Robot position processing method and device, electronic equipment and storage medium

Abstract

A robot position processing method and apparatus, an electronic device and a storage medium, relating to the technical field of data processing, the main technical scheme comprising: receiving displacement information sent by a master terminal, and collecting a target contact force between a controlled terminal and a target object, the target object being a detection object of the controlled terminal (101); processing the displacement information and the target contact force to obtain a position change amount of the controlled end (102); and controlling the distance and direction of movement of the controlled end according to the position change amount (103). And controlling the tail end of the controlled end to move along the contact surface of the controlled end and the target object based on the position variable quantity, and controlling the displacement distance of the tail end of the controlled end based on the size of the position variable quantity, so that smooth movement of the tail end of the controlled end on the target object is realized, and the movement of the tail end of the controlled end better fits the curve of the target object.

Description

Robot position processing method and device, electronic device and storage medium Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a method and device for robot position processing, an electronic device, and a storage medium. Background Art

[0002] Robotic-assisted ultrasound examination refers to remote robotic ultrasound examinations. A robotic remote ultrasound diagnostic system consists of two subsystems: a physician-side system and a patient-side system. Professional ultrasound physicians can remotely control a patient-side ultrasound robot by operating the physician-side device to perform ultrasound examinations. With technological advancements, robotic remote ultrasound diagnostic systems are becoming increasingly popular. However, when using these robotic remote ultrasound diagnostic systems to examine patients, there is a problem with the ultrasound probe lags as it moves across the body.

[0003] Summary of the Invention

[0004] The present disclosure provides a method and apparatus for robot position processing, an electronic device, and a storage medium. The primary purpose of the method is to make the ultrasonic probe of the robotic remote ultrasonic diagnostic system move more smoothly and conform to the body's curves when moving over the human body, thereby improving the safety of ultrasonic examinations performed using the robotic remote ultrasonic diagnostic system.

[0005] According to a first aspect of the present disclosure, a method for processing a robot position is provided, the method being applied to a controlled end and comprising:

[0006] receiving displacement information sent by the master end, and collecting target contact force between the controlled end and a target object, the target object being a detection object of the controlled end;

[0007] Processing the displacement information and the target contact force to obtain a position change of the controlled end;

[0008] The distance and direction of movement of the controlled end are controlled according to the position change.

[0009] Optionally, the processing the displacement information and the target contact force to obtain the position change of the controlled end includes:

[0010] The position change is obtained by processing the displacement information and the target contact force based on the first controller.

[0011] Optionally, the processing the displacement information and the target contact force based on the first controller to obtain the position change includes:

[0012] In response to a control instruction from a master terminal, the first controller defines an end posture of the controlled terminal according to the control instruction, and the first controller controls a sensor to obtain the target contact force between the controlled terminal and a target object;

[0013] Obtaining a normal vector of a contact surface between the controlled end and the target object by performing calculation based on the first controller using the end posture and the target contact force;

[0014] generating a position vector on the contact surface of the target object based on the displacement information by the first controller, and performing a calculation based on the first controller using the normal vector and the position vector to obtain a first component of the position vector, where the first component is a vector perpendicular to a direction of the normal vector;

[0015] By setting the modulus of the first component to be the same as the modulus of the position vector, the position change of the controlled end is calculated based on the first controller, the direction of the position change is the same as the direction of the first component, and the magnitude of the position change is the same as the magnitude of the position vector.

[0016] Optionally, the controlling a sensor based on the first controller to obtain the target contact force between the controlled end and the target object includes:

[0017] The first controller controls a preset force sensor to obtain the target contact force between the controlled end and the target object, where the target contact force is a force of a preset amount and direction obtained by the preset force sensor.

[0018] Optionally, the obtaining of a normal vector of a contact surface between the controlled end and the target object by calculating based on the first controller using the end posture and the target contact force includes:

[0019] Performing matrix calculation using the end-point posture and the target contact force based on the first controller to obtain a target contact force vector;

[0020] The target contact force vector is normalized based on the first controller to obtain a normal vector of the contact surface between the controlled end and the target object.

[0021] Optionally, the calculating based on the first controller using the normal vector and the position vector to obtain the first component of the position vector includes:

[0022] Performing a dot product calculation using the normal vector and the position vector based on the first controller to obtain a second component of the position vector, where the second component is a vector in the direction of the normal vector;

[0023] The first controller performs a vector subtraction operation using the position vector and the second component to obtain a first component.

[0024] Optionally, when the actual contact force between the controlled end and the target object is greater than or less than a reference force, the method includes:

[0025] Obtaining a target contact force of the sensor z-axis, and defining the actual contact force as a force having the same magnitude and opposite direction as the target contact force of the sensor z-axis;

[0026] receiving the reference force sent by the main control end, and comparing the actual contact force with the reference force;

[0027] When it is determined that the actual contact force is less than the reference force, increasing the pressure of the controlled end on the target object;

[0028] When it is determined that the actual contact force is greater than the reference force, the pressure of the controlled end on the target object is reduced.

[0029] Optionally, when increasing or decreasing the pressure of the controlled terminal on the target object, the method further includes:

[0030] receiving the reference force sent by the master control end, comparing the actual contact force with the reference force, and obtaining a first target deviation;

[0031] Analyzing the first target deviation based on the second controller to obtain a change in the pressure increase or decrease of the controlled end terminal on the target object;

[0032] The pressure of the controlled end on the target object is increased or decreased according to the change amount.

[0033] Optionally, the analyzing the first target deviation based on the second controller to obtain a change in the pressure increase or decrease of the controlled terminal on the target object includes:

[0034] Setting a proportional gain and a differential gain, and performing a product calculation based on the second controller using the proportional gain and the first target deviation to obtain a first calculation result; and

[0035] performing a product calculation based on the second controller using the differential gain and the target deviation change to obtain a second calculation result, wherein the target deviation change is the difference between the first target deviation and the target deviation at a previous moment, and the target deviation is the difference between the reference force and the actual contact force;

[0036] The first calculation result and the second calculation result are summed based on the second controller to obtain the change amount.

[0037] According to a second aspect of the present disclosure, a method for processing a robot position is provided, the method being applied to a master control end and comprising:

[0038] Based on the connection between the master terminal and the controlled terminal, a control instruction is sent to the controlled terminal to control the controlled terminal to start the detection task, and a response information and image information of the controlled terminal is received;

[0039] The displacement information is sent to the controlled end so that the controlled end moves according to the displacement information, and the response information and the image information of the controlled end are received in real time.

[0040] Optionally, the method further includes:

[0041] The reference force is sent to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force and receives feedback information from the controlled end, where the target object is the detection object of the controlled end.

[0042] Optionally, the control instructions also include ultrasound control instructions and camera control instructions.

[0043] According to a third aspect of the present disclosure, a device for processing a robot position is provided, the device being applied to a controlled end and comprising:

[0044] a receiving unit, configured to receive the displacement information sent by the master terminal and collect the target contact force between the controlled terminal and a target object, the target object being a detection object of the controlled terminal;

[0045] a processing unit, configured to process the displacement information and the target contact force to obtain a position change of the controlled end;

[0046] The first control unit is used to control the distance and direction of movement of the controlled end according to the position change.

[0047] Optionally, the processing unit is further configured to:

[0048] The position change is obtained by processing the displacement information and the target contact force based on the first controller.

[0049] Optionally, the processing unit includes:

[0050] an acquisition module, configured to respond to a control instruction from a master end, define the terminal posture of the controlled end according to the control instruction based on the first controller, and acquire the target contact force between the controlled end and the target object by controlling a sensor based on the first controller;

[0051] a first calculation module, configured to calculate, based on the first controller, using the terminal posture and the target contact force to obtain a normal vector of a contact surface between the controlled terminal and the target object;

[0052] a generating module, configured to generate a position vector on the contact surface of the target object based on the displacement information based on the first controller, and to perform calculation based on the first controller using the normal vector and the position vector to obtain a first component of the position vector, where the first component is a vector perpendicular to a direction of the normal vector;

[0053] The second calculation module is used to calculate the position change of the controlled end based on the first controller by setting the modulus of the first component to be the same as the modulus of the position vector, the direction of the position change is the same as the direction of the first component, and the magnitude of the position change is the same as the magnitude of the position vector.

[0054] Optionally, the first calculation module is further configured to:

[0055] The first controller controls a preset force sensor to obtain the target contact force between the controlled end and the target object, where the target contact force is a force of a preset amount and direction obtained by the preset force sensor.

[0056] Optionally, the generating module is further configured to:

[0057] Performing matrix calculation using the end-point posture and the target contact force based on the first controller to obtain a target contact force vector;

[0058] The target contact force vector is normalized based on the first controller to obtain a normal vector of the contact surface between the controlled end and the target object.

[0059] Optionally, the generating module is further configured to:

[0060] Performing a dot product calculation using the normal vector and the position vector based on the first controller to obtain a second component of the position vector, where the second component is a vector in the direction of the normal vector;

[0061] The first controller performs a vector subtraction operation using the position vector and the second component to obtain a first component.

[0062] Optionally, the device further includes:

[0063] a definition unit, configured to obtain a target contact force of the sensor z-axis, and define the actual contact force as a force having the same magnitude and opposite direction as the target contact force of the sensor z-axis;

[0064] a comparing unit, configured to receive the reference force sent by the main control end, and compare the actual contact force with the reference force;

[0065] an increasing unit, configured to increase the pressure of the controlled end on the target object when it is determined that the actual contact force is less than the reference force;

[0066] A reducing unit is used to reduce the pressure of the controlled end on the target object when it is determined that the actual contact force is greater than the reference force.

[0067] Optionally, the device further includes:

[0068] a comparison unit, configured to receive the reference force sent by the master control end, compare the actual contact force with the reference force, and obtain a first target deviation;

[0069] An analyzing unit, configured to analyze the first target deviation based on the second controller to obtain a change in the pressure increase or decrease of the controlled end terminal on the target object;

[0070] The second control unit is configured to control the increase or decrease of the pressure exerted by the controlled end on the target object according to the change amount.

[0071] Optionally, the analysis unit includes:

[0072] a setting module, configured to set a proportional gain and a differential gain, and to obtain a first calculation result by multiplying the proportional gain and the first target deviation by the second controller; and

[0073] a first calculation module configured to perform a product calculation based on the second controller using the differential gain and a target deviation change to obtain a second calculation result, wherein the target deviation change is a difference between the first target deviation and a target deviation at a previous moment, and the target deviation is a difference between the reference force and the actual contact force;

[0074] The second calculation module is used to sum the first calculation result and the second calculation result based on the second controller to obtain the change.

[0075] According to a fourth aspect of the present disclosure, a device for processing a robot position is provided, the device being applied to a main control end and comprising:

[0076] a transceiver unit, configured to send a control instruction to the controlled terminal based on the connection between the master terminal and the controlled terminal, control the controlled terminal to start a detection task, and receive response information and image information from the controlled terminal; and

[0077] The displacement information is sent to the controlled end so that the controlled end moves according to the displacement information, and the response information and the image information of the controlled end are received in real time.

[0078] Optionally, the transceiver unit is further configured to:

[0079] The reference force is sent to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force and receives feedback information from the controlled end, where the target object is the detection object of the controlled end.

[0080] Optionally, the control instructions also include ultrasound control instructions and camera control instructions.

[0081] According to a fifth aspect of the present disclosure, there is provided an electronic device, including:

[0082] at least one processor; and

[0083] a memory communicatively connected to the at least one processor; wherein,

[0084] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect or the second aspect.

[0085] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described in the first aspect or the second aspect.

[0086] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method as described in the first or second aspect above.

[0087] The present disclosure provides a method, device, electronic device, and storage medium for robot position processing. The main technical solution includes: receiving displacement information sent by a master terminal and collecting a target contact force between the controlled terminal and a target object, the target object being the detection object of the controlled terminal; processing the displacement information and the target contact force to obtain a position change of the controlled terminal; and controlling the distance and direction of movement of the controlled terminal based on the position change. Compared with the related art, by receiving the displacement information sent by the master terminal and collecting the target contact force, processing the displacement information and the target contact force to obtain the position change of the controlled terminal, the controlled terminal is controlled to move along the contact surface between the controlled terminal and the target object based on the position change, and the displacement distance of the controlled terminal is controlled based on the magnitude of the position change. By controlling the movement of the controlled terminal along the contact surface between the controlled terminal and the target object, the controlled terminal is smoothly moved on the target object, and the movement of the controlled terminal is made to fit the curve of the target object more closely, thereby improving the safety of the controlled terminal when inspecting the target object.

[0088] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0090] FIG1 is a flow chart of a method for processing a robot position provided by an embodiment of the present disclosure.

[0091] FIG2 is a flow chart of another method for robot position processing provided by an embodiment of the present disclosure;

[0092] FIG3 is a schematic diagram of the structure of a controlled terminal provided by an embodiment of the present disclosure;

[0093] FIG4 is a schematic diagram of a hardware connection structure of a controlled terminal provided by an embodiment of the present disclosure;

[0094] FIG5 is a schematic diagram of the forces acting on a controlled terminal and a target object according to an embodiment of the present disclosure.

[0095] FIG6 is a schematic diagram of a robot force control process according to an embodiment of the present disclosure;

[0096] FIG7 is a schematic diagram of a controlled terminal moving on a target object based on a method for robot position processing provided by an embodiment of the present disclosure;

[0097] FIG8 is a schematic diagram of a main control terminal structure provided by an embodiment of the present disclosure;

[0098] FIG9 is a schematic diagram of a hardware connection structure of a master terminal provided by an embodiment of the present disclosure;

[0099] FIG10 is a flow chart of another method for robot position processing provided by an embodiment of the present disclosure;

[0100] FIG11 is a schematic diagram of a hardware connection between a master terminal and a controlled terminal provided by an embodiment of the present disclosure;

[0101] FIG12 is a schematic structural diagram of a device for processing a robot position according to an embodiment of the present disclosure;

[0102] FIG13 is a schematic structural diagram of another device for robot position processing provided by an embodiment of the present disclosure;

[0103] FIG14 is a schematic structural diagram of another device for processing robot positions provided by an embodiment of the present disclosure;

[0104] FIG15 is a schematic block diagram of an example electronic device 500 provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0105] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0106] The following describes the method, device, electronic device, and storage medium for robot position processing according to embodiments of the present disclosure with reference to the accompanying drawings.

[0107] FIG1 is a flow chart of a method for robot position processing provided in an embodiment of the present disclosure.

[0108] The method is applied to the controlled end, as shown in FIG1 , and includes the following steps:

[0109] Step 101: Receive displacement information sent by the master terminal, and collect target contact force between the controlled terminal and a target object, where the target object is a detection object of the controlled terminal.

[0110] As a refinement of the above-mentioned step 101, in order to realize the control of the controlled end, it is necessary to receive the displacement information sent by the main control end, and collect the target contact force between the controlled end and the target object. The target contact force is the force between the controlled end and the target object when the two are in contact. The displacement information is the control information sent by the main control end to control the movement of the controlled end. The target object is the detection object of the controlled end. For example: when an ultrasonic examination is performed on a person to be examined based on the controlled end, the person to be examined is the target object.

[0111] Step 102: Process the displacement information and the target contact force to obtain a position change of the controlled end.

[0112] As a refinement of the above step 102, in order to make the controlled end more compliant and conform to the surface of the target object during movement, the position change of the controlled end is obtained by processing the displacement information and the target contact force. The position change includes magnitude and direction.

[0113] Step 103: Control the moving distance and direction of the controlled terminal according to the position change.

[0114] As a refinement of the above step 103, in order to control the distance and direction of movement of the controlled end, the distance and direction of movement of the controlled end are controlled according to the position change, that is, the magnitude of the position change is the distance moved by the controlled end, and the direction of the position change is the direction of movement of the controlled end.

[0115] The present disclosure provides a method for robot position processing, the main technical solution of which includes: receiving displacement information sent by a master terminal, and collecting a target contact force between the controlled terminal and a target object, the target object being the detection object of the controlled terminal; processing the displacement information and the target contact force to obtain a position change of the controlled terminal; and controlling the distance and direction of movement of the controlled terminal based on the position change. Compared with the related art, by receiving the displacement information sent by the master terminal, collecting the target contact force, and processing the displacement information and the target contact force to obtain the position change of the controlled terminal, the method realizes controlling the movement of the controlled terminal along the contact surface between the controlled terminal and the target object based on the position change, and controlling the displacement distance of the controlled terminal based on the magnitude of the position change. By controlling the movement of the controlled terminal along the contact surface between the controlled terminal and the target object, the controlled terminal achieves smooth movement on the target object, and makes the movement of the controlled terminal more closely fit the curve of the target object, thereby improving the safety of the controlled terminal when inspecting the target object.

[0116] As a refinement of an embodiment of the present disclosure, when executing step 102 to process the displacement information and the target contact force to obtain the position change of the controlled end, the method may adopt but is not limited to the following implementation methods, for example: processing the displacement information and the target contact force based on the first controller to obtain the position change.

[0117] The first controller processes the displacement information and the target contact force to obtain the position change to control the movement of the controlled end.

[0118] FIG2 is a flow chart of another method for processing robot positions provided by an embodiment of the present disclosure. As shown in FIG2 , the method includes the following steps:

[0119] Step 201 : In response to a control instruction from a master terminal, the first controller defines the terminal posture of the controlled terminal according to the control instruction, and controls a sensor to obtain the target contact force between the controlled terminal and a target object based on the first controller.

[0120] As a refinement of the above-mentioned step 201, in order to describe the posture of the terminal end of the controlled end, the terminal posture of the terminal end of the controlled end is defined, and the terminal posture is a posture matrix. It should be understood that the present disclosure does not limit the terminal posture to the form of a posture matrix. The target contact force between the controlled end and the target object is obtained based on the force sensor. The force sensor can be but is not limited to a six-axis force sensor. In order to more clearly illustrate the acquisition scenario of the above-mentioned target contact force, an exemplary explanation is provided here. For example: when the terminal end of the controlled end is an ultrasonic probe and the target object is an ultrasonic detection object, that is, when the ultrasonic probe is used to detect the ultrasonic detection object, the six-axis force sensor above the ultrasonic probe is used to detect the target contact force corresponding to the ultrasonic detection. The target contact force includes forces of different axes obtained by the six-axis force sensor, for example, the force of the x-axis, the force of the y-axis, and the force of the z-axis.

[0121] Step 202: Calculating a normal vector of a contact surface between the controlled end and the target object using the end posture and the target contact force based on the first controller;

[0122] As a refinement of the above-mentioned step 202, the calculation is performed based on the end posture and the target contact force, that is, the calculation is performed based on the end posture and the force of each axis obtained by the force sensor to obtain the normal vector of the contact surface between the controlled end and the target object, and the normal vector of the contact surface of the target object is used to analyze subsequent parameters. The force of each axis of the force sensor is mentioned in the exemplary description of the above-mentioned step 201, that is, the force of the x-axis, the force of the y-axis, and the force of the z-axis obtained by the six-dimensional force sensor.

[0123] Step 203: generating a position vector on the contact surface of the target object based on the displacement information by the first controller, and performing a calculation by the first controller using the normal vector and the position vector to obtain a first component of the position vector, where the first component is a vector perpendicular to a direction of the normal vector.

[0124] As a refinement of step 203, to decompose the position vector and obtain a component perpendicular to the normal vector, the normal vector and the position vector are used to perform a calculation to obtain the first component. The position vector is generated by displacement information from the master terminal, for example, displacement information at a first moment and displacement information at a second moment sent by the master terminal. In this embodiment, the time interval between the second moment and the first moment is 8 ms, meaning the period for acquiring the displacement information is 8 ms. In practical scenarios, this embodiment does not limit the time interval between the second moment and the first moment to 8 ms. Based on the displacement information at the first moment and the displacement information at the second moment, displacement information of the master terminal's profiling probe that changes within 8 ms is calculated. The position vector is obtained based on the changed displacement information. The displacement information is movement information of the profiling probe collected by the master terminal's position sensor. It should be understood that the above-described method for acquiring displacement information is merely illustrative, and this embodiment does not limit the method by which the master terminal acquires displacement information.

[0125] Step 204, by setting the modulus of the first component to be the same as the modulus of the position vector, the position change of the controlled end is calculated based on the first controller, the direction of the position change is the same as the direction of the first component, and the magnitude of the position change is the same as the magnitude of the position vector.

[0126] As a refinement of the above embodiment, in order to make the distance that the controlled end moves along the direction of the first component equal to the size of the position vector, the modulus of the first component is set to be the same as the modulus of the position vector, and the position change of the controlled end is calculated under the above conditions. The position change is the size and direction of the displacement of the controlled end, wherein the direction of the position change is the same as the direction of the first component, and its size is the same as the size of the position vector.

[0127] To facilitate understanding of the present disclosure, Figure 3 is a schematic diagram of the structure of a controlled end provided in an embodiment of the present disclosure, and Figure 4 is a schematic diagram of the hardware connection structure of a controlled end provided in an embodiment of the present disclosure. As shown in Figure 3, the control end includes: a robotic arm, a six-dimensional force sensor, a main camera, a secondary camera, a display, a speaker and a host.

[0128] As a refinement of an embodiment of the present disclosure, when executing step 201 to obtain the target contact force between the controlled end and the target object based on the first controller controlling the sensor, the following implementation method can be adopted but not limited to, for example: based on the first controller controlling a preset force sensor to obtain the target contact force between the controlled end and the target object, the target contact force is a force of a preset quantity and direction obtained based on the preset force sensor.

[0129] The value obtained by the preset force sensor is low-pass filtered and gravity compensated to obtain the target contact force. The above-mentioned preset force sensor can be a six-axis force sensor, and its x-axis force, y-axis force and z-axis force are obtained based on the six-axis force sensor. The above description is only exemplary. This embodiment does not limit the type of the preset force sensor, nor does it limit the number and direction of the collected forces.

[0130] As a refinement of the above embodiment, when executing step 202 to perform calculation based on the first controller using the end posture and the target contact force to obtain the normal vector of the contact surface between the controlled end and the target object, the following implementation methods can be adopted but are not limited to, for example: performing matrix calculation based on the first controller using the end posture and the target contact force to obtain the target contact force vector; normalizing the target contact force vector based on the first controller to obtain the normal vector of the contact surface between the controlled end and the target object.

[0131] Figure 5 is a schematic diagram of the forces acting on a controlled end and a target object, provided by an embodiment of the present disclosure. As shown in Figure 5 , the diagram includes: a position vector deltaP, and a resultant force F obtained by a preset force sensor. To achieve flexible motion of the controlled end over the target object, it is necessary to estimate the inclination angle of the target object's surface in real time and then redirect the displacement to be aligned with the human body surface. In this embodiment, information from the force sensor is used to estimate the inclination of the target object's surface.

[0132] During the contact between the probe and the human body, if the friction force is ignored, it can be assumed that the direction of the resultant contact force between the probe and the human body is perpendicular to the contact plane.

[0133] In order to more intuitively demonstrate the calculation process of the end-point posture and the target contact force, the following formula is used for explanation, for example:

[0134] The posture vector is defined as R = [Vx, Vy, Vz], where Vx, Vy, and Vz represent the unit column vectors in the directions of the three coordinate axes respectively. The target contact force includes forces in three different directions, namely Fx contact ,Fy contact ,Fz contact, the target contact force vector is V F , where the target contact force vector is the resultant force vector of the target contact force in the directions of the three unit column vectors Vx, Vy, and Vz. The target contact force vector solution formula is constructed as shown in formula (1): V F =Fx contact *Vx+Fy contact *Vy+Fz contact *Vz formula (1)

[0135] The target contact force vector V F Perform normalization processing to obtain the normal vector of the contact surface between the controlled end and the target object, wherein the normalization process is shown by formula (2):

[0136] The above formula (2) shows is the normal vector of the contact surface between the controlled end and the target object, V F (0), V F (1) V F (2) represents the target contact force vector V F The three components.

[0137] As a refinement of the above embodiment, when executing step 203, in which the first controller uses the normal vector and the position vector to perform calculations to obtain the first component of the position vector, the following implementation methods can be adopted but are not limited to, for example: based on the first controller, the normal vector and the position vector are used to perform dot product calculations to obtain the second component of the position vector, where the second component is a vector in the direction of the normal vector; based on the first controller, the position vector and the second component are used to perform vector subtraction operations to obtain the first component.

[0138] In order to more intuitively demonstrate the calculation process of the first component and the second component, an explanation is given here based on the formula, for example:

[0139] In the above detailed description, it is known that the normal vector The position vector is calculated from the displacement information at different times. The position vector can be obtained by the following formula, for example:

[0140] The displacement information at the first moment is Position = [x1, y1, z1], and the displacement information at the second moment is Position pre =[x2, y2, z2], where the displacement information at the first moment and the displacement information at the second moment are vector information sent by the master end. The position vector deltaP is solved as shown in formula (3):

[0141] Among them, deltaP.x, deltaP.y, deltaP.z are the coordinates of the position vector deltaP in the x-axis, y-axis, and z-axis of the coordinate system. Similarly, x1, y1, z1 are the coordinates of the displacement information in the x-axis, y-axis, and z-axis of the coordinate system at the first moment; x2, y2, z2 are the coordinates of the displacement information in the x-axis, y-axis, and z-axis of the coordinate system at the second moment.

[0142] The normal vector is known The position vector deltaP is used to construct a solution formula for the second component deltaP2, as shown in formula (4):

[0143] Construct a solution formula for the first component deltaP1, as shown in formula (5): deltaP1 = deltaP - deltaP2 Formula (5)

[0144] As a refinement of the above embodiment, by setting the modulus of the first component deltaP1 to be the same as the modulus of the position vector deltaP, the position change moveP of the controlled end is calculated. Then, the solution formula for the position change moveP is shown in formula (6):

[0145] Among them, deltaP(0), deltaP(1), and deltaP(2) respectively represent the components of the position change moveP on each coordinate axis, and deltaP1(0), deltaP1(1), and deltaP1(2) respectively represent the components of the first component deltaP1 on each coordinate axis.

[0146] As a refinement of the above embodiment, when the actual contact force between the controlled end and the target object is greater than or less than the reference force, the method can also adopt but is not limited to the following implementation methods, for example: obtaining the target contact force of the sensor z-axis, defining the actual contact force as a force with the same magnitude and opposite direction as the target contact force of the sensor z-axis; receiving the reference force sent by the main control end, and comparing the actual contact force with the reference force; when it is determined that the actual contact force is less than the reference force, increasing the pressure of the controlled end on the target object; when it is determined that the actual contact force is greater than the reference force, reducing the pressure of the controlled end on the target object.

[0147] As a refinement of the above embodiment, in order to achieve force control of the controlled end, the actual contact force is compared with the reference force sent by the main control end to achieve force control of the controlled end. The reference force is reference information of the force between the controlled end and the target object. The force of the controlled end on the target object is controlled based on the reference force. That is, when the force between the controlled end and the target object is too large, the force is reduced by controlling the controlled end to move away from the target detection object. When the force between the controlled end and the target object is too small, it means that the controlled end is too far away from the target object, and the controlled end is controlled to be close to the target object to ensure the accuracy of the detection.

[0148] As a refinement of the above embodiment, when increasing or decreasing the pressure of the controlled end terminal on the target object, the method can also adopt but is not limited to the following implementation methods, for example: receiving the reference force sent by the main control end, comparing the actual contact force with the reference force, and obtaining a first target deviation; analyzing the first target deviation based on the second controller to obtain the change in the increase or decrease in the pressure of the controlled end terminal on the target object; and controlling the increase or decrease in the pressure of the controlled end terminal on the target object according to the change.

[0149] As a refinement of the above embodiment, in order to obtain the change in the increase or decrease in the pressure of the controlled end on the target object, the second controller analyzes the first target deviation to obtain the change, and then controls the increase or decrease in the pressure of the controlled end on the target object according to the change.

[0150] As a refinement of the above embodiment, when the first target deviation is analyzed based on the second controller to obtain the change in the increase or decrease in the pressure of the controlled end on the target object, the method can also adopt but is not limited to the following implementation methods, for example: setting a proportional gain and a differential gain, and using the proportional gain and the first target deviation to perform a product calculation based on the second controller to obtain a first calculation result; and using the differential gain and the target deviation change to perform a product calculation based on the second controller to obtain a second calculation result, the target deviation change is the difference between the first target deviation and the target deviation at the previous moment, and the target deviation is the difference between the reference force and the actual contact force; based on the second controller, the first calculation result and the second calculation result are summed to obtain the change.

[0151] In order to more clearly illustrate the steps of the above embodiment, the following part describes the above steps in combination with formulas, and the specific description is as follows:

[0152] Get the force Fz of the sensor z axis contact , define the actual contact force F true =-Fz contact , receiving the reference force F sent by the master end desire , when F z Less than F desire When F z Greater than F desire When , the robot arm moves in the direction close to the target object. Assume that the control output of the robot arm's posture direction position each time is P control , then: P control =K p *E f +K d *ΔE f Formula (7)

[0153] Among them, K p and K d are proportional gain and differential gain respectively, E f is the error, ΔE f is the error differential, E f =F desire -F true , ΔE f =E f -E f_previous , E f_previous is the error at the previous moment.

[0154] Corresponding to the control of the posture, direction and position of the above-mentioned robotic arm, Figure 5 is a schematic diagram of a robot force control process provided by an embodiment of the present disclosure, as shown in Figure 6, which mainly includes a proportional differential controller, a robot system, and an acquisition unit for force control analysis.

[0155] FIG7 is a schematic diagram of a controlled end moving on a target object based on a robot position processing method provided by an embodiment of the present disclosure. As shown in FIG7 , the controlled end moves closely along the surface curve of the target object.

[0156] To facilitate understanding of the disclosed solution, FIG8 is a schematic diagram of a main control terminal structure provided by an embodiment of the present disclosure. FIG8 is a schematic diagram of a hardware connection structure of a main control terminal provided by an embodiment of the present disclosure. As shown in FIG7 , the main control terminal includes: the main control terminal comprises a host, a robot console, dual displays, an ultrasound control panel, a camera, a voice pickup, a speaker, a camera control joystick, and other modules. The doctor can manipulate the robot console to control the remote robotic arm. The console consists of a contouring probe, a position sensor, and a pressure sensor. The console has six degrees of freedom. The posture sensor has three rotational degrees of freedom, the position sensor has two horizontal degrees of freedom, and the "UP button" and the pressure sensor correspond to one degree of freedom for up and down movement.

[0157] FIG10 is a flow chart of another method for processing robot positions according to an embodiment of the present disclosure. As shown in FIG10 , the method is applied to a master control end and includes:

[0158] Step 301 : Based on the connection between the master terminal and the controlled terminal, a control instruction is sent to the controlled terminal to control the controlled terminal to start a detection task, and response information and image information of the controlled terminal are received.

[0159] As a refinement of the above-mentioned step 301, in order to realize communication between the master control end and the controlled end, the master control end and the controlled end are connected. Based on the connection relationship, the master control end sends a control instruction to the controlled end to control the controlled end to start a detection task, and the detection task includes but is not limited to ultrasonic inspection. After receiving the control instruction sent by the master control end, the controlled end responds to the control instruction and replies with a response message to the master control end. After collecting the image information of the ultrasonic detection, the controlled end transmits the image information to the master control end, that is, the master control end receives the image information. The above-mentioned description of data interaction between the master control end and the controlled end is merely exemplary, and this embodiment does not limit the content and method of data interaction.

[0160] Step 302 : Sending displacement information to the controlled terminal so that the controlled terminal moves according to the displacement information and receives the response information and the image information from the controlled terminal in real time.

[0161] As a refinement of the above step 302, displacement information is sent to the controlled end, the controlled end moves according to the displacement information, and receives the response information and the image information of the controlled end in real time. In a scenario, the console of the main control end is operated to control the movement of the robotic arm of the controlled end to perform ultrasonic detection and inspection, and the controlled end transmits the ultrasonic image detected when the robotic arm moves to the main control end in real time.

[0162] As a refinement of the above embodiment, the method applied to the master end also includes but is not limited to the following contents, for example: sending a reference force to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force, and receives feedback information from the controlled end, where the target object is the detection object of the controlled end.

[0163] As a refinement of the above embodiment, in order to adjust the contact force between the controlled end and the target object, the master end sends a reference force to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force, and the master end feeds back the pressure information between it and the target object to the master end in real time. The pressure information is part of the feedback information. This embodiment does not limit the content of the feedback information.

[0164] As a refinement of the above embodiment, the control instructions also include ultrasonic control instructions and camera control instructions.

[0165] The ultrasonic detection of the controlled end is controlled by the ultrasonic control instruction, and the camera of the controlled end is controlled by the camera control instruction.

[0166] In order to more clearly illustrate the connection relationship between the controlled end and the master end, FIG11 is a schematic diagram of the hardware connection between the master end and the controlled end provided in this embodiment. As shown in FIG11 , the master end and the controlled end both include cameras and voice pickups, and can capture audio and video through the pickups and the main / auxiliary cameras. The controlled end host can also capture ultrasonic images from the ultrasound machine through a video capture card. Through audio and video transmission technology, the captured audio and video and ultrasonic images will be sent to the other end via the network, thus realizing remote audio and video communication. At the same time, the master end can capture robot control instructions through the operator system, ultrasonic control instructions through the ultrasonic control panel, and camera control instructions through the camera control joystick. These instructions can all be sent to the controlled end via the network. The controlled end host can receive robot control instructions and camera control instructions from the master end via the network. The controlled end processor processes the robot control instructions sent by the master end and sends them to the robotic arm system, which can perform real-time control of position, posture, and force. Ultrasonic control instructions and main camera control instructions will also be sent to the ultrasound host and main camera in real time through the controlled end processor to achieve remote control of ultrasound and camera.

[0167] In summary, this embodiment can achieve the following effects:

[0168] 1. Controlling the displacement distance of the controlled terminal based on the magnitude of the position change, and controlling the controlled terminal to move along the contact surface between the controlled terminal and the target object, thereby achieving smooth movement of the controlled terminal on the target object and making the movement of the controlled terminal more closely fit the curve of the target object, thereby improving the safety of the controlled terminal when inspecting the target object.

[0169] 2. By calculating the first component of the position vector in the contact surface between the controlled end and the target object, the position change of the controlled end is calculated based on the first component, and the direction of the position change is the same as the direction of the first component, so that when the controlled end moves, the controlled end is controlled to move along the contact surface between it and the target object based on the position change.

[0170] Corresponding to the aforementioned method for processing robot position, the present disclosure also provides a device for processing robot position. Since the device embodiments of the present disclosure correspond to the aforementioned method embodiments, details not disclosed in the device embodiments can be referred to the aforementioned method embodiments and will not be further elaborated in this disclosure.

[0171] FIG12 is a schematic diagram of the structure of a device for processing a robot position according to an embodiment of the present disclosure. As shown in FIG12 , the device is applied to a controlled end and includes:

[0172] The receiving unit 41 is configured to receive the displacement information sent by the master terminal and collect the target contact force between the controlled terminal and the target object, where the target object is the detection object of the controlled terminal;

[0173] a processing unit 42 for processing the displacement information and the target contact force to obtain a position change of the controlled end;

[0174] The first control unit 43 is configured to control the distance and direction of movement of the controlled terminal according to the position change.

[0175] The present disclosure provides a robot position processing device, the main technical solution of which includes: receiving displacement information sent by a master terminal, and collecting a target contact force between the controlled terminal and a target object, the target object being the detection object of the controlled terminal; processing the displacement information and the target contact force to obtain a position change of the controlled terminal; and controlling the distance and direction of movement of the controlled terminal based on the position change. Compared with the related art, by receiving the displacement information sent by the master terminal, collecting the target contact force, and processing the displacement information and the target contact force to obtain the position change of the controlled terminal, the controlled terminal is controlled to move along the contact surface between the controlled terminal and the target object based on the position change, and the displacement distance of the controlled terminal is controlled based on the magnitude of the position change. By controlling the movement of the controlled terminal along the contact surface between the controlled terminal and the target object, the controlled terminal is smoothly moved on the target object, and the movement of the controlled terminal is made to fit the curve of the target object more closely, thereby improving the safety of the controlled terminal when inspecting the target object.

[0176] FIG13 is a schematic diagram of the structure of another device for processing the position of a robot provided by an embodiment of the present disclosure. As shown in FIG13 , the device is applied to a controlled end, and the processing unit 42 is further configured to:

[0177] The position change is obtained by processing the displacement information and the target contact force based on the first controller.

[0178] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the processing unit 42 includes:

[0179] an acquisition module 421 configured to respond to a control instruction from a master terminal, define the terminal posture of the controlled terminal according to the control instruction based on the first controller, and acquire the target contact force between the controlled terminal and the target object by controlling a sensor based on the first controller;

[0180] A first calculation module 422 is configured to calculate, based on the first controller, the terminal posture and the target contact force to obtain a normal vector of the contact surface between the controlled terminal and the target object;

[0181] a generating module 423 configured to generate, based on the first controller and the displacement information, a position vector on the contact surface of the target object, and to perform a calculation based on the first controller using the normal vector and the position vector to obtain a first component of the position vector, where the first component is a vector perpendicular to a direction of the normal vector;

[0182] The second calculation module 424 is used to calculate the position change of the controlled end based on the first controller by setting the modulus of the first component to be the same as the modulus of the position vector, the direction of the position change is the same as the direction of the first component, and the magnitude of the position change is the same as the magnitude of the position vector.

[0183] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the first calculation module 422 is further configured to:

[0184] The first controller controls a preset force sensor to obtain the target contact force between the controlled end and the target object, where the target contact force is a force of a preset amount and direction obtained by the preset force sensor.

[0185] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the generating module 423 is further configured to:

[0186] Performing matrix calculation using the end-point posture and the target contact force based on the first controller to obtain a target contact force vector;

[0187] The target contact force vector is normalized based on the first controller to obtain a normal vector of the contact surface between the controlled end and the target object.

[0188] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the generating module 423 is further configured to:

[0189] Performing a dot product calculation using the normal vector and the position vector based on the first controller to obtain a second component of the position vector, where the second component is a vector in the direction of the normal vector;

[0190] The first controller performs a vector subtraction operation using the position vector and the second component to obtain a first component.

[0191] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the apparatus further includes:

[0192] a defining unit 44 for obtaining a target contact force of the sensor z-axis and defining the actual contact force as a force having the same magnitude and opposite direction as the target contact force of the sensor z-axis;

[0193] a comparison unit 45, configured to receive the reference force sent by the main control end and compare the actual contact force with the reference force;

[0194] an increasing unit 46, configured to increase the pressure of the controlled end on the target object when it is determined that the actual contact force is less than the reference force;

[0195] The reducing unit 47 is configured to reduce the pressure of the controlled end on the target object when it is determined that the actual contact force is greater than the reference force.

[0196] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the apparatus further includes:

[0197] a comparison unit 48, configured to receive the reference force sent by the master control end, compare the actual contact force with the reference force, and obtain a first target deviation;

[0198] An analyzing unit 49 is configured to analyze the first target deviation based on the second controller to obtain a change in the pressure increase or decrease of the controlled terminal on the target object;

[0199] The second control unit 410 is configured to control the increase or decrease of the pressure exerted by the controlled terminal on the target object according to the change amount.

[0200] Furthermore, in a possible implementation of this embodiment, as shown in FIG13 , the analyzing unit 49 includes:

[0201] A setting module 491 is configured to set a proportional gain and a differential gain, and obtain a first calculation result by multiplying the proportional gain and the first target deviation based on the second controller; and

[0202] a first calculation module 492 configured to perform a product calculation based on the second controller using the differential gain and a target deviation change to obtain a second calculation result, wherein the target deviation change is a difference between the first target deviation and a target deviation at a previous moment, and the target deviation is a difference between the reference force and the actual contact force;

[0203] The second calculation module 493 is configured to perform a sum calculation on the first calculation result and the second calculation result based on the second controller to obtain the variation.

[0204] FIG14 is a schematic diagram of the structure of another device for processing the position of a robot provided by an embodiment of the present disclosure. As shown in FIG14 , the device is applied to a main control end and includes:

[0205] The transceiver unit 51 is used to send a control instruction to the controlled terminal based on the connection between the master terminal and the controlled terminal, control the controlled terminal to start the detection task, and receive the response information and image information of the controlled terminal; and

[0206] The displacement information is sent to the controlled end so that the controlled end moves according to the displacement information, and the response information and the image information of the controlled end are received in real time.

[0207] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the transceiver unit 51 is further configured to:

[0208] The reference force is sent to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force and receives feedback information from the controlled end, where the target object is the detection object of the controlled end.

[0209] Furthermore, in a possible implementation of this embodiment, the control instruction also includes an ultrasound control instruction and a camera control instruction.

[0210] It should be noted that the above explanation of the method embodiment is also applicable to the device of this embodiment, and the principles are the same, which is not limited in this embodiment.

[0211] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0212] FIG15 shows a schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0213] As shown in Figure 15, the device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 602 or a computer program loaded from a storage unit 608 into a RAM (Random Access Memory) 603. Various programs and data required for the operation of the device 600 can also be stored in the RAM 603. The computing unit 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An I / O (Input / Output) interface 605 is also connected to the bus 604.

[0214] Various components in device 600 are connected to I / O interface 605, including an input unit 606, such as a keyboard, mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a magnetic disk, optical disk, etc.; and a communication unit 609, such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows device 600 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0215] The computing unit 601 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), various specialized AI (Artificial Intelligence) computing chips, various computing units that run machine learning model algorithms, a DSP (Digital Signal Processor), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the robot position processing method. For example, in some embodiments, the robot position processing method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method described above can be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to execute the aforementioned robot position processing method in any other appropriate manner (for example, by means of firmware).

[0216] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System on Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0217] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0218] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0219] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0220] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0221] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0222] It's important to note that artificial intelligence (AI) is the study of how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). This encompasses both hardware and software technologies. AI hardware technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily encompass computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graphs.

[0223] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0224] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for robot position processing, characterized in that: The method is applied to the controlled end, and includes: Receiving displacement information sent by the master end, and collecting the target contact force between the controlled end and the target object, the target object being the detection object of the controlled end; Processing the displacement information and the target contact force to obtain a position change of the controlled end; The moving distance and direction of the controlled end are controlled according to the position change.

2. The method according to claim 1, characterized in that The processing of the displacement information and the target contact force to obtain the position change of the controlled end includes: The displacement information and the target contact force are processed based on the first controller to obtain the position change.

3. The method according to claim 2, characterized in that The processing of the displacement information and the target contact force based on the first controller to obtain the position change comprises: In response to a control instruction of the master end, the first controller defines the terminal posture of the controlled end according to the control instruction, and the first controller controls the sensor to obtain the target contact force between the controlled end and the target object; Based on the calculation performed by the first controller using the end posture and the target contact force, a normal vector of the contact surface between the controlled end and the target object is obtained; Based on the first controller generating a position vector in the contact surface of the target object according to the displacement information, and based on the first controller using the normal vector and the position vector to perform calculation, a first component of the position vector is obtained, where the first component is a vector perpendicular to the direction of the normal vector; By setting the modulus of the first component to be the same as the modulus of the position vector, the position change of the controlled end is calculated based on the first controller, the direction of the position change is the same as the direction of the first component, and the magnitude of the position change is the same as the magnitude of the position vector.

4. The method according to claim 3, characterized in that The controlling the sensor based on the first controller to obtain the target contact force between the controlled end and the target object includes: Based on the first controller controlling a preset force sensor, the target contact force between the controlled end and the target object is obtained, and the target contact force is a force of a preset amount and direction obtained based on the preset force sensor.

5. The method according to claim 3, characterized in that: The step of calculating based on the first controller using the end posture and the target contact force to obtain a normal vector of a contact surface between the controlled end and the target object includes: Based on the first controller using the end posture and the target contact force to perform matrix calculation Calculate and obtain the target contact force vector; The target contact force vector is normalized based on the first controller to obtain a normal vector of the contact surface between the controlled end and the target object.

6. The method according to claim 3, characterized in that: The obtaining the first component of the position vector by calculating based on the first controller using the normal vector and the position vector comprises: Performing a dot product calculation using the normal vector and the position vector based on the first controller to obtain a second component of the position vector, where the second component is a vector in the direction of the normal vector; The first controller performs a vector subtraction operation using the position vector and the second component to obtain a first component.

7. The method according to claim 1, characterized in that When the actual contact force between the controlled end and the target object is greater than or less than the reference force, the method includes: Obtaining a target contact force of the sensor z-axis, and defining the actual contact force as a force having the same magnitude and opposite direction as the target contact force of the sensor z-axis; receiving the reference force sent by the main control end, and comparing the actual contact force with the reference force; When it is determined that the actual contact force is less than the reference force, increasing the pressure of the controlled end on the target object; When it is determined that the actual contact force is greater than the reference force, the pressure of the controlled end on the target object is reduced.

8. The method according to claim 7, characterized in that When increasing or decreasing the pressure of the controlled end on the target object, the method further includes: receiving the reference force sent by the main control end, comparing the actual contact force with the reference force, and obtaining a first target deviation; Analyzing the first target deviation based on the second controller to obtain a change in the pressure increase or decrease of the controlled end terminal on the target object; The pressure of the controlled end on the target object is increased or decreased according to the change amount.

9. The method according to claim 8, characterized in that The analyzing the first target deviation based on the second controller to obtain the change in the pressure increase or decrease of the controlled end terminal on the target object includes: Setting a proportional gain and a differential gain, and performing a product calculation based on the second controller using the proportional gain and the first target deviation to obtain a first calculation result; and The second controller uses the differential gain and the target deviation change to perform a product calculation to obtain a second calculation result, wherein the target deviation change is the difference between the first target deviation and the target deviation at a previous moment, and the target deviation is the difference between the reference force and the actual contact force; The first calculation result and the second calculation result are summed up based on the second controller to obtain the change amount.

10. A method for robot position processing, characterized in that: include: Based on the connection between the master terminal and the controlled terminal, a control instruction is sent to the controlled terminal to control the controlled terminal to start the detection task, and receive the response information and image information of the controlled terminal; The displacement information is sent to the controlled end so that the controlled end moves according to the displacement information, and the response information and the image information of the controlled end are received in real time.

11. The method according to claim 10, characterized in that The method further comprises: The reference force is sent to the controlled end so that the controlled end controls the actual contact force between its end and the target object according to the reference force, and receives feedback information from the controlled end, wherein the target object is the detection object of the controlled end.

12. The method according to claim 10, characterized in that The control instructions also include ultrasound control instructions and camera control instructions.

13. A robot position processing device, characterized in that: The device is applied to a controlled end and includes: A receiving unit, used to receive the displacement information sent by the master end, and collect the target contact force between the controlled end and the target object, wherein the target object is the detection object of the controlled end; A processing unit, used for processing the displacement information and the target contact force to obtain a position change of the controlled end; The first control unit is used to control the moving distance and direction of the controlled end according to the position change.

14. A device for robot position processing, characterized in that: The device is applied to a main control end, and comprises: a transceiver unit, configured to send a control instruction to the controlled end based on the connection between the master end and the controlled end, control the controlled end to start a detection task, and receive response information and image information from the controlled end; and The displacement information is sent to the controlled end so that the controlled end moves according to the displacement information, and the response information and the image information of the controlled end are received in real time.

15. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9 or 10-12.

16. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9 or 10-12.

17. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1-9 or 10-12.

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