Robot door pushing control method, system and equipment based on force feedback and storage medium

Abstract

The invention discloses a robot door pushing control method, system and device based on force feedback and a storage medium, and relates to the field of robot operation control, and the method comprises the steps: carrying out system initialization and precondition confirmation, and starting the operation of an initial stage; continuously calculating a terminal resultant velocity module value, judging whether the door enters a stable rotation stage or not based on the terminal resultant velocity module value, and if so, switching the trigger state to a stable door pushing stage; based on the force error calculation and control logic in the initial stage, operation in the stable door pushing stage is carried out; when the door reaches a preset opening angle or the door pushing task is completed, the movement of the robot is stopped, and the whole door pushing operation is ended; the operation success rate of the robot in an unknown environment is effectively improved; the door handle is suitable for various types of door handles and door body structures and has good universality.

Description

Technical Field

[0001] The present invention relates to the field of robot operation control, and in particular to a robot door-pushing control method, system, device and storage medium based on force feedback. Background Art

[0002] In today's robotic control landscape, the task of pushing a door is a widely used task, but it also presents numerous challenges. In practical applications, efficient and stable door-pushing control methods are crucial.

[0003] Existing door-pushing control methods often rely on pre-built environmental models, such as the door's geometry and the position of its rotational axis. However, in unknown or dynamic environments, the robot lacks this information in advance, making the door-pushing process difficult. Furthermore, during the robot's interaction with the door handle, the door's rotation direction and angle are difficult to accurately predict, further complicating control. Summary of the Invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problems solved by the present invention are: the existing door-pushing control method relies on a pre-built environmental model, which makes it difficult to push the door smoothly in an unknown or dynamic environment, and the door rotation direction and angle are difficult to accurately predict when the robot interacts with the door handle, resulting in great control difficulty.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a robot door-pushing control method based on force feedback, comprising:

[0008] Perform system initialization and prerequisite confirmation to start the initial phase of operations;

[0009] Continuously calculate the terminal combined velocity modulus value, and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state switches to the stable door pushing stage;

[0010] Based on the force error calculation and control logic in the initial stage, the operation of the stable door pushing stage is carried out;

[0011] When the door reaches the preset opening angle or the door-pushing task is completed, the robot stops moving and the entire door-pushing operation ends.

[0012] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0013] The system initialization and prerequisite confirmation include:

[0014] Fix the door handle with the gripper to ensure that the robot has clamped the door handle firmly before pushing the door.

[0015] Confirm that the door handle's geometric characteristics are a specific shape that allows a door-pushing operation, and that relative rotation between the clamping jaw and the door handle is allowed during the door-pushing operation.

[0016] The beneficial effects of this preferred technical solution are: ensuring that the robot can be stably connected to the door handle in the initial stage of pushing the door, and the specific door handle shape and relative rotation design provide a basis for subsequent adaptive door pushing operations, reducing operation failures caused by unstable connection or inappropriate shape.

[0017] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0018] The operations in the initial stage include:

[0019] The desired force in both the x and y directions is set to 0. The force feedback values of the end of the robotic arm in the x and y directions are obtained with the help of the robot's force sensor. The force errors in the x and y directions are based on the force feedback values. The velocity increments in the x and y directions are calculated according to the force errors. The reference velocities in the x and y directions are set according to the velocity increments.

[0020] The beneficial effects of this preferred technical solution are: by calculating the speed increment and reference speed through force feedback, the robot's movement can be dynamically adjusted according to the actual force conditions, so that the robot can better adapt to different doors and environments in the initial door-pushing stage, and improve the accuracy and stability of door-pushing.

[0021] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0022] The operations in the initial stage also include:

[0023] The robot generates initial thrust according to the set reference speed, driving the door to start rotating. It continuously obtains force feedback from the end of the robotic arm through the force sensor, repeatedly calculates the force error, speed increment and set reference speed, and uses the speed increment output by the force control to adjust the thrust direction.

[0024] The beneficial effects of this preferred technical solution are: continuous force feedback and parameter calculation and adjustment process, which enables the robot to adjust the thrust direction in real time according to the movement and force changes of the door, effectively avoiding operational errors caused by the initial state and movement changes of the door, and ensuring that the door can start to rotate smoothly.

[0025] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0026] The method of continuously calculating the terminal combined velocity modulus value and determining whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value, and if so, triggering the state to switch to the stable door pushing stage includes:

[0027] The module value of the robot's terminal velocity is calculated in real time and compared with a pre-set threshold. If the module value is greater than the threshold, the state switching condition is met and the control strategy switches from the initial stage to the stable door-pushing stage.

[0028] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0029] The operations of the stable door-pushing stage based on the force error calculation and control logic in the initial stage include:

[0030] Calculate the force error of the end of the robot arm in the x and y directions, calculate the velocity increment in the x and y directions based on the force error, and set new reference velocities in the x and y directions based on the velocity increment and the current end velocity.

[0031] The beneficial effects of this preferred technical solution are: continuing the force error calculation and control logic in the stable door-pushing stage, and setting a new reference speed in combination with the current terminal speed, so that the robot can continue to maintain precise control of the thrust during the stable rotation of the door and adapt to various dynamic changes during the door rotation process.

[0032] As a preferred solution of the robot door-pushing control method based on force feedback, wherein:

[0033] The operation of the stable door-pushing stage based on the force error calculation and control logic in the initial stage also includes:

[0034] The robot converts the newly set reference speed into a speed command and sends it to the controller. The current terminal speed helps the robot maintain a steady thrust, and the speed increment output by the force control is used to offset the internal force generated during the door pushing process, thereby maintaining the continuous rotation of the door.

[0035] The beneficial effects of this preferred technical solution are: this control method can make full use of the current terminal speed and the speed increment of the force control output, so that the robot can maintain a steady thrust during the stable door-pushing stage and effectively offset the internal force, ensuring that the door rotates continuously and stably, and improving the quality and reliability of the door-pushing operation.

[0036] In a second aspect, an embodiment of the present invention provides a robot door-pushing control system based on force feedback, comprising:

[0037] The initial module is used to initialize the system and confirm the prerequisites to start the initial stage of operation;

[0038] The switching module is used to continuously calculate the terminal combined velocity modulus value and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state is switched to the stable door pushing stage;

[0039] The stable door-pushing module is used to perform stable door-pushing operations based on the force error calculation and control logic in the initial stage;

[0040] The termination module is used to stop the robot's movement and end the entire door-pushing operation when the door reaches the preset opening angle or the door-pushing task is completed.

[0041] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0042] memory and processor;

[0043] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the one or more programs are executed by the one or more processors, the one or more processors implement the robot door pushing control method based on force feedback as described in any embodiment of the present invention.

[0044] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the force feedback-based robot door-pushing control method.

[0045] The beneficial effects of the present invention are as follows: the present invention does not require prior knowledge of the geometric information of the door, and the robot can adaptively adjust the thrust direction and magnitude through real-time force feedback; it adopts a PI control strategy and a two-stage control method to avoid thrust imbalance caused by the relative rotation between the gripper and the door handle; it offsets the internal force through force control output, making the door-pushing action more stable and effectively improving the success rate of the robot's operation in an unknown environment; it is suitable for various types of door handles and door structures and has good versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 This is an overall flow chart of the robot door-pushing control method based on force feedback provided by the present invention;

[0048] Figure 2 1 is a schematic diagram of a robot door-pushing process of the robot door-pushing control method based on force feedback provided by the present invention;

[0049] Figure 3 This is a robot door-pushing control block diagram of the robot door-pushing control method based on force feedback provided by the present invention. DETAILED DESCRIPTION

[0050] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0051] Example 1, with reference to Figure 1 , which is the first embodiment of the present invention, provides a robot door-pushing control method based on force feedback, comprising:

[0052] S1: Perform system initialization and prerequisite confirmation to start the initial stage of operation;

[0053] S2: Continuously calculate the terminal combined velocity modulus value, and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state switches to the stable door pushing stage;

[0054] S3: Based on the force error calculation and control logic in the initial stage, the operation of the stable door pushing stage is carried out;

[0055] S4: When the door reaches the preset opening angle or the door-pushing task is completed, the robot stops moving and the entire door-pushing operation ends.

[0056] It should be noted that through steps S1-S4, robot door-pushing control based on force feedback can be achieved. After the system is initialized and the prerequisites are confirmed, the force error calculation and PI control are used to adjust the robot's thrust in the initial stage, so that it drives the door to start rotating, and the thrust direction is adjusted according to the rotation of the door. By continuously calculating the terminal combined velocity modulus, it is possible to accurately determine when the door enters the stable rotation stage and switch the control state in time. In the stable door-pushing stage, the current terminal velocity and force control output are combined to ensure that the robot can maintain a stable thrust and offset the internal force, ensuring the smoothness and continuity of the door-pushing action. Finally, when the door reaches the preset opening angle or completes the door-pushing task, the robot stops moving. The entire door-pushing process is efficient, stable and intelligent, which effectively improves the performance and reliability of the robot in performing door-pushing tasks, and provides a practical control method for the application of robots in actual scenarios.

[0057] Example 2, reference Figure 1-Figure 3, which is an embodiment of the present invention, provides a robot door-pushing control method based on force feedback based on the previous embodiment, including:

[0058] In this embodiment, the system initialization and prerequisite confirmation in step S1 include:

[0059] Fix the gripper and confirm that the robot has clamped the door handle with the gripper before pushing the door.

[0060] Check the door handle geometry: Confirm that the cross-section of the door handle is circular and that relative rotation between the gripper and the door handle is allowed during the door push.

[0061] In this embodiment, the operations of starting the initial stage in step S1 include:

[0062] Set the expected force to F x_ref =0,F y_ref = 0; obtain the force feedback value F of the end of the manipulator in the x and y directions through the robot's force sensor x and F y .

[0063] Calculate the force error △F in the x direction x and the force error in the y direction △F y , the formula is:

[0064] △F x =F x_ref -F x

[0065] △F y =F y_ref -F y

[0066] Based on the force error, the velocity increment △V in the x direction is calculated through the proportional-integral (PI) controller x and the velocity increment △V in the y direction y , expressed as:

[0067] △V x =K p △F x +K i ∫△F x dt

[0068] △V y =K p △F y +K i ∫△F y dt

[0069] Among them, K p and K iare the proportional gain and integral gain of the controller.

[0070] Based on the velocity increment, set the reference velocity V in the x direction x_ref and the reference velocity V in the y direction y_ref , expressed as:

[0071] V x_ref =△V x

[0072] V y_ref =△V y +V y_init

[0073] Among them, V y_init It is the initial tangential velocity, which enables the robot arm to generate initial thrust along the tangential direction of the door at the initial stage of pushing the door.

[0074] The robot generates initial thrust according to the set reference speed, driving the door to start rotating.

[0075] During the door rotation, the tangential direction of the door will change. The force sensor is used to continuously obtain the force feedback F at the end of the robotic arm. x and F y .

[0076] Repeat the process of calculating force error, calculating speed increment and setting reference speed, and use the speed increment ΔV output by force control to calculate force error, speed increment and reference speed. x and ΔV y Adjust the thrust direction so that the robot can smoothly follow the movement of the door and avoid excessive internal forces caused by the relative rotation between the gripper and the door handle.

[0077] In another possible implementation, the initial tangential velocity can be determined experimentally based on factors such as the door's weight, size, and friction. First, the minimum velocity required for the initial push of doors of varying weights and sizes under varying friction conditions is experimentally measured. For example, for a 20kg, 0.8m wide wooden door on a smooth surface, the initial tangential velocity can be set to 0.1m / s. For heavier doors or doors with greater friction, the initial tangential velocity can be appropriately increased.

[0078] like Figure 2 The figure shows a schematic diagram of the robot door-pushing process, which shows the process of the robotic arm pushing the door body along the tangential direction of the door.

[0079] In this embodiment, in the above step S2, the terminal combined velocity modulus is continuously calculated, and based on the terminal combined velocity modulus, it is determined whether the door has entered the stable rotation stage. If so, the trigger state is switched to the stable door pushing stage, including:

[0080] The module value V of the robot terminal velocity is calculated in real time and is expressed as:

[0081]

[0082] Where V x and V y is the current velocity of the end of the robot in the x and y directions.

[0083] The calculated velocity modulus is compared with a pre-set threshold. If the velocity modulus is greater than the threshold, the state switching condition is met and the control strategy switches from the initial stage to the stable door-pushing stage.

[0084] In another possible implementation, the pre-set threshold can be determined experimentally based on the physical properties of the door and the robot's performance. First, conduct multiple door-pushing experiments on doors of varying weight, size, and friction, recording the terminal velocity modulus when the door enters the stable rotation phase. Then, perform statistical analysis on these experimental data, average them, and adjust them appropriately to determine an appropriate threshold. For example, for a common household door, the threshold could be set at 0.2 m / s.

[0085] In this embodiment, the operations of the stable door-pushing stage based on the force error calculation and control logic in the initial stage in step S3 include:

[0086] Calculate the force error △F in the x direction x and the force error in the y direction △F y , the formula is:

[0087] △F x =F x_ref -F x

[0088] △F y =F y_ref -F y

[0089] like Figure 3 The figure shows the control block diagram of the robot door-pushing system, which shows the control logic of the PI controller in the initial stage and the stable door-pushing stage.

[0090] Based on the force error, the velocity increment △V in the x direction is calculated through the proportional-integral (PI) controller x and the velocity increment △V in the y direction y , expressed as:

[0091] △V x =K p △F x +K i ∫△F x dt

[0092] △V y =K p △F y +K i ∫△F y dt

[0093] Based on the velocity increment, set the reference velocity V in the x direction x_ref2 and the reference velocity V in the y direction y_ref2 , expressed as:

[0094] V x_ref2 =△V x +V x

[0095] V y_ref2 =△V y +V y

[0096] The robot moves according to the new reference speed V x_ref2 and V y_ref2 Send speed command to the controller, current terminal speed V x and V y Assist the robot to maintain a stable thrust and output ΔV through force control x and ΔV y It is used to offset the internal force generated during the door pushing process, maintain the continuous rotation of the door, and ensure the smoothness and continuity of the door pushing action.

[0097] In this embodiment, when the door reaches a preset opening angle or the door-pushing task is completed in step S4, the robot stops moving, and the entire door-pushing operation ends, including:

[0098] The door angle is detected by encoder or vision, and control is stopped when the set value is reached.

[0099] If F x or F y If the force exceeds the limit continuously (e.g. >10N), an emergency stop will be triggered to prevent mechanical damage.

[0100] In another possible implementation, accuracy requirements and error compensation can be set. For example, the required accuracy for door angle detection is set to ±0.5°. To compensate for detection errors, the encoder is calibrated during system initialization, and the encoder's zero-point error is recorded. During door rotation, the encoder's measured value is monitored in real time, and compensation is applied based on the zero-point error. Furthermore, multiple measurements are averaged to further improve angle detection accuracy.

[0101] Example 3. The above is a schematic scheme of the force feedback-based robot door-pushing control method of this embodiment. It should be noted that the technical solution of the force feedback-based robot door-pushing control system and the technical solution of the force feedback-based robot door-pushing control method described above are based on the same concept. For details not described in detail in the technical solution of the force feedback-based robot door-pushing control system in this embodiment, please refer to the description of the technical solution of the force feedback-based robot door-pushing control method described above.

[0102] This embodiment also provides a robot door-pushing control system based on force feedback, including:

[0103] The initial module is used to initialize the system and confirm the prerequisites to start the initial stage of operation;

[0104] The switching module is used to continuously calculate the terminal combined velocity modulus value and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state is switched to the stable door pushing stage;

[0105] The stable door-pushing module is used to perform stable door-pushing operations based on the force error calculation and control logic in the initial stage;

[0106] The termination module is used to stop the robot's movement and end the entire door-pushing operation when the door reaches the preset opening angle or the door-pushing task is completed.

[0107] This embodiment further provides an electronic device applicable to a robot door-pushing control method based on force feedback, comprising:

[0108] Memory and processor; the memory is used to store computer-executable instructions, and the processor is used to execute computer-executable instructions to implement the robot door-pushing control method based on force feedback as proposed in the above embodiment.

[0109] This embodiment further provides a storage medium storing a computer program, which, when executed by a processor, implements the robot door-pushing control method based on force feedback as proposed in the above embodiment.

[0110] The storage medium proposed in this embodiment and the force feedback-based robot door pushing control method proposed in the above embodiment belong to the same inventive concept. For technical details not described in detail in this embodiment, please refer to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0111] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A robot door-pushing control method based on force feedback, characterized in that: include: Perform system initialization and prerequisite confirmation to start the initial phase of operations; Continuously calculate the terminal combined velocity modulus value, and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state switches to the stable door pushing stage; Based on the force error calculation and control logic in the initial stage, the operation of the stable door pushing stage is carried out; When the door reaches the preset opening angle or the door-pushing task is completed, the robot stops moving and the entire door-pushing operation ends.

2. The method for controlling a robot door push based on force feedback according to claim 1, wherein: The system initialization and prerequisite confirmation include: Fix the door handle with the gripper to ensure that the robot has clamped the door handle firmly before pushing the door. Confirm that the door handle's geometric characteristics are a specific shape that allows a door-pushing operation, and that relative rotation between the clamping jaw and the door handle is allowed during the door-pushing operation.

3. The method for controlling a robot door push based on force feedback according to claim 2, wherein: The operations in the initial stage include: The desired force in both the x and y directions is set to 0. The force feedback values of the end of the robotic arm in the x and y directions are obtained with the help of the robot's force sensor. The force errors in the x and y directions are based on the force feedback values. The velocity increments in the x and y directions are calculated according to the force errors. The reference velocities in the x and y directions are set according to the velocity increments.

4. The method for controlling a robot door push based on force feedback according to claim 3, wherein: The operations in the initial stage also include: The robot generates initial thrust according to the set reference speed, driving the door to start rotating. It continuously obtains force feedback from the end of the robotic arm through the force sensor, repeatedly calculates the force error, speed increment and set reference speed, and uses the speed increment output by the force control to adjust the thrust direction.

5. The method for controlling a robot door push based on force feedback according to claim 4, wherein: The method of continuously calculating the terminal combined velocity modulus value and determining whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value, and if so, triggering the state to switch to the stable door pushing stage includes: The module value of the robot's terminal velocity is calculated in real time and compared with a pre-set threshold. If the module value is greater than the threshold, the state switching condition is met and the control strategy switches from the initial stage to the stable door-pushing stage.

6. The method for controlling a robot door push based on force feedback according to claim 5, wherein: The operations of the stable door-pushing stage based on the force error calculation and control logic in the initial stage include: Calculate the force error of the end of the robot arm in the x and y directions, calculate the velocity increment in the x and y directions based on the force error, and set new reference velocities in the x and y directions based on the velocity increment and the current end velocity.

7. The method for controlling a robot door push based on force feedback according to claim 6, wherein: The operation of the stable door-pushing stage based on the force error calculation and control logic in the initial stage also includes: The robot converts the newly set reference speed into a speed command and sends it to the controller. The current terminal speed helps the robot maintain a steady thrust, and the speed increment output by the force control is used to offset the internal force generated during the door pushing process, thereby maintaining the continuous rotation of the door.

8. A robot door-pushing control system based on force feedback, applying the method according to any one of claims 1 to 7, characterized in that: include: The initial module is used to initialize the system and confirm the prerequisites to start the initial stage of operation; The switching module is used to continuously calculate the terminal combined velocity modulus value, and determine whether the door has entered the stable rotation stage based on the terminal combined velocity modulus value. If so, the trigger state is switched to the stable door pushing stage; The stable door-pushing module is used to perform stable door-pushing operations based on the force error calculation and control logic in the initial stage; The termination module is used to stop the robot's movement and end the entire door-pushing operation when the door reaches the preset opening angle or the door-pushing task is completed.

9. An electronic device comprising: memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the steps of the method according to any one of claims 1 to 7.

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