Control methods and devices for face-smearing robots, computer-readable storage media, and computer program products

Abstract

This application discloses a control method and apparatus for a surface-smoothing robot, a computer-readable storage medium, and a computer program product. The method includes: acquiring the vertical contact pressure between the end effector of the surface-smoothing robot and the target surface during surface-smoothing operations; determining the control mode of the surface-smoothing robot based on a comparison between the vertical contact pressure and a preset pressure threshold; determining the target rotation angle of each joint of the surface-smoothing robot in the control mode; and adjusting the operating parameters of the surface-smoothing robot based on the rotation angle deviation between the actual rotation angle and the target rotation angle, thereby controlling the end effector to move to the target pose to perform the surface-smoothing operation on the target surface. This application solves the technical problem in related technologies where traditional surface-smoothing methods for surface-smoothing robots cannot effectively cope with the influence of solid, hard objects on the surface-smoothing action during the surface-smoothing process, making it difficult to guarantee the flatness of the surface.

Description

Technical Field

[0001] This application relates to the fields of robotics and automation, and more specifically, to a control method and apparatus for a face-smearing robot, a computer-readable storage medium, and a computer program product. Background Technology

[0002] In the process of finishing concrete shield tunnel segments, workers typically use trowels in a confined environment, resulting in harsh working conditions, high labor intensity, and low production efficiency. The development of automated troweling robots has improved the quality and production efficiency of segment finishing, while also automating the process and saving labor costs. However, traditional position control systems cannot effectively handle the impact of solid, hard objects such as stones and gravel on the troweling process, and cannot guarantee the smoothness of the finished segment surface.

[0003] The traditional smearing methods of smearing robots mentioned above cannot effectively cope with the influence of solid hard objects on the smearing action during the smearing process, making it difficult to ensure the flatness of the smeared surface. At present, no effective solution has been proposed. Summary of the Invention

[0004] This application provides a control method and device for a smearing robot, a computer-readable storage medium, and a computer program product, to at least solve the technical problem in the related art that traditional smearing methods of smearing robots cannot effectively cope with the influence of solid hard objects on the smearing action during the smearing process, and it is difficult to ensure the flatness of the smeared surface.

[0005] According to one aspect of the embodiments of this application, a control method for a smearing robot is provided, comprising: during the smearing robot performing a smearing operation, acquiring the vertical contact pressure between an end effector of the smearing robot and a target surface, wherein the smearing robot is used to smooth the surface of an object, and the target surface is a surface that needs to contact the end effector; determining a control mode of the smearing robot based on a comparison result of the vertical contact pressure and a preset pressure threshold, wherein the control mode is a mode for controlling the end effector to perform the smearing operation; determining the target rotation angle of each joint of the smearing robot in the control mode; adjusting the operating parameters of the smearing robot based on the rotation angle deviation between the actual rotation angle of the smearing robot and the target rotation angle, so as to control the end effector to run to a target pose to perform the smearing operation on the target surface, wherein the target pose is the pose of the end effector when the joint is at the target rotation angle.

[0006] Optionally, the preset pressure threshold includes a first pressure threshold and a second pressure threshold. Determining the control mode of the smearing robot based on the comparison result between the vertical contact pressure and the preset pressure threshold includes: comparing the vertical contact pressure with the first pressure threshold and the second pressure threshold respectively to obtain the comparison result, wherein the first pressure threshold is less than the second pressure threshold; if the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, determining the control mode as a position control mode, wherein the position control mode is the control mode that controls the operation of the end effector according to the desired position of the end effector; if the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold, determining the control mode as a force control mode, wherein the force control mode is the control mode that controls the operation of the end effector according to the desired pressure of the end effector.

[0007] Optionally, determining the target rotation angle of each joint of the smearing robot in the control mode includes: when the control mode is a position control mode, determining the trajectory coordinates of a target trajectory point in the trajectory path as the first target trajectory coordinates, wherein the target trajectory point is the trajectory point that the end effector currently needs to reach; when the control mode is a force control mode, correcting the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates, wherein the flatness of the smearing robot when performing the smearing operation under the desired pressure is greater than a preset flatness threshold; determining the first target trajectory coordinates or the second target trajectory coordinates as the target pose of the smearing robot; and performing inverse kinematics on the target pose to obtain the target rotation angle.

[0008] Optionally, the preset pressure threshold includes a first pressure threshold and a second pressure threshold. Before correcting the trajectory coordinates of the target trajectory point based on the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates, the control method of the smearing robot further includes: determining the average value of the first pressure threshold and the second pressure threshold as the desired pressure.

[0009] Optionally, when the control mode is force control mode, the trajectory coordinates of the target trajectory point are corrected according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates. This includes: calculating a first difference between the desired pressure and the vertical contact pressure to obtain the pressure deviation; decomposing the pressure deviation into sub-pressure deviations in different coordinate directions in the trajectory coordinate system, wherein the trajectory coordinate system is the coordinate system where the target trajectory point is located; calculating the product between the sub-pressure deviation and the corresponding contact stiffness coefficient to obtain a correction coefficient for correcting the sub-trajectory coordinates in the corresponding coordinate direction; and correcting the corresponding sub-trajectory coordinates using the correction coefficient to obtain the second target trajectory coordinates.

[0010] Optionally, adjusting the operating parameters of the smearing robot based on the angular deviation between the actual turning angle and the target turning angle to control the end effector to run to the target pose and perform the smearing operation on the target surface includes: acquiring the actual turning angle of each joint in the smearing robot; calculating a second difference between the target turning angle and the actual turning angle to obtain the angular deviation; inputting the angular deviation as a position error signal to a position controller for processing to obtain a desired speed of the motor, wherein the desired speed is used to eliminate the angular deviation; inputting the speed deviation between the actual speed of the motor and the desired speed to a servo system, and using the servo system to adjust the operating parameters based on the speed deviation until the speed deviation is less than a preset deviation threshold to control the end effector to run to the target pose, wherein the operating parameters are at least one of the following: the torque and current of the motor; and controlling the end effector to perform the smearing operation on the target surface when the end effector runs to the target pose.

[0011] Optionally, the control method of the surface-smoothing robot further includes: detecting the flatness of the target surface according to a predetermined cycle; inputting the flatness into a threshold determination model, so as to use the threshold determination model to update the preset pressure threshold according to the flatness, wherein the threshold determination model is trained using multiple sets of training data, and each set of multiple sets of training data includes: sample flatness and sample pressure threshold corresponding to the sample flatness.

[0012] According to another aspect of the embodiments of this application, a control device for a smearing robot is also provided, comprising: an acquisition unit, configured to acquire the vertical contact pressure between the end effector of the smearing robot and a target surface during the smearing operation performed by the smearing robot, wherein the smearing robot is used to smooth the surface of an object, and the target surface is the surface that needs to contact the end effector; a first determination unit, configured to determine a control mode of the smearing robot based on a comparison result of the vertical contact pressure and a preset pressure threshold, wherein the control mode is a mode for controlling the end effector to perform the smearing operation; a second determination unit, configured to determine the target rotation angle of each joint of the smearing robot in the control mode; and a control unit, configured to adjust the operating parameters of the smearing robot based on the rotation angle deviation between the actual rotation angle of the smearing robot and the target rotation angle, so as to control the end effector to run to a target pose to perform the smearing operation on the target surface, wherein the target pose is the pose of the end effector corresponding to the joint being at the target rotation angle.

[0013] Optionally, the preset pressure threshold includes: a first pressure threshold and a second pressure threshold. The first determining unit includes: a first acquiring module, configured to compare the vertical contact pressure with the first pressure threshold and the second pressure threshold respectively to obtain the comparison result, wherein the first pressure threshold is less than the second pressure threshold; a first determining module, configured to determine the control mode as a position control mode when the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, wherein the position control mode is the control mode that controls the operation of the end effector according to the desired position of the end effector; and a second determining module, configured to determine the control mode as a force control mode when the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold, wherein the force control mode is the control mode that controls the operation of the end effector according to the desired pressure of the end effector.

[0014] Optionally, the second determining unit includes: a third determining module, configured to determine the trajectory coordinates of a target trajectory point in the trajectory path as the first target trajectory coordinates when the control mode is a position control mode, wherein the target trajectory point is the trajectory point that the end effector currently needs to reach; a second acquiring module, configured to correct the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure when the control mode is a force control mode, to obtain the second target trajectory coordinates, wherein the flatness of the smearing robot when performing the smearing operation under the desired pressure is greater than a preset flatness threshold; a fourth determining module, configured to determine the first target trajectory coordinates or the second target trajectory coordinates as the target pose of the smearing robot; and a third acquiring module, configured to perform inverse kinematics on the target pose to obtain the target rotation angle.

[0015] Optionally, the preset pressure threshold includes a first pressure threshold and a second pressure threshold. The control device of the smearing robot further includes a fifth determining module, used to determine the average of the first pressure threshold and the second pressure threshold as the desired pressure before correcting the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates.

[0016] Optionally, the second acquisition module includes: a first acquisition submodule, configured to calculate a first difference between the desired pressure and the vertical contact pressure to obtain the pressure deviation; a decomposition submodule, configured to decompose the pressure deviation into sub-pressure deviations in different coordinate directions in a trajectory coordinate system, wherein the trajectory coordinate system is the coordinate system where the target trajectory point is located; a second acquisition submodule, configured to calculate the product between the sub-pressure deviation and the corresponding contact stiffness coefficient to obtain a correction coefficient for correcting the sub-trajectory coordinates in the corresponding coordinate direction; and a third acquisition submodule, configured to correct the corresponding sub-trajectory coordinates using the correction coefficient to obtain the second target trajectory coordinates.

[0017] Optionally, the control unit includes: a fourth acquisition module for acquiring the actual rotation angle of each joint in the smearing robot; a fifth acquisition module for calculating a second difference between the target rotation angle and the actual rotation angle to obtain the rotation angle deviation; a sixth acquisition module for inputting the rotation angle deviation as a position error signal to a position controller for processing to obtain the desired speed of the motor, wherein the desired speed is used to eliminate the rotation angle deviation; a first control module for inputting the speed deviation between the actual speed of the motor and the desired speed into a servo system, and using the servo system to adjust the operating parameters according to the speed deviation until the speed deviation is less than a preset deviation threshold, so as to control the end effector to run to the target pose, wherein the operating parameters are at least one of the following: the torque and current of the motor; and a second control module for controlling the end effector to perform the smearing operation on the target surface when the end effector runs to the target pose.

[0018] Optionally, the control device of the surface-smoothing robot further includes: a detection unit for detecting the flatness of the target surface according to a predetermined cycle; and an update unit for inputting the flatness into a threshold determination model to update the preset pressure threshold based on the flatness using the threshold determination model, wherein the threshold determination model is trained using multiple sets of training data, and each set of training data includes: sample flatness and a sample pressure threshold corresponding to the sample flatness.

[0019] According to another aspect of the embodiments of this application, a control system for a face-smoothing robot is also provided, wherein the control system for the face-smoothing robot uses any of the control methods for face-smoothing robots described above.

[0020] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any of the above-described control methods for the face-smearing robot.

[0021] According to another aspect of the embodiments of this application, a processor is also provided, the processor being used to run a program, wherein the program, when running, executes any of the control methods for the face-smearing robot described above.

[0022] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions, which, when executed by a processor, perform any of the control methods for the face-smearing robot described above.

[0023] In this embodiment, the vertical contact pressure between the end effector of the smearing robot and the target surface can be obtained first during the smearing operation. Then, the control mode of the smearing robot can be determined based on the comparison between the vertical contact pressure and a preset pressure threshold. Next, the target rotation angle of each joint of the smearing robot in the control mode is determined. Finally, the operating parameters of the smearing robot are adjusted based on the rotation angle deviation between the actual rotation angle and the target rotation angle to control the end effector to move to the target pose and perform the smearing operation on the target surface. Through the above technical solution, the purpose of automatically switching the control mode of the smearing robot to perform the smearing operation by analyzing the vertical contact pressure between the end effector and the object surface is achieved. This realizes the technical effect of adjusting the operation of the end effector by switching the control mode when a solid hard object is detected during the smearing process, thereby ensuring the flatness of the smeared surface. This solves the technical problem in related technologies where traditional smearing methods of smearing robots cannot effectively cope with the influence of solid hard objects on the smearing action during the smearing process, making it difficult to guarantee the flatness of the smeared surface. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0025] Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a face-smearing robot according to an embodiment of this application;

[0026] Figure 2 This is a flowchart of a control method for a face-smoothing robot according to an embodiment of this application;

[0027] Figure 3 This is a control flowchart of the position control mode according to an embodiment of this application;

[0028] Figure 4 This is a control flowchart of the force control mode according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of pressure decomposition according to an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the control device for a face-smoothing robot according to an embodiment of this application.

[0031] The above figures include the following reference numerals:

[0032] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] As described in the background section, traditional smearing methods for smearing robots in related technologies cannot effectively address the influence of solid, hard objects on the smearing action during the smearing process, making it difficult to guarantee the smoothness of the smeared surface. To address these shortcomings, embodiments of this application provide a control method and apparatus for a smearing robot, a computer-readable storage medium, and a computer program product.

[0036] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0037] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a control method of a face-smearing robot according to an embodiment of this application. (See diagram below.) Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0038] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the control method of the face-smearing robot in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0039] According to an embodiment of this application, a method embodiment for controlling a face-smearing robot is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] Figure 2 This is a flowchart of a control method for a face-smoothing robot according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following steps:

[0041] Step S202: During the smearing operation performed by the smearing robot, the vertical contact pressure between the end effector of the smearing robot and the target surface is obtained. The smearing robot is used to smooth the surface of the object, and the target surface is the surface that needs to contact the end effector.

[0042] Optionally, the aforementioned surface-smoothing robot refers to automated equipment used to improve or enhance the smoothness of an object's surface.

[0043] In this embodiment of the application, the use of a concrete shield tunnel segment finishing robot (hereinafter referred to as "the robot") to finish concrete shield tunnel segments in order to ensure the flatness of the segment surface is taken as an example for further explanation.

[0044] Specifically, a pressure sensor can be installed on the robot's end effector to collect the vertical contact pressure F between the end effector and the surface of the pipe segment when the robot performs the finishing operation (i.e., the surface finishing operation mentioned above), and feed it back to the robot control system for later use.

[0045] Step S204: Determine the control mode of the smearing robot based on the comparison result between the vertical contact pressure and the preset pressure threshold. The control mode is the mode of controlling the end effector to perform the smearing operation.

[0046] In this embodiment, the comparison between the vertical contact pressure and the preset pressure threshold can be used to determine whether the end effector causes a sudden change in the pressure on the surface of the pipe segment, so as to determine whether a solid hard object is encountered during the fine grouting process, and then determine and switch to the corresponding control mode to achieve adaptive control.

[0047] Step S206: Determine the target rotation angle of each joint of the smearing robot in control mode.

[0048] In this embodiment, the target rotation angle of each joint in the current control mode can be determined by combining the robot's target running trajectory, so as to facilitate the control of the robot's operation.

[0049] Step S208: Adjust the operating parameters of the smearing robot according to the angular deviation between the actual turning angle and the target turning angle, so as to control the end effector to run to the target pose to perform smearing operation on the target surface. The target pose is the pose of the end effector when the joint is at the target turning angle.

[0050] In this embodiment, the deviation between the current actual rotation angle of each joint of the robot and the corresponding target rotation angle can be used to determine how to control the operation of the robot, and the motor can be controlled by the servo system to make the end effector reach and maintain the set coordinate position.

[0051] As can be seen from the above, by applying the technical solution provided in the above embodiments of this application, the vertical contact pressure between the end effector of the smearing robot and the target surface can be obtained first during the smearing operation of the smearing robot; then, the control mode of the smearing robot can be determined based on the comparison result of the vertical contact pressure and the preset pressure threshold; then, the target rotation angle of each joint of the smearing robot in the control mode can be determined; finally, the operating parameters of the smearing robot can be adjusted based on the rotation angle deviation between the actual rotation angle and the target rotation angle, so as to control the end effector to run to the target pose to perform the smearing operation on the target surface. This achieves the purpose of automatically switching the control mode of the smearing robot to perform the smearing operation by analyzing the vertical contact pressure between the end effector and the object surface, and realizes the technical effect of adjusting the operation of the end effector by switching the control mode when a solid hard object is detected during the smearing process, so as to ensure the flatness of the smeared surface.

[0052] Therefore, the technical solution provided by the above embodiments of this application solves the technical problem that the traditional smearing method of smearing robot in the related art cannot effectively deal with the influence of solid hard objects on the smearing action during the smearing process, and it is difficult to ensure the flatness of the smeared surface.

[0053] In one specific embodiment of this application, determining the control mode of the smearing robot based on the comparison result of the vertical contact pressure and a preset pressure threshold includes: comparing the vertical contact pressure with a first pressure threshold and a second pressure threshold respectively to obtain a comparison result, wherein the first pressure threshold is less than the second pressure threshold; if the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, determining the control mode as a position control mode, wherein the position control mode is a control mode that controls the operation of the end effector according to the desired position of the end effector; if the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold, determining the control mode as a force control mode, wherein the force control mode is a control mode that controls the operation of the end effector according to the desired pressure of the end effector.

[0054] Optionally, the preset pressure thresholds include: a first pressure threshold and a second pressure threshold.

[0055] In this embodiment, to avoid pits or bumps during the smoothing process, a first pressure threshold can be set. Second pressure threshold The threshold range is designed to ensure that the pressure between the robot's end effector and the surface of the tube segment remains within a controllable range that guarantees surface flatness; for example, when the pressure F satisfies When the pressure between the robot's end effector and the surface of the tube segment is within a controllable range that ensures surface flatness, no pressure adjustment is needed, and position control mode can be used; when the pressure F satisfies or If the pressure between the robot's end effector and the surface of the tube segment is too high or too low, it may cause pits or bumps on the surface of the tube segment, requiring correction using force control mode.

[0056] In one specific embodiment of this application, determining the target rotation angle of each joint of the smearing robot in control mode includes: when the control mode is position control mode, determining the trajectory coordinates of the target trajectory point in the trajectory path as the first target trajectory coordinates, wherein the target trajectory point is the trajectory point that the end effector currently needs to reach; when the control mode is force control mode, correcting the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates, wherein the flatness of the smearing robot when performing smearing operations under the desired pressure is greater than a preset flatness threshold; determining the first target trajectory coordinates or the second target trajectory coordinates as the target pose of the smearing robot; and performing inverse kinematics on the target pose to obtain the target rotation angle.

[0057] The following is combined with Figure 3 and Figure 4 The embodiments described above in this application will be explained in detail. Figure 3 This is a control flowchart of the position control mode according to an embodiment of this application. Figure 4 This is a control flowchart of the force control mode according to an embodiment of this application.

[0058] Regardless of whether the robot uses position control or force control, the target trajectory coordinates of the robot must first be determined, such as... Figure 3 As shown, when the robot is controlled using position control mode, the coordinates of the current trajectory point that the robot needs to reach (i.e., the target trajectory point) can be directly determined as the robot's target coordinates (here referring to the first target trajectory coordinates); for example... Figure 4 As shown, when the robot is controlled using a force control mode, the actual vertical contact pressure F between the end effector and the segment surface and the desired pressure can be analyzed. The deviation between the two is first corrected to obtain the coordinates of the target trajectory point to obtain the corresponding second target trajectory coordinates. That is, the force applied by the end effector is adjusted by the coordinate correction to cope with the change in surface hardness, avoid damage to the surface of the tube segment, and at the same time ensure the smoothness of the trowel.

[0059] After determining the target trajectory coordinates (first target trajectory coordinates or second target trajectory coordinates), the corresponding target pose of the robot can be determined based on the target trajectory coordinates. Then, inverse kinematics can be performed to calculate the desired rotation angles (i.e., target rotation angles) of each driven joint of the robot. For example, assuming the determined target trajectory coordinates are... The desired rotation angles of the motors at each drive joint of the robot can be calculated using inverse kinematics algorithms. .

[0060] In an optional embodiment of this application, before correcting the trajectory coordinates of the target trajectory point based on the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates, the control method of the smearing robot further includes: determining that the average of the first pressure threshold and the second pressure threshold is the desired pressure.

[0061] Specifically, it can be based on the first pressure threshold. Second pressure threshold use Calculate the expected pressure of the robot's end effector .

[0062] It should be noted that the embodiments in this application are merely examples of determining the desired pressure, and do not imply any limitation on the setting of the desired pressure. It can also be set according to different operational needs and working conditions. When smoothing concrete surfaces with different hardness or density, different desired pressures may be required to achieve the best operational results. No specific limitations are made here.

[0063] In another specific embodiment of this application, when the control mode is force control mode, the trajectory coordinates of the target trajectory point are corrected according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates. This includes: calculating the first difference between the desired pressure and the vertical contact pressure to obtain the pressure deviation; decomposing the pressure deviation into sub-pressure deviations in different coordinate directions in the trajectory coordinate system, wherein the trajectory coordinate system is the coordinate system where the target trajectory point is located; calculating the product between the sub-pressure deviation and the corresponding contact stiffness coefficient to obtain the correction coefficient for correcting the sub-trajectory coordinates in the corresponding coordinate directions; and correcting the corresponding sub-trajectory coordinates using the correction coefficient to obtain the second target trajectory coordinates.

[0064] The following is combined with Figure 5 The embodiments described above in this application will be explained in detail. Figure 5 This is a schematic diagram of pressure decomposition according to an embodiment of this application.

[0065] like Figure 4 and Figure 5 As shown, the actual vertical contact pressure F between the end effector and the surface of the tube segment can be compared with the vertical pressure. By taking the difference, the pressure deviation is obtained. Then Decomposed into scores along the x-axis and y-axis. and : , , Then these two scores can be... and Multiplying each value by the desired contact stiffness coefficient yields the trajectory coordinates of the target trajectory point. The correction amount (i.e., the correction factor). and : , In the formula, and The desired contact stiffness coefficient can be determined based on engineering experience. Finally, the calculated correction is applied to the target trajectory point coordinates to obtain the new trajectory point coordinates that adapt to sudden pressure changes. (i.e., the coordinates of the second target trajectory): , .

[0066] In one specific embodiment of this application, the operating parameters of the smearing robot are adjusted according to the angular deviation between the actual angular angle and the target angular angle to control the end effector to run to the target pose and perform smearing operations on the target surface. This includes: acquiring the actual angular angle of each joint in the smearing robot; calculating a second difference between the target angular angle and the actual angular angle to obtain the angular deviation; inputting the angular deviation as a position error signal to a position controller for processing to obtain the desired speed of the motor, wherein the desired speed is used to eliminate the angular deviation; inputting the speed deviation between the actual speed and the desired speed of the motor to a servo system, and using the servo system to adjust the operating parameters according to the speed deviation until the speed deviation is less than a preset deviation threshold, to control the end effector to run to the target pose, wherein the operating parameters are at least one of the following: motor torque and current; and controlling the end effector to perform smearing operations on the target surface when the end effector runs to the target pose.

[0067] In this embodiment, the previously calculated desired rotation angle can be used. The actual rotation angle collected by the motor encoder The difference is calculated, and the difference value 'e' is used as a command input to the position controller. The output of the position controller is then used as the desired speed. and the actual speed The difference is calculated and sent to the servo system. After receiving this deviation signal, the servo system adjusts the torque and current of the motor according to the magnitude of the deviation to monitor and correct the speed deviation in real time, so as to achieve the desired speed. This allows the end effector to run to the target pose, that is, to run to the target trajectory coordinates to perform the troweling operation on the surface of the pipe segment, thereby ensuring the quality and efficiency of the troweling operation.

[0068] In an optional embodiment of this application, the control method of the smearing robot further includes: detecting the flatness of the target surface according to a predetermined cycle; inputting the flatness into a threshold determination model, so as to use the threshold determination model to update a preset pressure threshold according to the flatness, wherein the threshold determination model is trained using multiple sets of training data, and each set of multiple sets of training data includes: sample flatness and sample pressure threshold corresponding to the sample flatness.

[0069] In this embodiment, a pre-trained threshold determination model (such as a machine learning model, a neural network model, a large model, etc.) can be used to determine the preset pressure threshold based on the smoothness feedback after the robot performs the smoothing operation. , Updates and optimizations are carried out to adapt to changes in the surface of the pipe segments, fluctuations in material properties, or changes in environmental conditions, ensuring the continuous high quality and stability of the finishing operation and constantly improving the smoothness of the finishing operation performed by the robot.

[0070] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0071] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0072] According to an embodiment of this application, a control device for a face-smoothing robot that implements the control method of the face-smoothing robot described above is also provided. Figure 6 This is a schematic diagram of the control device of the face-smoothing robot according to an embodiment of this application, as shown below. Figure 6 As shown, the device includes: an acquisition unit 61, a first determination unit 63, a second determination unit 65, and a control unit 67. The control device of this smearing robot will be described in detail below.

[0073] The acquisition unit 61 is used to acquire the vertical contact pressure between the end effector of the smearing robot and the target surface during the smearing operation performed by the smearing robot. The smearing robot is used to smooth the surface of an object, and the target surface is the surface that needs to contact the end effector.

[0074] The first determining unit 63 is used to determine the control mode of the smearing robot based on the comparison result between the vertical contact pressure and the preset pressure threshold, wherein the control mode is the mode of controlling the end effector to perform the smearing operation.

[0075] The second determining unit 65 is used to determine the target rotation angle of each joint of the smearing robot in the control mode.

[0076] The control unit 67 is used to adjust the operating parameters of the smearing robot according to the angular deviation between the actual turning angle and the target turning angle, so as to control the end effector to run to the target pose to perform smearing operation on the target surface, wherein the target pose is the pose of the end effector when the joint is at the target turning angle.

[0077] It should be noted that the above-mentioned acquisition unit 61, first determination unit 63, second determination unit 65 and control unit 67 correspond to steps S202 to S208 in the above embodiments. The four units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0078] As can be seen from the above, in the solution described in the above embodiments of this application, the acquisition unit can first acquire the vertical contact pressure between the end effector of the smearing robot and the target surface during the smearing operation, wherein the smearing robot is used to smooth the surface of an object, and the target surface is the surface that needs to contact the end effector; then, the first determining unit determines the control mode of the smearing robot based on the comparison result of the vertical contact pressure and the preset pressure threshold, wherein the control mode is the mode of controlling the end effector to perform the smearing operation; then, the second determining unit determines the target of each joint of the smearing robot in the control mode. The rotation angle is marked; finally, the control unit adjusts the operating parameters of the smearing robot according to the rotation angle deviation between the actual rotation angle and the target rotation angle, so as to control the end effector to run to the target pose to perform smearing operation on the target surface. The target pose is the pose of the end effector when the joint is at the target rotation angle. This achieves the purpose of automatically switching the control mode of the smearing robot to perform smearing operation by analyzing the vertical contact pressure between the end effector and the object surface. It realizes the technical effect of adjusting the operation of the end effector by switching the control mode when a solid hard object is detected during the smearing process, so as to ensure the flatness of the smeared surface.

[0079] Therefore, the technical solution provided by the above embodiments of this application solves the technical problem that the traditional smearing method of smearing robot in the related art cannot effectively deal with the influence of solid hard objects on the smearing action during the smearing process, and it is difficult to ensure the flatness of the smeared surface.

[0080] In an optional embodiment of this application, the preset pressure threshold includes: a first pressure threshold and a second pressure threshold. The first determining unit includes: a first acquiring module, configured to compare the vertical contact pressure with the first pressure threshold and the second pressure threshold respectively to obtain a comparison result, wherein the first pressure threshold is less than the second pressure threshold; a first determining module, configured to determine the control mode as a position control mode when the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, wherein the position control mode is a control mode that controls the operation of the end effector according to the desired position of the end effector; and a second determining module, configured to determine the control mode as a force control mode when the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold, wherein the force control mode is a control mode that controls the operation of the end effector according to the desired pressure of the end effector.

[0081] In an optional embodiment of this application, the second determining unit includes: a third determining module, configured to determine the trajectory coordinates of a target trajectory point in the trajectory path as the first target trajectory coordinates when the control mode is position control mode, wherein the target trajectory point is the trajectory point that the end effector currently needs to reach; a second obtaining module, configured to correct the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure when the control mode is force control mode, to obtain the second target trajectory coordinates, wherein the flatness of the surface smoothing robot when performing surface smoothing operation under the desired pressure is greater than a preset flatness threshold; a fourth determining module, configured to determine the first target trajectory coordinates or the second target trajectory coordinates as the target pose of the surface smoothing robot; and a third obtaining module, configured to perform inverse kinematics solution on the target pose to obtain the target rotation angle.

[0082] In an optional embodiment of this application, the preset pressure threshold includes: a first pressure threshold and a second pressure threshold. The control device of the smearing robot further includes: a fifth determining module, used to determine the average of the first pressure threshold and the second pressure threshold as the desired pressure before correcting the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates.

[0083] In an optional embodiment of this application, the second acquisition module includes: a first acquisition submodule, used to calculate a first difference between the desired pressure and the vertical contact pressure to obtain a pressure deviation; a decomposition submodule, used to decompose the pressure deviation into sub-pressure deviations in different coordinate directions in a trajectory coordinate system, wherein the trajectory coordinate system is the coordinate system where the target trajectory point is located; a second acquisition submodule, used to calculate the product between the sub-pressure deviation and the corresponding contact stiffness coefficient to obtain a correction coefficient for correcting the sub-trajectory coordinates in the corresponding coordinate direction; and a third acquisition submodule, used to correct the corresponding sub-trajectory coordinates using the correction coefficient to obtain the second target trajectory coordinates.

[0084] In one optional embodiment of this application, the control unit includes: a fourth acquisition module for acquiring the actual rotation angle of each joint in the smearing robot; a fifth acquisition module for calculating a second difference between the target rotation angle and the actual rotation angle to obtain the rotation angle deviation; a sixth acquisition module for inputting the rotation angle deviation as a position error signal to the position controller for processing to obtain the desired speed of the motor, wherein the desired speed is used to eliminate the rotation angle deviation; a first control module for inputting the speed deviation between the actual speed of the motor and the desired speed into the servo system, and using the servo system to adjust the operating parameters according to the speed deviation until the speed deviation is less than a preset deviation threshold, so as to control the end effector to run to the target pose, wherein the operating parameters are at least one of the following: motor torque and current; and a second control module for controlling the end effector to perform smearing operations on the target surface when the end effector runs to the target pose.

[0085] In an optional embodiment of this application, the control device of the smearing robot further includes: a detection unit for detecting the flatness of the target surface according to a predetermined cycle; and an update unit for inputting the flatness into a threshold determination model to update a preset pressure threshold based on the flatness using the threshold determination model. The threshold determination model is trained using multiple sets of training data, and each set of training data includes: sample flatness and a sample pressure threshold corresponding to the sample flatness.

[0086] According to another aspect of the embodiments of this application, a control system for a face-smoothing robot is also provided, wherein the control system for the face-smoothing robot uses any of the control methods for face-smoothing robots described above.

[0087] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the control method of the face-smearing robot described above.

[0088] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0089] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: during the smearing robot's smearing operation, acquiring the vertical contact pressure between the end effector of the smearing robot and the target surface, wherein the smearing robot is used to smooth the surface of an object, and the target surface is the surface that needs to contact the end effector; determining the control mode of the smearing robot based on the comparison result of the vertical contact pressure and a preset pressure threshold, wherein the control mode is a mode for controlling the end effector to perform the smearing operation; determining the target rotation angle of each joint of the smearing robot in the control mode; adjusting the operating parameters of the smearing robot based on the rotation angle deviation between the actual rotation angle and the target rotation angle, so as to control the end effector to run to the target pose to perform the smearing operation on the target surface, wherein the target pose is the pose of the end effector when the joint is at the target rotation angle.

[0090] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: comparing the vertical contact pressure with a first pressure threshold and a second pressure threshold respectively to obtain a comparison result, wherein the first pressure threshold is less than the second pressure threshold; if the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, determining the control mode as a position control mode, wherein the position control mode is a control mode for controlling the operation of the end effector according to the desired position of the end effector; if the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold, determining the control mode as a force control mode, wherein the force control mode is a control mode for controlling the operation of the end effector according to the desired pressure of the end effector.

[0091] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the control mode is position control mode, determining the trajectory coordinates of the target trajectory point in the trajectory path as the first target trajectory coordinates, wherein the target trajectory point is the trajectory point that the end effector currently needs to reach; when the control mode is force control mode, correcting the trajectory coordinates of the target trajectory point according to the pressure deviation between the vertical contact pressure and the desired pressure to obtain the second target trajectory coordinates, wherein the flatness of the surface smoothing robot when performing the surface smoothing operation under the desired pressure is greater than a preset flatness threshold; determining the first target trajectory coordinates or the second target trajectory coordinates as the target pose of the surface smoothing robot; performing inverse kinematics on the target pose to obtain the target rotation angle.

[0092] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining that the average of a first pressure threshold and a second pressure threshold is the desired pressure.

[0093] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: calculating a first difference between the desired pressure and the vertical contact pressure to obtain a pressure deviation; decomposing the pressure deviation into sub-pressure deviations in different coordinate directions in the trajectory coordinate system, wherein the trajectory coordinate system is the coordinate system where the target trajectory point is located; calculating the product between the sub-pressure deviation and the corresponding contact stiffness coefficient to obtain a correction coefficient for correcting the sub-trajectory coordinates in the corresponding coordinate direction; and correcting the corresponding sub-trajectory coordinates using the correction coefficient to obtain the second target trajectory coordinates.

[0094] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the actual rotation angle of each joint in the smearing robot; calculating a second difference between the target rotation angle and the actual rotation angle to obtain the rotation angle deviation; inputting the rotation angle deviation as a position error signal to the position controller for processing to obtain the desired speed of the motor, wherein the desired speed is used to eliminate the rotation angle deviation; inputting the speed deviation between the actual speed of the motor and the desired speed into the servo system, and using the servo system to adjust the operating parameters according to the speed deviation until the speed deviation is less than a preset deviation threshold, so as to control the end effector to run to the target pose, wherein the operating parameters are at least one of the following: motor torque and current; when the end effector runs to the target pose, controlling the end effector to perform smearing operations on the target surface.

[0095] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: detecting the flatness of the target surface at a predetermined period; inputting the flatness into a threshold determination model to update a preset pressure threshold based on the flatness using the threshold determination model, wherein the threshold determination model is trained using multiple sets of training data, each set of training data including: sample flatness and sample pressure threshold corresponding to the sample flatness.

[0096] According to another aspect of the embodiments of this application, a processor is also provided, which is used to run a program, wherein the program executes the control method of any of the above-described face-smearing robots when it runs.

[0097] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions, which, when executed by a processor, perform any of the above-described control methods for a face-smearing robot.

[0098] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0099] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0105] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method of a troweling robot, characterized by, The method comprises the following steps: During the troweling operation of the troweling robot, the normal contact pressure between the end effector of the troweling robot and the target surface is obtained, wherein the troweling robot is used to smooth the surface of an object, and the target surface is a surface that needs to be in contact with the end effector; According to the comparison result of the normal contact pressure and the preset pressure threshold, the control mode of the troweling robot is determined, wherein the control mode is a mode for controlling the end effector to perform the troweling operation; the preset pressure threshold comprises a first pressure threshold and a second pressure threshold; according to the comparison result of the normal contact pressure and the preset pressure threshold, the control mode of the troweling robot is determined, which comprises comparing the normal contact pressure with the first pressure threshold and the second pressure threshold respectively to obtain the comparison result; in the case that the comparison result indicates that the normal contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold, the control mode is determined as a position control mode; in the case that the comparison result indicates that the normal contact pressure is less than the first pressure threshold or greater than the second pressure threshold, the control mode is determined as a force control mode; The target rotation angle of each joint of the troweling robot in the control mode is determined; wherein the target rotation angle of each joint of the troweling robot in the control mode is determined, which comprises: in the case that the control mode is the position control mode, the trajectory coordinates of a target trajectory point in a trajectory path are determined as first target trajectory coordinates, wherein the target trajectory point is a trajectory point that the end effector currently needs to reach; in the case that the control mode is the force control mode, the trajectory coordinates of the target trajectory point are corrected according to the pressure deviation between the normal contact pressure and the expected pressure to obtain second target trajectory coordinates, wherein the flatness of the troweling robot when performing the troweling operation under the expected pressure is greater than a preset flatness threshold; the first target trajectory coordinates or the second target trajectory coordinates are determined as the target pose of the troweling robot; the inverse kinematics of the target pose is solved to obtain the target rotation angle; According to the rotation angle deviation between the actual rotation angle of the troweling robot and the target rotation angle, the running parameters of the troweling robot are adjusted to control the end effector to run to the target pose to perform the troweling operation on the target surface, wherein the target pose is the pose of the end effector corresponding to the target rotation angle of the joint.

2. The control method of the troweling robot according to claim 1, characterized in that, The first pressure threshold is less than the second pressure threshold; the position control mode is the control mode for controlling the end effector to run according to the expected position of the end effector; the force control mode is the control mode for controlling the end effector to run according to the expected pressure of the end effector.

3. The control method of the troweling robot according to claim 1, characterized by, The preset pressure threshold comprises a first pressure threshold and a second pressure threshold, and before the trajectory coordinates of the target trajectory point are corrected according to the pressure deviation between the normal contact pressure and the expected pressure to obtain second target trajectory coordinates, the method further comprises: An average of the first pressure threshold and the second pressure threshold is determined as the expected pressure.

4. The control method of the troweling robot according to claim 1, characterized by, In a case where the control mode is a force control mode, the trajectory coordinates of the target trajectory point are corrected according to a pressure deviation between the vertical contact pressure and an expected pressure, to obtain second target trajectory coordinates, including: A first difference value between the expected pressure and the vertical contact pressure is calculated, to obtain the pressure deviation; The pressure deviation is decomposed into sub-pressure deviations in different coordinate directions in a trajectory coordinate system, wherein the trajectory coordinate system is a coordinate system in which the target trajectory point is located; A product of the sub-pressure deviation and a corresponding contact stiffness coefficient is calculated respectively, to obtain a correction coefficient for correcting a sub-trajectory coordinate in the corresponding coordinate direction; The sub-trajectory coordinates are corrected respectively by using the correction coefficients, to obtain the second target trajectory coordinates.

5. The control method of the troweling robot according to claim 1, characterized by, An angle deviation between an actual rotation angle of the troweling robot and a target rotation angle is used to adjust a running parameter of the troweling robot, to control the end effector to run to a target pose to perform the troweling work on the target surface, including: An actual rotation angle of each joint in the troweling robot is obtained; A second difference value between the target rotation angle and the actual rotation angle is calculated, to obtain the angle deviation; The angle deviation is input as a position error signal to a position controller for processing, to obtain an expected speed of a motor, wherein the expected speed is used to eliminate the angle deviation; A speed deviation between an actual speed of the motor and the expected speed is input to a servo system, and the servo system is used to adjust the running parameter according to the speed deviation until the speed deviation is less than a preset deviation threshold, to control the end effector to run to the target pose, wherein the running parameter is at least one of a torque and a current of the motor; In a case where the end effector runs to the target pose, the end effector is controlled to perform the troweling work on the target surface.

6. The control method of the troweling robot according to claim 1, characterized by, The method further includes: The flatness of the target surface is detected at a predetermined period; The flatness is input to a threshold determination model, to update the preset pressure threshold according to the flatness by using the threshold determination model, wherein the threshold determination model is obtained by training a plurality of sets of training data, and each set of the plurality of sets of training data includes a sample flatness and a sample pressure threshold corresponding to the sample flatness.

7. A control device of a troweling robot, characterized by, The method further includes: An obtaining unit is configured to obtain a vertical contact pressure between an end effector and a target surface in a troweling robot during troweling work performed by the troweling robot, wherein the troweling robot is configured to trowel a surface of an object, and the target surface is a surface that needs to be in contact with the end effector. The first determining unit is configured to determine a control mode of the troweling robot according to a comparison result of the vertical contact pressure and a preset pressure threshold, wherein the control mode is a mode of controlling the end effector to perform the troweling operation; the preset pressure threshold includes a first pressure threshold and a second pressure threshold; the first determining unit includes a first obtaining module configured to compare the vertical contact pressure with the first pressure threshold and the second pressure threshold respectively to obtain the comparison result; a first determining module configured to determine that the control mode is a position control mode when the comparison result indicates that the vertical contact pressure is not less than the first pressure threshold and not greater than the second pressure threshold; and a second determining module configured to determine that the control mode is a force control mode when the comparison result indicates that the vertical contact pressure is less than the first pressure threshold or greater than the second pressure threshold. The second determining unit is configured to determine a target rotation angle of each joint of the troweling robot in the control mode; wherein the second determining unit includes a third determining module configured to determine that a trajectory coordinate of a target trajectory point in a trajectory path is a first target trajectory coordinate when the control mode is the position control mode, wherein the target trajectory point is a trajectory point that the end effector currently needs to reach; a second obtaining module configured to correct the trajectory coordinate of the target trajectory point according to a pressure deviation between the vertical contact pressure and an expected pressure to obtain a second target trajectory coordinate when the control mode is the force control mode, wherein a flatness of the troweling robot in performing the troweling operation under the expected pressure is greater than a preset flatness threshold; a fourth determining module configured to determine that the first target trajectory coordinate or the second target trajectory coordinate is a target pose of the troweling robot; and a third obtaining module configured to perform inverse kinematics on the target pose to obtain the target rotation angle. The control unit is configured to adjust a running parameter of the troweling robot according to a rotation angle deviation between an actual rotation angle of the troweling robot and the target rotation angle, so as to control the end effector to run to a target pose to perform the troweling operation on the target surface, wherein the target pose is a pose of the end effector when the joints are in the target rotation angle.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored program, wherein the program performs the control method of the troweling robot according to any one of claims 1 to 6.

9. A computer program product comprising computer instructions, characterized in that, The computer instructions are executed by the processor to perform the control method of the troweling robot according to any one of claims 1 to 6.

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