferred feasible embodiment of the present application, and does not limit the protection scope of the present application, so any equivalent technical changes made by applying the content of the present application specification and drawings are included in the protection scope of the present application, and furthermore, the elements can be updated as technology develops.

Claims

1. A physical haptic feedback system for humanoids to interact with the environment, characterized by, The system comprises an object force analysis module, an object deformation analysis module, a control module, a grasping force judgment module and a communication module; The object force analysis module is configured to analyze and obtain information about the force of the object, and transmit the information to the control module; The object deformation analysis module is configured to analyze and obtain information about the deformation of the object, and transmit the information to the control module; The control module is configured to obtain a grasping index according to the information about the force of the object and the information about the deformation of the object, and transmit the grasping index to the grasping force judgment module; The grasping force judgment module is configured to obtain information about whether the grasping force of the robot is too large or appropriate according to the grasping index, and transmit the information to the communication module; The communication module is configured to transmit the information about whether the grasping force of the robot is too large or appropriate to a robot hand execution module; The object force analysis module is configured to analyze and obtain the total number of grasping points, the contact pressure of each grasping point, the contact area of each grasping point, the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object, and transmit the information to the control module; The object deformation analysis module is configured to analyze and obtain the curvature of each reference area on the surface of the object before grasping, the maximum curvature of each reference area on the surface of the object after grasping, the minimum curvature of each reference area on the surface of the object after grasping, the surface area of the object, the surface area of the reference area and the volume of the object, and transmit the information to the control module; The control module is configured to obtain the total number of reference areas according to the total number of grasping points, the surface area of the object, the surface area of the reference area and the volume of the object, obtain an object deformation index according to the total number of reference areas, the curvature of each reference area on the surface of the object before grasping, the maximum curvature of each reference area on the surface of the object after grasping and the minimum curvature of each reference area on the surface of the object after grasping, obtain the contact angle of each grasping point according to the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object, obtain an object force index according to the total number of grasping points, the contact pressure of each grasping point, the contact area of each grasping point and the contact angle of each grasping point, and obtain the grasping index according to the object force index and the object deformation index; When the control module calculates the grasping index, the following formula is satisfied: F=PW+CV; Wherein, F is the grasping index, PW is the object force index, and CV is the object deformation index.

2. The physical haptic feedback system for humanoids robots interacting with the environment according to claim 1, wherein, The object force analysis module comprises a contact pressure analysis submodule, a contact area analysis submodule and a normal vector analysis submodule; The contact pressure analysis submodule is configured to analyze and obtain the total number of grasping points and the contact pressure of each grasping point, and transmit the information to the control module; The contact area analysis submodule is configured to analyze and obtain the contact area of each grasping point, and transmit the information to the control module; The normal vector analysis submodule is configured to analyze and obtain the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object, and transmit the information to the control module.

3. The physical haptic feedback system for humanoids to interact with the environment of claim 2, wherein, The contact pressure analysis submodule comprises a contact pressure monitoring unit and a number counting unit; The contact pressure monitoring unit is configured to monitor and obtain the contact pressure of each grasping point, and transmit the information to the control module; The number counting unit is configured to obtain the total number of grasping points according to the contact pressure of each grasping point, and transmit the information to the control module.

4. The physical haptic feedback system for humanoids to interact with the environment according to claim 3, wherein, The contact area analysis submodule comprises a depth camera unit, an image segmentation unit and an area calculation unit; The depth camera unit is used to shoot and obtain a contact image; The image segmentation unit uses an edge detection algorithm to segment a contact area from the contact image; The area calculation unit obtains the contact area of each grip point according to the contact area and transmits it to the control module.

5. The physical haptic feedback system for humanoids to interact with the environment according to claim 4, wherein, The normal vector analysis submodule comprises a data acquisition unit, a coordinate establishment unit and a normal vector analysis unit; The data acquisition unit is used to acquire information of the contact surface of the robot finger and the object; The coordinate establishment unit defines a local coordinate system according to the information of the contact surface of the robot finger and the object; The normal vector analysis unit obtains the normal vector of the contact surface of the robot finger and the normal vector of the contact surface of the object through local fitting calculation and transmits them to the control module.

6. The physical haptic feedback system for humanoids to interact with the environment according to claim 5, wherein, The object deformation analysis module comprises a curvature analysis submodule, a geometric analysis submodule and a data setting submodule; The curvature analysis submodule is used to analyze and obtain the curvature of each reference area of the object surface before gripping, the maximum curvature of each reference area of the object surface after gripping and the minimum curvature of each reference area of the object surface after gripping, and transmits them to the control module; The geometric analysis submodule is used to analyze and obtain the surface area of the object and the volume of the object, and transmits them to the control module; The data setting submodule is used to set the surface area of the reference area and transmits it to the control module.

7. The physical haptic feedback system for humanoids to interact with the environment of claim 6, wherein, The curvature analysis submodule comprises a visual sensing unit, a curvature calculation unit and a data transmission unit; The visual sensing unit acquires three-dimensional point cloud data of the object surface before and after gripping, and divides the object surface into multiple reference areas; The curvature calculation unit calculates the curvature of each reference area of the object surface before gripping and the curvature of each reference area of the object surface after gripping through a fitting surface method, and screens the maximum curvature of each reference area of the object surface after gripping and the minimum curvature of each reference area of the object surface after gripping according to the curvature of each reference area of the object surface after gripping; The data transmission unit transmits the curvature of each reference area of the object surface before gripping, the maximum curvature of each reference area of the object surface after gripping and the minimum curvature of each reference area of the object surface after gripping to the control module.

8. The physical haptic feedback system for humanoids to interact with the environment of claim 7, wherein, The geometric analysis submodule comprises a visual processing unit and a geometric calculation unit; The visual processing unit is used to acquire the surface contour of the object and construct a three-dimensional model of the object; The geometric calculation unit calculates the surface area of the object and the volume of the object according to the three-dimensional model of the object and transmits them to the control module.

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