Method and apparatus for robot position processing, electronic device, and storage medium

Abstract

The method and device for robot position processing, electronic equipment and storage medium relate to the technical field of data processing, and the main technical scheme comprises the following steps: receiving displacement information sent by a master control end, collecting target contact force between a controlled end and a target object, and the target object is a detection object (101) of the controlled end; 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 the movement of the controlled end according to the position change amount (103). The end of the controlled end is controlled to move along the contact surface of the target object based on the position change amount, and the displacement distance of the end of the controlled end is controlled based on the size of the position change amount, so that the smooth movement of the end of the controlled end on the target object is realized, and the movement of the end of the controlled end is more in line with the curve of the target object.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and in particular to a method and apparatus for robot position processing, electronic equipment, and storage medium. Background Technology

[0002] Robot-assisted ultrasound examination refers to remote robotic ultrasound examination. A robotic remote ultrasound diagnostic system comprises two subsystems: a doctor's end and a patient's end. A professional ultrasound physician can remotely control the ultrasound robot at the patient's end to perform ultrasound examinations. With technological advancements, robotic remote ultrasound diagnostic systems are becoming increasingly common. However, when using such a system to examine a patient, a problem exists: the ultrasound probe moves sluggishly over the body. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for robot position processing. Its main objective is to enable the ultrasound probe of the robotic remote ultrasound diagnostic system to move more smoothly and conform to the curves of the human body when moving on it, thereby improving the safety of ultrasound examinations based on the robotic remote ultrasound diagnostic system.

[0004] According to a first aspect of this disclosure, a method for robot position processing is provided, the method being applied to a controlled end, comprising:

[0005] The system receives displacement information sent by the master control terminal and collects the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal.

[0006] The displacement information and the target contact force are processed to obtain the position change of the controlled end.

[0007] The distance and direction of movement of the controlled end are controlled based on the change in position.

[0008] Optionally, processing the displacement information and the target contact force to obtain the position change of the controlled end includes:

[0009] The displacement information and the target contact force are processed by the first controller to obtain the position change.

[0010] Optionally, the step of processing the displacement information and the target contact force based on the first controller to obtain the position change includes:

[0011] In response to the control command from the master control unit, the first controller defines the end posture of the controlled end according to the control command, and controls the sensor to obtain the target contact force between the controlled end and the target object based on the first controller;

[0012] Based on the calculation performed by the first controller using the end-effector posture and the target contact force, the normal vector of the contact surface between the controlled end and the target object is obtained;

[0013] Based on the displacement information, the first controller generates a position vector in the contact surface of the target object, and calculates the first component of the position vector using the normal vector and the position vector. The first component is a vector perpendicular to the direction of the normal vector.

[0014] By setting the magnitude of the first component to be the same as the magnitude 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.

[0015] Optionally, the step of acquiring the target contact force between the controlled end and the target object based on the sensor controlled by the first controller includes:

[0016] The first controller controls a preset force sensor to acquire the target contact force between the controlled end and the target object. The target contact force is a preset quantity and direction of force acquired by the preset force sensor.

[0017] Optionally, the step of calculating the normal vector of the contact surface between the controlled end and the target object based on the end-effector's attitude and the target contact force using the first controller includes:

[0018] Based on the matrix calculation performed by the first controller using the end-effector posture and the target contact force, the target contact force vector is obtained;

[0019] The normal vector of the contact force vector between the controlled end and the target object is obtained by normalizing the target contact force vector based on the first controller.

[0020] Optionally, the step of calculating the first component of the position vector based on the first controller using the normal vector and the position vector includes:

[0021] Based on the first controller performing a dot product calculation using the normal vector and the position vector, a second component of the position vector is obtained, where the second component is a vector in the direction of the normal vector.

[0022] The first component is obtained by subtracting the position vector and the second component using the first controller.

[0023] Optionally, 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:

[0024] Obtain the target contact force along the z-axis of the sensor, and define the actual contact force as a force that is the same in magnitude and opposite in direction to the target contact force along the z-axis of the sensor;

[0025] Receive the reference force sent by the main control terminal, and compare the actual contact force with the reference force;

[0026] When it is determined that the actual contact force is less than the reference force, the pressure of the controlled end on the target object is increased;

[0027] 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.

[0028] Optionally, when increasing or decreasing the pressure of the controlled end on the target object, the method further includes:

[0029] The reference force sent by the main control terminal is received, and the actual contact force is compared with the reference force to obtain the first target deviation;

[0030] Based on the analysis of the first target deviation by the second controller, the change in the pressure of the controlled end on the target object is obtained;

[0031] The pressure exerted on the target object by the controlled end is increased or decreased based on the change amount.

[0032] Optionally, the step of analyzing the first target deviation based on the second controller to obtain the change in pressure increase or decrease of the controlled end on the target object includes:

[0033] The proportional gain and derivative gain are set, and a first calculation result is obtained by multiplying the proportional gain with the first target deviation using the second controller; and

[0034] The second controller calculates a second result by multiplying the differential gain with the target deviation change. The target deviation change is the difference between the first target deviation and the target deviation at the previous moment. The target deviation is the difference between the reference force and the actual contact force.

[0035] The change is obtained by summing the first calculation result and the second calculation result based on the second controller.

[0036] According to a second aspect of this disclosure, a method for robot position processing is provided, the method being applied to a master control terminal, comprising:

[0037] Based on the connection between the master control terminal and the controlled terminal, control commands are sent to the controlled terminal to control the controlled terminal to start the detection task, and the response information and image information of the controlled terminal are received.

[0038] Displacement information is sent to the controlled terminal so that the controlled terminal can move according to the displacement information, and the controlled terminal can receive the response information and the image information in real time.

[0039] Optionally, the method further includes:

[0040] A reference force is sent to the controlled end so that the controlled end can control the actual contact force between its end and the target object according to the reference force, and receive feedback information from the controlled end, wherein the target object is the detection object of the controlled end.

[0041] Optionally, the control commands may also include ultrasonic control commands and camera control commands.

[0042] According to a third aspect of this disclosure, a robot position processing apparatus is provided, the apparatus being applied to a controlled end, comprising:

[0043] The receiving unit is used to receive displacement information sent by the master control terminal and to collect the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal;

[0044] The processing unit is used to process the displacement information and the target contact force to obtain the position change of the controlled end;

[0045] The first control unit is used to control the distance and direction of movement of the controlled end based on the position change.

[0046] Optionally, the processing unit is further configured to:

[0047] The displacement information and the target contact force are processed by the first controller to obtain the position change.

[0048] Optionally, the processing unit includes:

[0049] The acquisition module is used to respond to the control command of the master control terminal, define the end posture of the controlled terminal according to the control command based on the first controller, and control the sensor to acquire the target contact force between the controlled terminal and the target object based on the first controller;

[0050] The first calculation module is used to calculate, based on the end attitude and the target contact force used by the first controller, to obtain the normal vector of the contact surface between the controlled end and the target object;

[0051] The generation module is used to generate a position vector in the contact surface of the target object based on the displacement information according to the first controller, and to calculate the first component of the position vector based on the normal vector and the position vector using the first controller. The first component is a vector perpendicular to the direction of the normal vector.

[0052] The second calculation module is used to calculate the position change of the controlled end based on the first controller by setting the magnitude of the first component to be the same as the magnitude 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.

[0053] Optionally, the first calculation module is further configured to:

[0054] The first controller controls a preset force sensor to acquire the target contact force between the controlled end and the target object. The target contact force is a preset quantity and direction of force acquired by the preset force sensor.

[0055] Optionally, the generation module is further configured to:

[0056] Based on the matrix calculation performed by the first controller using the end-effector posture and the target contact force, the target contact force vector is obtained;

[0057] The normal vector of the contact force vector between the controlled end and the target object is obtained by normalizing the target contact force vector based on the first controller.

[0058] Optionally, the generation module is further configured to:

[0059] Based on the first controller performing a dot product calculation using the normal vector and the position vector, a second component of the position vector is obtained, where the second component is a vector in the direction of the normal vector.

[0060] The first component is obtained by subtracting the position vector and the second component using the first controller.

[0061] Optionally, the device further includes:

[0062] A definition unit is used to obtain the target contact force of the sensor along the z-axis, and the actual contact force is defined as a force that is the same in magnitude and opposite in direction to the target contact force of the sensor along the z-axis;

[0063] The comparison unit is used to receive the reference force sent by the main control terminal and compare the actual contact force with the reference force.

[0064] An amplification unit is used 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;

[0065] The 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.

[0066] Optionally, the device further includes:

[0067] The comparison unit is used to receive the reference force sent by the main control terminal, compare the actual contact force with the reference force, and obtain the first target deviation;

[0068] The analysis unit is used to analyze the first target deviation based on the second controller to obtain the amount of increase or decrease in pressure of the controlled end on the target object;

[0069] The second control unit is used to control the increase or decrease of the pressure of the controlled end on the target object according to the change.

[0070] Optionally, the analysis unit includes:

[0071] A setting module is used to set the proportional gain and derivative gain, and to calculate a first calculation result based on the product of the proportional gain and the first target deviation using the second controller; and

[0072] The first calculation module is used to perform 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 the previous moment, and the target deviation is the difference between the reference force and the actual contact force.

[0073] 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 amount.

[0074] According to a fourth aspect of this disclosure, a robot position processing apparatus is provided, the apparatus being applied to a main control terminal, comprising:

[0075] The transceiver unit is used to send control commands to the controlled terminal based on the connection between the master control 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

[0076] Displacement information is sent to the controlled terminal so that the controlled terminal can move according to the displacement information, and the controlled terminal can receive the response information and the image information in real time.

[0077] Optionally, the transceiver unit is further configured to:

[0078] A reference force is sent to the controlled end so that the controlled end can control the actual contact force between its end and the target object according to the reference force, and receive feedback information from the controlled end, wherein the target object is the detection object of the controlled end.

[0079] Optionally, the control commands may also include ultrasonic control commands and camera control commands.

[0080] According to a fifth aspect of this disclosure, an electronic device is provided, comprising:

[0081] At least one processor; and

[0082] A memory communicatively connected to the at least one processor; wherein,

[0083] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first or second aspect above.

[0084] According to a sixth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first or second aspect above.

[0085] According to a seventh aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method as described in the first or second aspect above.

[0086] The robot position processing method, apparatus, electronic device, and storage medium disclosed herein mainly include: receiving displacement information sent by a master control terminal and collecting the target contact force between the controlled end and a target object, wherein the target object is the detection object of the controlled end; processing the displacement information and the target contact force to obtain the position change of the controlled end; and controlling the distance and direction of movement of the controlled end based on the position change. Compared with related technologies, by receiving the displacement information sent by the master control terminal and collecting the target contact force, and processing the displacement information and the target contact force to obtain the position change of the controlled end, the controlled end can be controlled to move along its contact surface with the target object based on the position change, and the displacement distance of the controlled end can be controlled based on the magnitude of the position change. By controlling the controlled end to move along its contact surface with the target object, smooth movement of the controlled end on the target object is achieved, and the movement of the controlled end more closely follows the curve of the target object, improving the safety of the controlled end when inspecting the target object.

[0087] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0088] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0089] Figure 1 A flowchart illustrating a robot position processing method provided in this embodiment of the present disclosure.

[0090] Figure 2 A flowchart illustrating another robot position processing method provided in an embodiment of this disclosure;

[0091] Figure 3 This is a schematic diagram of a controlled terminal structure provided in an embodiment of the present disclosure;

[0092] Figure 4 This is a schematic diagram of a controlled-end hardware connection structure provided in an embodiment of the present disclosure;

[0093] Figure 5 A force diagram of the controlled end and the target object provided in this embodiment of the disclosure.

[0094] Figure 6 This is a schematic diagram of a robot force control process provided in an embodiment of the present disclosure;

[0095] Figure 7This is a schematic diagram illustrating the motion of a controlled end effector on a target object, based on robot position processing, according to an embodiment of this disclosure.

[0096] Figure 8 This is a schematic diagram of a main control terminal structure provided in an embodiment of the present disclosure;

[0097] Figure 9 A schematic diagram of a main control terminal hardware connection structure provided in an embodiment of this disclosure;

[0098] Figure 10 A flowchart illustrating another robot position processing method provided in this disclosure embodiment;

[0099] Figure 11 This is a schematic diagram illustrating the hardware connection between a master control terminal and a controlled terminal, provided in an embodiment of the present disclosure.

[0100] Figure 12 This is a schematic diagram of the structure of a robot position processing device provided in an embodiment of the present disclosure;

[0101] Figure 13 A schematic diagram of another robot position processing apparatus provided in an embodiment of this disclosure;

[0102] Figure 14 A schematic diagram of another robot position processing apparatus provided in an embodiment of this disclosure;

[0103] Figure 15 A schematic block diagram of an example electronic device 500 provided for embodiments of this disclosure. Detailed Implementation

[0104] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0105] The following description, with reference to the accompanying drawings, outlines a method, apparatus, electronic device, and storage medium for robot position processing according to embodiments of the present disclosure.

[0106] Figure 1 This is a flowchart illustrating a robot position processing method provided in an embodiment of the present disclosure.

[0107] The method is applied to the controlled end, such as Figure 1 As shown, the method includes the following steps:

[0108] Step 101: Receive displacement information sent by the master control terminal and collect the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal.

[0109] As a refinement of step 101 above, in order to achieve control of the controlled end, it is necessary to receive displacement information sent by the master 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 they come into contact. The displacement information is control information sent by the master control end to control the movement of the controlled end. The target object is the detection object of the controlled end. For example, when the controlled end performs an ultrasound examination on the person being examined, the person being examined is the target object.

[0110] Step 102: Process the displacement information and the target contact force to obtain the position change of the controlled end.

[0111] As a refinement of step 102 above, in order to make the controlled end more compliant and conform to the surface of the target object during movement, the displacement information and the target contact force are processed to obtain the position change of the controlled end. The position change includes magnitude and direction.

[0112] Step 103: Control the distance and direction of movement of the controlled end according to the position change.

[0113] As a refinement of step 103 above, in order to control the distance and direction of the controlled end's movement, the distance and direction of the controlled end's movement are controlled according to the position change amount, that is, the magnitude of the position change amount is the distance the controlled end moves, and the direction of the position change amount is the direction the controlled end moves.

[0114] The robot position processing method disclosed herein mainly includes: receiving displacement information sent by a master control terminal and collecting the target contact force between the controlled end and a target object, wherein the target object is the detection object of the controlled end; processing the displacement information and the target contact force to obtain the position change of the controlled end; and controlling the distance and direction of movement of the controlled end based on the position change. Compared with related technologies, by receiving the displacement information sent by the master control terminal and collecting the target contact force, and processing the displacement information and the target contact force to obtain the position change of the controlled end, the method achieves control of the controlled end's end-effector along its contact surface with the target object based on the position change, and controls the displacement distance of the controlled end-effector based on the magnitude of the position change. By controlling the controlled end-effector to move along its contact surface with the target object, the method achieves smooth movement of the controlled end-effector on the target object, and makes the movement of the controlled end-effector more closely follow the curve of the target object, thereby improving the safety of the controlled end-effector when inspecting the target object.

[0115] As a refinement of the embodiments of this disclosure, when processing the displacement information and the target contact force in step 102 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.

[0116] The first controller processes the displacement information and the target contact force to obtain the position change, thereby controlling the movement of the controlled end.

[0117] Figure 2 This is a flowchart illustrating another robot position processing method provided in an embodiment of this disclosure. Figure 2 As shown, the method includes the following steps:

[0118] Step 201: In response to the control command from the master control terminal, the first controller defines the end posture of the controlled terminal according to the control command, and controls the sensor to obtain the target contact force between the controlled terminal and the target object based on the first controller.

[0119] As a refinement of step 201 above, in order to describe the attitude of the controlled end, the end attitude of the controlled end is defined as an attitude matrix. It should be understood that this disclosure does not limit the end attitude to the form of an attitude matrix. The target contact force between the controlled end and the target object is obtained based on a force sensor. The force sensor may be, but is not limited to, a six-dimensional force sensor. To more clearly illustrate the above-mentioned target contact force acquisition scenario, an exemplary description is provided here. For example, when the 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 target contact force between the ultrasonic probe and the ultrasonic detection object is detected based on the six-dimensional force sensor above the ultrasonic probe. The target contact force includes the force on different axes obtained by the six-dimensional force sensor, for example, the force on the x-axis, the force on the y-axis, and the force on the z-axis.

[0120] Step 202: Based on the first controller's calculation using the end-effector posture and the target contact force, obtain the normal vector of the contact surface between the controlled end and the target object;

[0121] As a refinement of step 202 above, the calculation based on the end-effector posture and the target contact force is based on the end-effector 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. The normal vector of the contact surface of the target object is used to analyze the subsequent parameters. The force of each axis of the force sensor is mentioned in the exemplary description of step 201 above, 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.

[0122] Step 203: Based on the displacement information generated by the first controller, a position vector in the contact surface of the target object is generated, and the first component of the position vector is obtained by using the normal vector and the position vector based on the first controller. The first component is a vector perpendicular to the direction of the normal vector.

[0123] As a refinement of step 203 above, for the purpose of decomposing the position vector to obtain the component perpendicular to the normal vector direction, the first component is obtained by calculating using the normal vector and the position vector. The position vector is generated from displacement information from the main control terminal, such as displacement information at a first moment and displacement information at a second moment sent by the main control terminal. In this embodiment, the time interval between the second moment and the first moment is 8ms, that is, the displacement information acquisition period is 8ms. In actual scenarios, this embodiment does not limit the time interval between the second moment and the first moment to 8ms. The displacement information of the contour probe changing within 8ms is calculated based on the displacement information at the first moment and the displacement information at the second moment. The position vector is obtained based on the changing displacement information. The displacement information is the movement information of the contour probe collected by the position sensor of the main control terminal. It should be understood that the above displacement information acquisition method is only an illustrative example, and this embodiment does not limit the method of displacement information acquisition by the main control terminal.

[0124] Step 204: By setting the magnitude of the first component to be the same as the magnitude 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.

[0125] As a refinement of the above embodiment, in order to make the distance by which the controlled end moves along the direction of the first component equal to the magnitude of the position vector, the magnitude of the first component is set to be the same as the magnitude of the position vector. Under the aforementioned conditions, the position change of the controlled end is calculated. The position change is the magnitude and direction of the displacement of the controlled end. The direction of the position change is the same as the direction of the first component, and its magnitude is the same as the magnitude of the position vector.

[0126] To facilitate understanding of this public solution, Figure 3 This is a schematic diagram of a controlled terminal structure provided in an embodiment of the present disclosure. Figure 4 This is a schematic diagram of a controlled-end hardware connection structure provided in an embodiment of this disclosure, such as... Figure 3 As shown, the control terminal includes: a robotic arm, a six-dimensional force sensor, a main camera, a secondary camera, a display, a speaker, and a host.

[0127] As a refinement of the embodiments of this disclosure, when performing step 201, which involves obtaining the target contact force between the controlled end and the target object based on the sensor controlled by the first controller, the following implementation methods may be adopted, but are not limited to: obtaining the target contact force between the controlled end and the target object based on the preset force sensor controlled by the first controller, wherein the target contact force is a preset quantity and direction of force obtained based on the preset force sensor.

[0128] The target contact force is obtained by low-pass filtering and gravity compensation processing of the value obtained by the preset force sensor. The preset force sensor can be a six-dimensional force sensor. The force on the x-axis, y-axis and z-axis is obtained based on the six-dimensional force sensor. The above description is only illustrative. This embodiment does not limit the type of preset force sensor, nor does it limit the number and direction of the collected forces.

[0129] As a refinement of the above embodiments, when performing step 202, which involves calculating the normal vector of the contact surface between the controlled end and the target object based on the end attitude and the target contact force using the first controller, the following implementation methods can be adopted, but are not limited to: performing matrix calculations based on the end attitude and the target contact force using the first controller to obtain the target contact force vector; and 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.

[0130] Figure 5 A force diagram of the controlled end and the target object provided in this embodiment is shown below. Figure 5 As shown, this includes: a position vector deltaP, and a resultant force F obtained from a preset force sensor. To achieve flexible movement of the controlled end effector on the target object, it is necessary to estimate the tilt angle of the target object's surface in real time, and then change the direction of displacement to the direction along the human body surface. In this embodiment, information from the force sensor is used to estimate the tilt degree of the target object's surface.

[0131] During the contact process between the probe and the human body, if friction is ignored, the resultant force of the contact forces between the probe and the human body can be considered to be perpendicular to the contact plane.

[0132] To more intuitively illustrate the calculation process of the end-effector attitude and the target contact force, the calculation is explained here based on formulas, for example:

[0133] Define the attitude vector as R = [Vx, Vy, Vz], where Vx, Vy, and Vz represent unit column vectors along the three coordinate axes, and the target contact force comprises forces in three different directions, namely Fx. contact ,Fy contact,Fz contact The target contact force vector is V F The target contact force vector is the resultant force vector of the target contact force in the three unit column vector directions Vx, Vy, and Vz. The formula for solving the target contact force vector is as shown in formula (1):

[0134] V F =Fx contact *Vx+Fy contact *Vy+Fz contact *Vz formula (1)

[0135] For the target contact force vector V F Normalization is performed to obtain the normal vector of the contact surface between the controlled end and the target object, wherein the normalization process is shown in formula (2):

[0136]

[0137] The formula (2) above shows V is the normal vector of the contact surface between the controlled end and the target object. F (0), V F (1) V F (2) Represents the target contact force vector V F The three components.

[0138] As a refinement of the above embodiments, when performing step 203 to calculate the first component of the position vector based on the first controller using the normal vector and the position vector, the following implementation methods can be adopted, but are not limited to: performing a dot product calculation based on the first controller using the normal vector and the position vector to obtain the second component of the position vector, wherein the second component is a vector in the direction of the normal vector; and performing a vector subtraction operation based on the first controller using the position vector and the second component to obtain the first component.

[0139] To more intuitively illustrate the calculation process of the first and second components, the explanation is based on the formulas, for example:

[0140] The normal vector is known in the above detailed description. The position vector is calculated from the displacement information at different times. The position vector can be obtained using the following formula, for example:

[0141] Let the displacement information at the first time step be Position = [x1, y1, z1], and the displacement information at the second time step be Position pre= [x2,y2,z2], where the displacement information at the first moment and the displacement information at the second moment are the vector information sent by the master control terminal. Then the solution of the position vector deltaP is as shown in formula (3):

[0142]

[0143] Where deltaP.x, deltaP.y, and deltaP.z are the coordinates of the position vector deltaP on the x-axis, y-axis, and z-axis of the coordinate system. Similarly, x1, y1, and z1 are the coordinates of the displacement information on the x-axis, y-axis, and z-axis of the coordinate system at the first moment; and x2, y2, and z2 are the coordinates of the displacement information on the x-axis, y-axis, and z-axis of the coordinate system at the second moment.

[0144] The normal vector is known. The position vector deltaP is used to construct the solution formula for the second component deltaP2, as shown in formula (4):

[0145]

[0146] The solution formula for the first component deltaP1 is constructed as shown in formula (5):

[0147] deltaP1=deltaP-deltaP2 formula (5)

[0148] As a refinement of the above embodiment, by setting the magnitude of the first component deltaP1 to be the same as the magnitude of the position vector deltaP, the position change amount moveP of the controlled end is calculated. The formula for solving the position change amount moveP is as shown in formula (6):

[0149]

[0150] Where deltaP(0), deltaP(1), and deltaP(2) represent the components of the position change moveP along each coordinate axis, and deltaP1(0), deltaP1(1), and deltaP1(2) represent the components of the first component deltaP1 along each coordinate axis.

[0151] As a refinement of the above embodiments, when the actual contact force between the controlled end and the target object is greater than or less than the reference force, the method may 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 master 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, decreasing the pressure of the controlled end on the target object.

[0152] As a refinement of the above embodiments, in order to realize the force control function of the controlled end, the actual contact force is compared with the reference force sent by the main control end to realize the force control of the controlled end. The reference force is the reference information of the force between the controlled end and the target object. Based on the reference force, the force of the controlled end on the target object is controlled. That is, when the force between the controlled end and the target object is too large, the controlled end is controlled to move away from the target detection object to reduce the force. 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, so the controlled end is controlled to move closer to the target object to ensure the accuracy of detection.

[0153] As a refinement of the above embodiments, when increasing or decreasing the pressure of the controlled end on the target object, the method may also adopt, but is not limited to, the following implementation methods, for example: receiving the reference force sent by the master control terminal, comparing the actual contact force with the reference force to obtain a first target deviation; analyzing the first target deviation based on the second controller to obtain the amount of change in the pressure of the controlled end on the target object; and controlling the increase or decrease of the pressure of the controlled end on the target object according to the amount of change.

[0154] As a refinement of the above embodiment, in order to obtain the amount of 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 amount of change, and then controls the increase or decrease in the pressure of the controlled end on the target object based on the amount of change.

[0155] As a refinement of the above embodiments, when analyzing the first target deviation based on the second controller to obtain the change in pressure increase or decrease of the controlled end on the target object, the method may also adopt, but is not limited to, the following implementation methods, for example: setting a proportional gain and a differential gain, multiplying the proportional gain with the first target deviation based on the second controller to obtain a first calculation result; and multiplying the differential gain with the target deviation change based on the second controller to obtain a second calculation result, wherein 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; and summing the first calculation result and the second calculation result based on the second controller to obtain the change.

[0156] To more clearly illustrate the steps of the above embodiments, the following section explains the steps in conjunction with the formulas, as detailed below:

[0157] Obtain the force Fz along the z-axis of the sensor. contact Define the actual contact force F true =-Fz contact The reference force F sent by the main control terminal is received. desire When F z Less than F desire At that time, the robotic arm moves in a direction away from the target object, when F z Greater than F desire At that time, the robotic arm moves in a direction closer to the target object. Assume the control output for the robotic arm's orientation and position at each step is P. control Then we have:

[0158] P control =K p *E f +K d *ΔE f Formula (7)

[0159] Among them, K p and K d These are the proportional gain and the derivative gain, E, respectively. f For the error, ΔE f For the error derivative, E f =F desire -F true ΔE f =E f -E f_previous E f_previous This represents the error from the previous moment.

[0160] Corresponding to the control of the robotic arm's attitude and position described above, Figure 5This is a schematic diagram of a robot force control process provided in an embodiment of the present disclosure, such as... Figure 6 As shown, it mainly includes a proportional-derivative controller, a robot system, and a data acquisition unit for force control analysis.

[0161] Figure 7 This is a schematic diagram illustrating the motion of a controlled end effector on a target object, based on a robot position processing method provided in an embodiment of this disclosure. Figure 7 As shown, the end of the controlled end moves in close contact with the surface curve of the target object.

[0162] For ease of understanding of this disclosure, Figure 8 This is a schematic diagram of a main control terminal structure provided in an embodiment of the present disclosure. Figure 8 This is a schematic diagram of a main control terminal hardware connection structure provided in an embodiment of this disclosure, as shown below. Figure 7 As shown, the main control unit includes: a host computer, a robot console, dual displays, an ultrasound control panel, a camera, a voice pickup unit, 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 contour probe, a position sensor, and a pressure sensor. The console has six degrees of freedom. The attitude sensor has three rotational degrees of freedom, the position sensor has two horizontal motion degrees of freedom, and the "UP button" and the pressure sensor correspond to one vertical motion degree of freedom.

[0163] Figure 10 A flowchart illustrating another robot position processing method provided in this disclosure embodiment is shown below. Figure 10 As shown, the method is applied to the main control terminal and includes:

[0164] Step 301: Based on the connection between the master control terminal and the controlled terminal, send a control command to the controlled terminal to control the controlled terminal to start the detection task and receive the response information and image information from the controlled terminal.

[0165] As a refinement of step 301 above, in order to realize communication between the master control terminal and the controlled terminal, the master control terminal and the controlled terminal are connected. Based on the connection relationship, the master control terminal sends a control command to the controlled terminal to control the controlled terminal to start a detection task. The detection task includes, but is not limited to, ultrasound examination. After receiving the control command sent by the master control terminal, the controlled terminal responds to the control command and replies with response information to the master control terminal. After acquiring the image information of the ultrasound examination, the controlled terminal transmits the image information to the master control terminal, that is, the master control terminal receives the image information. The above description of the data interaction between the master control terminal and the controlled terminal is merely exemplary, and this embodiment does not limit the content and method of data interaction.

[0166] Step 302: Send displacement information to the controlled terminal so that the controlled terminal can move according to the displacement information and receive the response information and image information from the controlled terminal in real time.

[0167] As a refinement of step 302 above, displacement information is sent to the controlled end, the controlled end moves according to the displacement information, and receives the response information and image information from the controlled end in real time. In a scenario-specific manner, the control console of the master control end is used 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 images detected when the robotic arm moves to the master control end in real time.

[0168] As a refinement of the above embodiments, the method applied to the master control terminal also includes, but is not limited to, the following: sending a reference force to the controlled terminal so that the controlled terminal controls the actual contact force between its end and the target object according to the reference force, and receiving feedback information from the controlled terminal, wherein the target object is the detection object of the controlled terminal.

[0169] As a refinement of the above embodiment, in order to adjust the contact force between the controlled end and the target object, the master control 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. The master control end feeds back the pressure information between itself and the target object to the master control end in real time. The pressure information is part of the feedback information. This embodiment does not limit the content of the feedback information.

[0170] As a refinement of the above embodiments, the control commands also include ultrasonic control commands and camera control commands.

[0171] The ultrasonic detection of the controlled end is controlled by the ultrasonic control command, and the camera of the controlled end is controlled by the camera control command.

[0172] To more clearly illustrate the connection relationship between the controlled terminal and the master control terminal, Figure 11 This embodiment provides a schematic diagram of the hardware connection between the master control terminal and the controlled terminal, as shown below. Figure 11As shown, both the master control unit and the controlled unit include cameras and microphones, which can capture audio and video through the microphones and main / secondary cameras. The controlled unit can also capture ultrasound images from the ultrasound machine via a video capture card. Through audio and video transmission technology, the captured audio, video, and ultrasound images are sent to the other end via the network, enabling remote audio and video communication. Simultaneously, the master control unit can collect robot control commands through the operator system, ultrasound control commands through the ultrasound control panel, and camera control commands through the camera control joystick. These commands can all be sent to the controlled unit via the network. The controlled unit can receive robot control commands and camera control commands from the master control unit via the network. The controlled unit processor processes the robot control commands sent from the master control unit and sends them to the robotic arm system for real-time position, attitude, and force control. Ultrasound control commands and main camera control commands are also sent to the ultrasound host and main camera in real time through the controlled unit processor, enabling remote control of the ultrasound and camera.

[0173] In summary, this embodiment achieves the following effects:

[0174] 1. Based on the magnitude of the position change, the displacement distance of the controlled end is controlled. By controlling the controlled end to move along its contact surface with the target object, the controlled end can move smoothly on the target object, and the movement of the controlled end can better conform to the curve of the target object, thereby improving the safety of the controlled end when inspecting the target object.

[0175] 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. The direction of the position change is the same as the direction of the first component, thereby realizing that when the end of the controlled end moves, the end of the controlled end is controlled to move along the contact surface between it and the target object based on the position change.

[0176] Corresponding to the robot position processing method described above, this disclosure also proposes a robot position processing apparatus. Since the apparatus embodiments of this disclosure correspond to the method embodiments described above, details not disclosed in the apparatus embodiments can be referred to the method embodiments described above, and will not be repeated here.

[0177] Figure 12 This is a schematic diagram of the structure of a robot position processing device provided in an embodiment of the present disclosure, as shown below. Figure 12 As shown, the device is applied to the controlled end and includes:

[0178] The receiving unit 41 is used to receive displacement information sent by the master control terminal and to collect the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal;

[0179] Processing unit 42 is used to process the displacement information and the target contact force to obtain the position change of the controlled end;

[0180] The first control unit 43 is used to control the distance and direction of movement of the controlled end according to the position change.

[0181] The robot position processing device disclosed herein mainly includes the following technical solutions: receiving displacement information sent by a master control terminal and collecting the target contact force between the controlled end and a target object, wherein the target object is the detection object of the controlled end; processing the displacement information and the target contact force to obtain the position change of the controlled end; and controlling the distance and direction of movement of the controlled end based on the position change. Compared with related technologies, by receiving the displacement information sent by the master control terminal and collecting the target contact force, and processing the displacement information and the target contact force to obtain the position change of the controlled end, the device enables control of the controlled end's end-effector along its contact surface with the target object based on the position change, and controls the displacement distance of the controlled end-effector based on the magnitude of the position change. By controlling the controlled end-effector to move along its contact surface with the target object, the device achieves smooth movement of the controlled end-effector on the target object, and makes the movement of the controlled end-effector more closely follow the curve of the target object, thereby improving the safety of the controlled end-effector when inspecting the target object.

[0182] Figure 13 This is a schematic diagram of another robot position processing device provided in an embodiment of the present disclosure, as shown below. Figure 13 As shown, the device is applied to the controlled end, and the processing unit 42 is further used for:

[0183] The displacement information and the target contact force are processed by the first controller to obtain the position change.

[0184] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the processing unit 42 includes:

[0185] The acquisition module 421 is used to respond to the control command of the master control terminal, define the end posture of the controlled terminal according to the control command based on the first controller, and control the sensor to acquire the target contact force between the controlled terminal and the target object based on the first controller.

[0186] The first calculation module 422 is used to calculate, based on the end posture and the target contact force used by the first controller, to obtain the normal vector of the contact surface between the controlled end and the target object;

[0187] The generation module 423 is used to generate a position vector in the contact surface of the target object based on the displacement information according to the first controller, and to calculate the first component of the position vector based on the normal vector and the position vector using the first controller. The first component is a vector perpendicular to the direction of the normal vector.

[0188] The second calculation module 424 is used to calculate the position change of the controlled end based on the first controller by setting the magnitude of the first component to be the same as the magnitude 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.

[0189] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the first calculation module 422 is further configured to:

[0190] The first controller controls a preset force sensor to acquire the target contact force between the controlled end and the target object. The target contact force is a preset quantity and direction of force acquired by the preset force sensor.

[0191] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the generation module 423 is further configured to:

[0192] Based on the matrix calculation performed by the first controller using the end-effector posture and the target contact force, the target contact force vector is obtained;

[0193] The normal vector of the contact force vector between the controlled end and the target object is obtained by normalizing the target contact force vector based on the first controller.

[0194] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the generation module 423 is further configured to:

[0195] Based on the first controller performing a dot product calculation using the normal vector and the position vector, a second component of the position vector is obtained, where the second component is a vector in the direction of the normal vector.

[0196] The first component is obtained by subtracting the position vector and the second component using the first controller.

[0197] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the device further includes:

[0198] Definition unit 44 is used to obtain the target contact force of the sensor z-axis, and to define the actual contact force as a force that is the same in magnitude and opposite in direction to the target contact force of the sensor z-axis;

[0199] Comparison unit 45 is used to receive the reference force sent by the main control terminal and compare the actual contact force with the reference force;

[0200] The amplification unit 46 is used 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;

[0201] The reducing unit 47 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.

[0202] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the device further includes:

[0203] Comparison unit 48 is used to receive the reference force sent by the main control terminal, compare the actual contact force with the reference force, and obtain the first target deviation;

[0204] Analysis unit 49 is used to analyze the first target deviation based on the second controller to obtain the amount of increase or decrease in pressure of the controlled end on the target object;

[0205] The second control unit 410 is used to control the increase or decrease of the pressure of the controlled end on the target object according to the change amount.

[0206] Furthermore, in one possible implementation of this embodiment, such as Figure 13 As shown, the analysis unit 49 includes:

[0207] Setting module 491 is used to set the proportional gain and derivative gain, and to calculate a first calculation result based on the product of the proportional gain and the first target deviation using the second controller; and

[0208] The first calculation module 492 is used to perform 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 the previous moment, and the target deviation is the difference between the reference force and the actual contact force.

[0209] The second calculation module 493 is used to sum the first calculation result and the second calculation result based on the second controller to obtain the change amount.

[0210] Figure 14This is a schematic diagram of another robot position processing device provided in an embodiment of the present disclosure, as shown below. Figure 14 As shown, the device is applied to the main control terminal and includes:

[0211] The transceiver unit 51 is used to send control commands to the controlled terminal based on the connection between the master control 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

[0212] Displacement information is sent to the controlled terminal so that the controlled terminal can move according to the displacement information, and the controlled terminal can receive the response information and the image information in real time.

[0213] Furthermore, in one possible implementation of this embodiment, such as Figure 14 As shown, the transceiver unit 51 is further configured to:

[0214] A reference force is sent to the controlled end so that the controlled end can control the actual contact force between its end and the target object according to the reference force, and receive feedback information from the controlled end, wherein the target object is the detection object of the controlled end.

[0215] Furthermore, in one possible implementation of this embodiment, the control commands also include ultrasonic control commands and camera control commands.

[0216] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and the principle is the same, so it is not limited in this embodiment.

[0217] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0218] Figure 15 A schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure is shown. 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 may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0219] like Figure 15As shown, device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 602 or a computer program loaded from storage unit 608 into RAM (Random Access Memory) 603. RAM 603 may also store various programs and data required for the operation of device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via bus 604. I / O (Input / Output) interface 605 is also connected to bus 604.

[0220] Multiple components in device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of monitors, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0221] The computing unit 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as methods for robot position processing. For example, in some embodiments, the robot position processing method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the aforementioned robot position processing method by any other suitable means (e.g., by means of firmware).

[0222] Various implementations of the systems and techniques described above 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 implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0223] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0224] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0225] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0226] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0227] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0228] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0229] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0230] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should 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: The system receives displacement information sent by the master control terminal and collects the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal. The displacement information and the target contact force are processed to obtain the position change of the controlled end. The distance and direction of movement of the controlled end are controlled according to the position change. The process of processing 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 by the first controller to obtain the position change. The process of processing the displacement information and the target contact force based on the first controller to obtain the position change includes: In response to the control command from the master control unit, the first controller defines the end posture of the controlled end according to the control command, and controls the sensor to obtain the target contact force between the controlled end and the target object based on the first controller; Based on the calculation performed by the first controller using the end-effector posture and the target contact force, the normal vector of the contact surface between the controlled end and the target object is obtained; Based on the displacement information, the first controller generates a position vector in the contact surface of the target object, and calculates the first component of the position vector using the normal vector and the position vector. The first component is a vector perpendicular to the direction of the normal vector. By setting the magnitude of the first component to be the same as the magnitude 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.

2. The method according to claim 1, characterized in that, The step of acquiring the target contact force between the controlled end and the target object based on the sensor controlled by the first controller includes: The first controller controls a preset force sensor to acquire the target contact force between the controlled end and the target object. The target contact force is a preset quantity and direction of force acquired by the preset force sensor.

3. The method according to claim 1, characterized in that, The calculation based on the first controller using the end-effector attitude and the target contact force to obtain the normal vector of the contact surface between the controlled end and the target object includes: Based on the matrix calculation performed by the first controller using the end-effector posture and the target contact force, the target contact force vector is obtained; The normal vector of the contact force vector between the controlled end and the target object is obtained by normalizing the target contact force vector based on the first controller.

4. The method according to claim 1, characterized in that, The step of calculating the first component of the position vector based on the first controller using the normal vector and the position vector includes: Based on the first controller performing a dot product calculation using the normal vector and the position vector, a second component of the position vector is obtained, where the second component is a vector in the direction of the normal vector. The first component is obtained by subtracting the position vector and the second component using the first controller.

5. 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: Obtain the target contact force along the z-axis of the sensor, and define the actual contact force as a force that is the same in magnitude and opposite in direction to the target contact force along the z-axis of the sensor; Receive the reference force sent by the main control terminal, and compare the actual contact force with the reference force; When it is determined that the actual contact force is less than the reference force, the pressure of the controlled end on the target object is increased; 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.

6. The method according to claim 5, characterized in that, When increasing or decreasing the pressure of the controlled end on the target object, the method further includes: The reference force sent by the main control terminal is received, and the actual contact force is compared with the reference force to obtain the first target deviation; Based on the analysis of the first target deviation by the second controller, the change in the pressure of the controlled end on the target object is obtained; The pressure exerted on the target object by the controlled end is increased or decreased based on the change amount.

7. The method according to claim 6, characterized in that, The analysis of the first target deviation based on the second controller to obtain the change in pressure increase or decrease of the controlled end on the target object includes: The proportional gain and derivative gain are set, and a first calculation result is obtained by multiplying the proportional gain with the first target deviation using the second controller; and The second controller calculates a second result by multiplying the differential gain with the target deviation change. The target deviation change is the difference between the first target deviation and the target deviation at the previous moment. The target deviation is the difference between the reference force and the actual contact force. The change is obtained by summing the first calculation result and the second calculation result based on the second controller.

8. A method for robot position processing, characterized in that, include: Based on the connection between the master control terminal and the controlled terminal, control commands are sent to the controlled terminal to control the controlled terminal to start the detection task, and the response information and image information of the controlled terminal are received. Displacement information is sent to the controlled terminal so that the controlled terminal can perform the following operations: The displacement information is received, and the target contact force between the controlled end and the target object is collected, wherein the target object is the detection object of the controlled end; In response to the control command from the master control terminal, the first controller defines the end posture of the controlled terminal according to the control command, and controls the sensor to obtain the target contact force between the controlled terminal and the target object based on the first controller; Based on the calculation performed by the first controller using the end-effector posture and the target contact force, the normal vector of the contact surface between the controlled end and the target object is obtained; Based on the displacement information, the first controller generates a position vector in the contact surface of the target object, and calculates the first component of the position vector using the normal vector and the position vector. The first component is a vector perpendicular to the direction of the normal vector. By setting the magnitude of the first component to be the same as the magnitude 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. The distance and direction of movement of the controlled end are controlled according to the position change. It also receives the response information and image information from the controlled terminal in real time.

9. The method according to claim 8, characterized in that, The method further includes: A reference force is sent to the controlled end so that the controlled end can control the actual contact force between its end and the target object according to the reference force, and receive feedback information from the controlled end, wherein the target object is the detection object of the controlled end.

10. The method according to claim 8, characterized in that, The control commands also include ultrasonic control commands and camera control commands.

11. A device for robot position processing, characterized in that, The device is applied to the controlled end and includes: The receiving unit is used to receive displacement information sent by the master control terminal and to collect the target contact force between the controlled terminal and the target object, wherein the target object is the detection object of the controlled terminal; The processing unit is used to process the displacement information and the target contact force to obtain the position change of the controlled end; The first control unit is used to control the distance and direction of movement of the controlled end according to the position change. The process of processing 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 by the first controller to obtain the position change. The process of processing the displacement information and the target contact force based on the first controller to obtain the position change includes: In response to the control command from the master control unit, the first controller defines the end posture of the controlled end according to the control command, and controls the sensor to obtain the target contact force between the controlled end and the target object based on the first controller; Based on the calculation performed by the first controller using the end-effector posture and the target contact force, the normal vector of the contact surface between the controlled end and the target object is obtained; Based on the displacement information, the first controller generates a position vector in the contact surface of the target object, and calculates the first component of the position vector using the normal vector and the position vector. The first component is a vector perpendicular to the direction of the normal vector. By setting the magnitude of the first component to be the same as the magnitude 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.

12. A device for robot position processing, characterized in that, The device is applied to the main control terminal and includes: The transceiver unit is used to send control commands to the controlled terminal based on the connection between the master control 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 Displacement information is sent to the controlled terminal so that the controlled terminal can perform the following operations: The displacement information is received, and the target contact force between the controlled end and the target object is collected, wherein the target object is the detection object of the controlled end; In response to the control command from the master control terminal, the first controller defines the end posture of the controlled terminal according to the control command, and controls the sensor to obtain the target contact force between the controlled terminal and the target object based on the first controller; Based on the calculation performed by the first controller using the end-effector posture and the target contact force, the normal vector of the contact surface between the controlled end and the target object is obtained; Based on the displacement information, the first controller generates a position vector in the contact surface of the target object, and calculates the first component of the position vector using the normal vector and the position vector. The first component is a vector perpendicular to the direction of the normal vector. By setting the magnitude of the first component to be the same as the magnitude 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. The distance and direction of movement of the controlled end are controlled according to the position change. It also receives the response information and image information from the controlled terminal in real time.

13. 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 to enable the at least one processor to perform the method of any one of claims 1-7 or 8-10.

14. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7 or 8-10.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-7 or 8-10.

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