Pressure determination method and device, robot, medium and product

Abstract

The invention relates to a pressure determining method and device, a robot, a medium and a product, and the method comprises the steps that deformation parameters corresponding to at least one cantilever device on a robot foot device are obtained, and the deformation parameters represent the deformation state of the cantilever device under the condition that the robot foot device is stressed; according to the deformation parameters, determining a target position where the robot foot device is subjected to pressure; and determining target pressure corresponding to the target position according to the deformation parameter and the target position.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, and in particular, to a pressure determination method and device, a robot, a medium and a product. BACKGROUND

[0002] In recent years, with the progress of society and technology, robot technology has been widely applied to various aspects of life. The motion capability of a foot robot is a crucial part of foot robot technology. By detecting the force information of the foot bottom of the robot in real time and dynamically, and applying the force information of the foot bottom to robot control, the motion stability of the robot can be effectively improved.

[0003] In related technologies, the force feedback at the end of the foot of a robot is usually achieved by controlling the torque of a motor provided at a joint to realize pressure feedback. However, there are many joints from the motor provided in the robot to the end of the foot, and it is difficult to accurately determine the force condition and force distribution condition at the end, thereby limiting the motion stability of the robot. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a pressure determination method, device, robot, medium and product.

[0005] According to a first aspect of an embodiment of the present disclosure, a pressure determination method is provided, and the method comprises: obtaining a deformation parameter corresponding to at least one cantilever device on a robot foot device, wherein the deformation parameter represents a deformation state of the cantilever device when the robot foot device is subjected to pressure; determining a target position of the robot foot device subjected to pressure according to the deformation parameter; determining a target pressure corresponding to the target position according to the deformation parameter and the target position.

[0006] Optionally, the determining the target position of the robot foot device subjected to pressure according to the deformation parameter comprises: determining the target position of the robot foot device subjected to pressure according to the deformation parameter through a first preset pressure correspondence; the first preset pressure correspondence comprises a correspondence between a plurality of preset deformation parameters and preset positions, and the preset positions comprise a plurality of position points on the robot foot device.

[0007] Optionally, the determining the target position of the robot foot device subjected to pressure according to the deformation parameter through a first preset pressure correspondence comprises: determining a candidate deformation parameter satisfying a preset condition from the plurality of preset deformation parameters in the first preset pressure correspondence; According to the first preset pressure corresponding relationship, a candidate position corresponding to the candidate deformation parameter is determined, and the candidate position is taken as the target position of the robot foot device under pressure.

[0008] Optionally, the determining of the candidate deformation parameter from the plurality of preset deformation parameters in the first preset pressure corresponding relationship comprises: determining a similarity of the deformation parameter with each of the preset deformation parameters; taking the preset deformation parameter with the maximum similarity from the plurality of similarities as the candidate deformation parameter.

[0009] Optionally, the preset deformation parameter comprises a unit vector corresponding to a deformation of the cantilever device under pressure of the robot foot device; and the first preset pressure corresponding relationship is determined by: applying a preset pressure to each of a plurality of preset positions on the robot foot device to obtain a plurality of deformation information corresponding to the cantilever device; determining the first preset pressure corresponding relationship according to the deformation information corresponding to each of the preset positions.

[0010] Optionally, the determining of the target pressure corresponding to the target position according to the deformation parameter and the target position comprises: determining a target ratio corresponding to the target position according to the target position by a second preset pressure corresponding relationship; the second preset pressure corresponding relationship comprises a corresponding relationship between a plurality of preset positions and preset ratios, the preset ratio being a ratio of the preset deformation parameter to preset pressure at the preset position, the preset position comprising a plurality of position points on the robot foot device; determining the target pressure corresponding to the target position according to the deformation parameter and the target ratio.

[0011] Optionally, the determining of the target ratio corresponding to the target position according to the deformation parameter and the target position by the second preset pressure corresponding relationship comprises: determining a candidate ratio corresponding to the target position from a plurality of preset ratios in the second preset pressure corresponding relationship, and taking the candidate ratio as the target ratio corresponding to the target position.

[0012] Optionally, the preset deformation parameter comprises a linear relationship parameter between each of the preset positions and the preset pressure under pressure of the robot foot device. The second preset pressure corresponding relationship is determined by: For multiple preset positions on the robot's foot device, a preset pressure is applied to each preset position to obtain at least one deformation information corresponding to the cantilever device; Based on the deformation information corresponding to each preset position, determine the linear relationship parameter between each preset position and the preset pressure; The ratio of the linear relationship parameter corresponding to the preset position to the preset pressure is used as the ratio value; The second preset pressure correspondence is determined based on the preset ratio corresponding to the preset position.

[0013] According to a second aspect of the present disclosure, a pressure determining device is provided, comprising: The acquisition module is configured to acquire deformation parameters corresponding to at least one cantilever device on the robot foot assembly, wherein the deformation parameters characterize the deformation state of the cantilever device under pressure on the robot foot assembly. The first determining module is configured to determine the target position where the robot foot device is subjected to pressure based on the deformation parameters; The second determining module is configured to determine the target pressure corresponding to the target position based on the deformation parameters and the target position.

[0014] Optionally, the first determining module is configured to determine the target position of the robot foot device subjected to pressure based on the deformation parameters and a first preset pressure correspondence; the first preset pressure correspondence includes a correspondence between multiple preset deformation parameters and preset positions, and the preset positions include multiple position points on the robot foot device.

[0015] Optionally, the first determining module includes: The first determining submodule is configured to determine candidate deformation parameters that meet preset conditions from a plurality of preset deformation parameters in the first preset pressure correspondence. The second determining submodule is configured to determine the candidate position corresponding to the candidate deformation parameter based on the first preset pressure correspondence, and to use the candidate position as the target position where the robot foot device is subjected to pressure.

[0016] Optionally, the first determining submodule is configured to determine the similarity between the deformation parameter and each of the preset deformation parameters; and to select the preset deformation parameter with the largest similarity among the plurality of parameters as the candidate deformation parameter.

[0017] Optionally, the preset deformation parameter comprises a unit vector corresponding to a deformation of the cantilever device when the robot foot device is subjected to pressure; and the first preset pressure corresponding relationship is determined by: For a plurality of preset positions on the robot foot device, a plurality of deformation information corresponding to the cantilever device are obtained by applying a preset pressure to each of the preset positions; The first preset pressure corresponding relationship is determined according to the deformation information corresponding to each of the preset positions.

[0018] Optionally, the second determining module comprises: A third determining sub-module configured to determine a target ratio corresponding to the target position according to the target position and a second preset pressure corresponding relationship; the second preset pressure corresponding relationship comprises a corresponding relationship between a plurality of preset positions and preset ratios, the preset ratio being a ratio of the preset deformation parameter to a preset pressure at the preset position, and the preset position comprising a plurality of position points on the robot foot device; A fourth determining sub-module configured to determine a target pressure corresponding to the target position according to the deformation parameter and the target ratio.

[0019] Optionally, the third determining sub-module is configured to determine a candidate ratio corresponding to the target position from a plurality of preset ratios in the second preset pressure corresponding relationship, and take the candidate ratio as the target ratio corresponding to the target position.

[0020] Optionally, the preset deformation parameter comprises a linear relationship parameter between each of the preset positions and a preset pressure when the robot foot device is subjected to pressure; and the second preset pressure corresponding relationship is determined by: For a plurality of preset positions on the robot foot device, at least one deformation information corresponding to the cantilever device is obtained by applying a preset pressure to each of the preset positions; A linear relationship parameter between each of the preset positions and a preset pressure is determined according to the deformation information corresponding to each of the preset positions; A ratio of the linear relationship parameter corresponding to the preset position to a preset pressure is taken as the ratio; The second preset pressure corresponding relationship is determined according to the preset ratio corresponding to the preset position.

[0021] According to a third aspect of the embodiments of the present disclosure, a pressure determining device is provided, comprising: a processor; a memory for storing processor-executable instructions; The processor is configured to implement the steps of the pressure determination method provided in the first aspect of the present disclosure.

[0022] According to a fourth aspect of the embodiments of the present disclosure, a foot robot is provided, comprising the pressure determination apparatus provided in the third aspect of the present disclosure.

[0023] According to a fifth aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which stores computer program instructions, and the program instructions are executed by a processor to implement the steps of the pressure determination method provided in the first aspect of the present disclosure.

[0024] According to a sixth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising a computer program, and the computer program is executed by a processor to implement the steps of the pressure determination method provided in the first aspect of the present disclosure.

[0025] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects: By obtaining the deformation parameter corresponding to the at least one cantilever device on the robot foot device, the deformation parameter characterizes the deformation state of the cantilever device under the condition that the robot foot device is subjected to pressure; according to the deformation parameter, the target position of the robot foot device subjected to pressure is determined; and according to the deformation parameter and the target position, the target pressure corresponding to the target position is determined. In this way, the deformation of the cantilever device directly connected to the robot foot device under stress can be determined, and the corresponding relationship between the deformation and the pressure and the stress position can be determined in advance, so as to determine the pressure and the stress position of the robot foot device, which can avoid too many joints from the motor to the end of the foot bottom in the robot, so as to accurately determine the end stress condition and the stress distribution condition. The pressure and the stress position of the robot foot device can be determined more accurately and intuitively through the deformation parameter of the cantilever device, so as to improve the motion stability of the robot.

[0026] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0028] Figure 1 is a structural schematic diagram of a cantilever device according to an exemplary embodiment.

[0029] Figure 2 is a flowchart of a pressure determination method according to an exemplary embodiment.

[0030] Figure 3 FIG. 7 is a structural diagram of another cantilever device according to an example embodiment.

[0031] Figure 4 FIG. 8 is a flowchart of another pressure determination method according to an example embodiment.

[0032] Figure 5 FIG. 8 is a flowchart of another pressure determination method according to an example embodiment.

[0033] Figure 6 FIG. 8 is a flowchart of another pressure determination method according to an example embodiment.

[0034] Figure 7 FIG. 9 is a block diagram of a pressure determination device according to an example embodiment.

[0035] Figure 8 FIG. 10 is a block diagram of a first determination module according to an example embodiment. Figure 7

[0036] FIG. 11 is a block diagram of a second determination module according to an example embodiment. Figure 9 Figure 7 FIG. 12 is a block diagram of a pressure determination device according to an example embodiment.

[0037] Figure 10 FIG. 13 is a block diagram of a legged robot according to an example embodiment.

[0038] DETAILED DESCRIPTION Figure 11 The following detailed description is presented in terms of examples that represent the best mode for practicing the disclosure. Descriptions of implementations in the following examples do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0039] The following detailed description is presented in terms of examples that represent the best mode for practicing the disclosure. Descriptions of implementations in the following examples do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0040] The following detailed description is presented in terms of examples that represent the best mode for practicing the disclosure. Descriptions of implementations in the following examples do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] ​Before the detailed description of the specific embodiments of the present disclosure, the application scenario of the present disclosure is first described. The present disclosure can be applied to the scenario of determining the pressure of the robot. In recent years, with the progress of society and technology, robot technology has been widely applied to all aspects of life, and the movement ability of the foot robot is a crucial part of the foot robot technology. By detecting the force information of the robot foot in real time and dynamically, and applying the force information of the foot to the robot control, the movement stability of the robot can be effectively improved.

[0042] In the related art, the pressure information of the robot foot device is usually determined by the following methods: Method one, a force sensor can be installed on the robot foot device, or a torque sensor can be installed at the joint connected with the robot foot device. The foot force information measured by this method has high accuracy, but the installation of the sensor increases the mass of the robot foot, which is not conducive to the movement of the robot, and there are many joints from the motor to the end of the foot in the robot, which cannot accurately determine the end force condition and force distribution condition.

[0043] Method two, the joint torque can be estimated by measuring the joint current, and then the foot force information is measured. This method has a large cost, but the estimated joint torque is more accurate in joints with large deceleration, and the estimated joint torque has large error in joints with small deceleration, thereby reducing the measurement accuracy of the foot force information.

[0044] In order to overcome the technical problems existing in the above related art, the present disclosure provides a pressure determination method, device, robot, medium and product. The deformation parameter corresponding to at least one cantilever device on the robot foot device is obtained, wherein the deformation parameter represents the deformation state of the cantilever device under the condition that the robot foot device is subjected to pressure; the target position of the robot foot device subjected to pressure is determined according to the deformation parameter; and the target pressure corresponding to the target position is determined according to the deformation parameter and the target position. In this way, the deformation of the cantilever device directly connected with the robot foot device under stress can be determined, and the corresponding relationship between the deformation and the pressure and the stress position can be determined in advance, so as to determine the pressure and the stress position of the robot foot device. The too many joints from the motor to the end of the foot in the robot can be avoided to accurately determine the end force condition and force distribution condition. The pressure and stress position of the robot foot device can be more accurately and intuitively determined through the corresponding deformation parameter of the cantilever device, thereby improving the movement stability of the robot.

[0045] In the scenario to which the present disclosure is applied, the pressure determination method can be applied to a control device of a robot, the robot comprising the control device, a robot foot device, and a cantilever device connected to the robot foot device, the cantilever device being deformed under the condition that the robot foot device is subjected to pressure.

[0046] Optionally, as shown in Figure 1 The robot foot device can comprise a foot skeleton for connecting with a leg skeleton of the robot to support the robot to walk, and the upper bottom surface of the foot skeleton can be connected with at least one cantilever device, the cantilever device can comprise a cantilever beam, and the cantilever beam can be deformed elastically under the condition that the robot foot device is subjected to pressure, the robot foot device can conduct the pressure received to the cantilever beam, and the cantilever beam can be deformed elastically under the condition that the cantilever beam is subjected to the conducted pressure, the top of the cantilever beam is provided with a strain gauge for measuring the elastic deformation of the cantilever beam, and the measurement value of the elastic deformation of each cantilever beam can be determined.

[0047] Further, the cantilever device further comprises a protection assembly capable of bearing a large pressure to protect the cantilever beam in the cantilever device from damage caused by overloading.

[0048] Specifically, when the cantilever beam is deformed under the condition of upward pressure, the cantilever beam is deformed downward, and when the deformation exceeds a certain threshold, the protection structure can prevent the cantilever beam from continuing to deform, thereby realizing the function of overload protection. When the cantilever beam is deformed under the condition of downward pressure, the cantilever beam is deformed downward, and when the deformation exceeds a certain threshold, the protection structure can contact the uniform force plate to prevent the uniform force plate from continuing to apply upward pressure to the cantilever beam, thereby preventing the cantilever beam from continuing to deform, thereby realizing the function of overload protection.

[0049] The present disclosure will be described below in conjunction with specific embodiments.

[0050] Figure 2 is a flowchart of a pressure determination method according to an exemplary embodiment, as shown in Figure 2 The pressure determination method is applied to a control device of a robot, the control device can be a general computer, a server, or an intelligent terminal device, etc., and can also be a vehicle-mounted computer or a vehicle-mounted industrial control computer (Industrial Personal Computer, IPC) or the like. The method can comprise the following steps.

[0051] In step S11, a deformation parameter corresponding to at least one cantilever device of a robot foot device is obtained.

[0052] The deformation parameter represents the deformation state of the cantilever device under the condition that the robot foot device is subjected to pressure.

[0053] It should be noted that a plurality of the cantilever arms can be connected to a foot corner point of a periphery of the robot foot device respectively, wherein the foot corner point can be used to refer to a feature point of the periphery of the robot foot device, such as Figure 3 As shown, for example, a plurality of feature points can be obtained at a periphery of the robot foot device according to a preset interval, or Figure 3 A point, a B point, a C point, and the like in FIG. 1, as long as the points can reflect the features of the periphery of the robot foot device, the points can be used as the foot corner point.

[0054] In step S12, according to the deformation parameter, a target position at which the robot foot device is subjected to pressure is determined.

[0055] It is considered that in the case that the robot foot device is subjected to pressure at different positions, the force conducted by the cantilever beam connected to different foot corner points of the robot foot device is also different, and thus the elastic deformation of the connected cantilever beam is also different, and thus the target position at which the robot foot device is subjected to pressure can be determined by the deformation parameter.

[0056] Optionally, a first preset pressure corresponding relationship can be determined according to the obtained calibration parameter first, and then the target position at which the robot foot device is subjected to pressure is determined by the first preset pressure corresponding relationship according to the deformation parameter.

[0057] The first preset pressure corresponding relationship includes a plurality of preset deformation parameters and a preset position corresponding relationship, and the preset position includes a plurality of position points on the robot foot device.

[0058] In a possible implementation, the preset deformation parameter includes a unit vector corresponding to the deformation of the cantilever device in the case that the robot foot device is subjected to pressure.

[0059] For example, the first preset pressure corresponding relationship can be determined by the following steps.

[0060] S1, for a plurality of preset positions on the robot foot device, a plurality of deformation information corresponding to the cantilever device is obtained by applying a preset pressure to each of the preset positions.

[0061] The deformation information can include a measurement value of a strain gauge arranged on the cantilever beam.

[0062] A plurality of different preset positions of the robot foot device can be determined in advance, and the preset positions can be position points; then a preset pressure can be applied to different preset positions respectively, and then the measurement value of the strain gauge arranged on the cantilever beam at different preset positions under the condition of being subjected to the preset pressure is obtained respectively.

[0063] For example, in the case where the cantilever device includes four devices, n position points can be evenly marked on the robot foot device, which can be denoted as Then, a pressure with a size of is applied at each position In this case, the corresponding measurement values of the four strain gauges can be obtained, which can be denoted as a vector X, and the vector .

[0064] S2, determining the first preset pressure corresponding relationship according to the deformation information corresponding to each preset position.

[0065] Optionally, first, the unit vector corresponding to each preset position can be determined according to the deformation information corresponding to each preset position.

[0066] For example, the unit vector corresponding to the preset position p can be calculated according to the deformation information corresponding to the preset position p.

[0067] For example, the vector corresponding to the deformation information of the preset position p is .

[0068] Secondly, the first preset pressure corresponding relationship can be determined according to the unit vector corresponding to the preset position.

[0069] It should be noted that, considering that the unit vector is only related to the position of the applied pressure and is irrelevant to the size of the applied pressure in the case where the preset deformation parameter includes the unit vector corresponding to the deformation of the cantilever device under the condition that the robot foot device is subjected to pressure, the preset pressure can be the same or different.

[0070] In step S13, the target pressure corresponding to the target position is determined according to the deformation parameter and the target position.

[0071] Considering that the force conducted by the cantilever beam connected to different foot angle points of the robot foot device is different under the condition that the same position of the robot foot device is subjected to different values of pressure, the elastic deformation of the connected cantilever beam is also different, and therefore, the target pressure corresponding to the target position of the robot foot device can also be determined by the deformation parameter.

[0072] Optionally, the second preset pressure corresponding relationship can be determined according to the obtained calibration parameters, and then the target pressure corresponding to the target position is determined by the second preset pressure corresponding relationship according to the deformation parameter and the target position.

[0073] The second preset pressure correspondence includes a plurality of preset positions and preset ratios corresponding to the preset positions, and the preset ratio is a ratio of the preset deformation parameter to the preset pressure at the preset position. The preset position includes a plurality of position points on the robot foot device.

[0074] In a possible implementation, the preset deformation parameter includes a linear relationship parameter between the cantilever device and the preset pressure for each preset position when the robot foot device is subjected to pressure. For example, the preset deformation parameter can include a vector module value corresponding to the deformation of the cantilever device when the robot foot device is subjected to pressure.

[0075] For example, the second preset pressure correspondence can be determined by the following steps.

[0076] S1, for a plurality of preset positions on the robot foot device, at least one deformation information corresponding to the cantilever device is obtained by applying a preset pressure to each preset position.

[0077] The deformation information can include a measurement value of a strain gauge arranged on the cantilever beam.

[0078] A plurality of different preset positions can be predetermined on the robot foot device, and the preset position can be a position point. Then, a preset pressure can be applied to different preset positions respectively, and then the measurement value of the strain gauge arranged on the cantilever beam at different preset positions subjected to the preset pressure can be obtained respectively. For example, in the case where the cantilever device includes four devices, n position points can be marked uniformly on the robot foot device, which can be denoted as Then, a pressure with a size of is applied to each position In this case, the measurement values of the corresponding four strain gauges can be obtained, which can be denoted as vector X, vector , and .

[0079] S2, a linear relationship parameter between each preset position and a preset pressure is determined according to the deformation information corresponding to each preset position.

[0080] Optionally, a vector module value corresponding to the preset position when subjected to the preset pressure can be determined according to the deformation information corresponding to each preset position. Specifically, for each preset position, a vector module value corresponding to the preset position when subjected to the preset pressure can be calculated according to the deformation information corresponding to the preset position.

[0081] For example, the deformation information corresponding to the preset position p is a vector , and the vector module value corresponding to the preset position .

[0082] S3, taking the ratio of the linear relationship parameter corresponding to the preset position and the preset pressure as the ratio.

[0083] Optionally, the preset ratio corresponding to the preset position can be determined according to a vector norm value corresponding to the preset position when subjected to the preset pressure.

[0084] It should be noted that, considering that the vector norm value corresponding to the deformation parameter of the cantilever device under the condition that the robot foot device is subjected to pressure is related to the size of the applied pressure, the preset ratio can be determined by the preset ratio , which is also related to the size of the applied pressure, where F is the preset pressure, is the vector norm value corresponding to the preset position when subjected to the preset pressure.

[0085] S4, determining the second preset pressure corresponding relationship according to the preset ratio corresponding to the preset position.

[0086] By adopting the above technical solution, the deformation parameter corresponding to the cantilever device is obtained; the target position of the robot foot device subjected to pressure is determined according to the deformation parameter; and the target pressure corresponding to the target position is determined according to the deformation parameter and the target position. In this way, the deformation of the cantilever device directly connected to the robot foot device when subjected to force can be determined, and the corresponding relationship between the deformation and the pressure and the force position can be determined in advance to determine the pressure and the force position of the robot foot device. The robot can avoid the problem that too many joints exist from the motor to the end of the foot bottom, which makes it difficult to accurately determine the end force condition and the force distribution condition. The pressure and the force position of the robot foot device can be more accurately and intuitively determined through the deformation parameter corresponding to the cantilever device, thereby improving the motion stability of the robot.

[0087] In some embodiments, as Figure 4 shown, the above step S12 can include the following steps.

[0088] In step S121, a candidate deformation parameter satisfying a preset condition is determined from the plurality of preset deformation parameters in the first preset pressure corresponding relationship.

[0089] The preset condition can include the maximum similarity to the deformation parameter.

[0090] Optionally, the similarity of the deformation parameter to each of the preset deformation parameters can be determined first; and then the preset deformation parameter with the maximum similarity among the plurality of similarities is taken as the candidate deformation parameter.

[0091] The deformation parameter can include a unit vector corresponding to the deformation of the cantilever device when the robot foot device is under pressure.

[0092] The deformation parameter corresponding to the obtained cantilever device can be expressed as The preset deformation parameters in the first preset pressure can be expressed as The preset deformation parameters in the first preset pressure can be expressed as The similarity between each and the deformation parameter corresponding to the obtained cantilever device can be calculated by the following formula: ; The preset deformation parameter with the maximum similarity among the similarities can be determined as the candidate deformation parameter.

[0093] In step S122, the candidate position corresponding to the candidate deformation parameter is determined according to the first preset pressure corresponding relationship, and the candidate position is determined as the target position of the robot foot device under pressure.

[0094] According to the above technical solution, the similarity between the deformation parameter corresponding to the obtained cantilever device and the preset deformation parameter corresponding to each preset position is calculated, and the target position of the robot foot device under pressure can be obtained. The target position under pressure can be determined simply and accurately, and the calculation amount is small, which improves the calculation efficiency.

[0095] In some embodiments, as shown in Figure 5 the above step S13 can include the following steps.

[0096] In step S131, the target ratio corresponding to the target position is determined by the second preset pressure corresponding relationship according to the target position.

[0097] The second preset pressure corresponding relationship includes a plurality of corresponding relationships between preset positions and preset ratios. The preset ratio is the ratio of the preset deformation parameter to the preset pressure at the preset position. The preset position includes a plurality of position points on the robot foot device.

[0098] The preset deformation parameter can include a vector norm value corresponding to the deformation of the cantilever device when the robot foot device is under pressure.

[0099] Optionally, a candidate ratio corresponding to the target position can be determined from the plurality of preset deformation parameters in the second preset pressure corresponding relationship, and the candidate ratio can be determined as the target deformation parameter corresponding to the target position.

[0100] The plurality of preset ratios in the second preset pressure can be expressed as r1, r2, r3,..., and rn, for example. n wherein rn= , then the target ratio r corresponding to the target position can be obtained. a= .

[0101] In step S132, the target pressure corresponding to the target position is determined according to the deformation parameter and the target ratio.

[0102] The deformation parameter corresponding to the cantilever device obtained by the example can be represented as , then the target pressure can be Fa, which can be represented as: Fa=r a × .

[0103] By using the above technical solution, the deformation parameter corresponding to the cantilever device obtained by calculation and the preset ratio corresponding to the target position can obtain the target pressure received by the robot foot device at the target position, which can simply and accurately determine the target pressure received at the target position, has small calculation amount, improves calculation efficiency, and can utilize the relationship that the vector module is proportional to the pressing force, which guarantees the same accuracy under any size of pressing force.

[0104] Figure 6 is a flow chart of another pressure determination method according to an example embodiment, as Figure 6 shown, the pressure determination method is applied to a control device of a robot, the robot includes a robot foot device and a cantilever device, the cantilever device is connected with the robot foot device, and the cantilever device generates deformation under the condition that the robot foot device receives pressure. The method can include the following steps.

[0105] In step S21, the deformation parameter corresponding to at least one cantilever device on the robot foot device is obtained.

[0106] In step S22, the similarity of the deformation parameter to each of the preset deformation parameters is determined.

[0107] The deformation parameter can include a unit vector corresponding to the deformation of the cantilever device under the condition that the robot foot device receives pressure.

[0108] In step S23, the preset deformation parameter with the largest similarity among the multiple similarities is taken as the candidate deformation parameter.

[0109] In step S24, the candidate position corresponding to the candidate deformation parameter is determined according to the first preset pressure corresponding relationship, and the candidate position is taken as the target position of the robot foot device receiving pressure.

[0110] The first preset pressure corresponding relationship includes a plurality of preset deformation parameters and a plurality of preset positions corresponding to each other, and the preset positions include a plurality of position points on the robot foot device.

[0111] In step S25, a candidate ratio corresponding to the target position is determined from the plurality of preset ratios in the second preset pressure corresponding relationship, and the candidate ratio is taken as a target ratio corresponding to the target position.

[0112] The second preset pressure corresponding relationship includes a plurality of preset positions and a plurality of preset ratios corresponding to each other, and the preset ratio is a ratio of the preset deformation parameter and the preset pressure at the preset position, and the preset position includes a plurality of position points on the robot foot device.

[0113] In step S26, a target pressure corresponding to the target position is determined according to the deformation parameter and the target ratio.

[0114] According to the above technical scheme, the deformation parameter corresponding to the cantilever device is obtained; the target position of the robot foot device subjected to pressure is determined according to the deformation parameter; and the target pressure corresponding to the target position is determined according to the deformation parameter and the target position. In this way, the deformation of the cantilever device directly connected to the robot foot device under stress can be determined, and the corresponding relationship between the deformation and the pressure and the stress position can be determined in advance, so that the stress and the stress position of the robot foot device can be determined more accurately and intuitively, thereby improving the motion stability of the robot.

[0115] Figure 7 is a block diagram of a pressure determination device according to an exemplary embodiment. Referring to Figure 7 The pressure determination device 300 includes an acquisition module 301, a first determination module 302, and a second determination module 303.

[0116] The acquisition module 301 is configured to acquire a deformation parameter corresponding to at least one cantilever device on a robot foot device, wherein the deformation parameter represents a deformation state of the cantilever device under stress of the robot foot device; The first determination module 302 is configured to determine a target position of the robot foot device subjected to pressure according to the deformation parameter; The second determination module 303 is configured to determine a target pressure corresponding to the target position according to the deformation parameter and the target position.

[0117] Optionally, the first determining module 302 is configured to determine a target position of the robot foot device receiving pressure according to the deformation parameter and by a first preset pressure correspondence; the first preset pressure correspondence comprises a plurality of preset deformation parameters and preset positions corresponding relationship, and the preset positions comprise a plurality of position points on the robot foot device.

[0118] Figure 8 According to the embodiment shown in Figure 7 , a block diagram of a first determining module is shown in FIG. 3, the first determining module 302 comprises: Figure 8 The first determining sub-module 3021 is configured to determine a candidate deformation parameter satisfying a preset condition from a plurality of preset deformation parameters in the first preset pressure correspondence; The second determining sub-module 3022 is configured to determine a candidate position corresponding to the candidate deformation parameter according to the first preset pressure correspondence, and take the candidate position as the target position of the robot foot device receiving pressure.

[0119] Optionally, the first determining sub-module 3021 is configured to determine a similarity between the deformation parameter and each of the preset deformation parameters, and take the preset deformation parameter with the largest similarity as the candidate deformation parameter.

[0120] Optionally, the preset deformation parameter comprises a unit vector corresponding to a deformation of the cantilever device when the robot foot device receives pressure; and the first preset pressure correspondence is determined by: applying a preset pressure to each of a plurality of preset positions on the robot foot device to obtain a plurality of deformation information corresponding to the cantilever device; and determining the first preset pressure correspondence according to the deformation information corresponding to each of the preset positions.

[0121] Figure 9 According to the embodiment shown in Figure 7 , a block diagram of a second determining module is shown in FIG. 4, the second determining module 303 comprises: Figure 9 The third determining sub-module 3031 is configured to determine a target ratio corresponding to the target position by a second preset pressure correspondence according to the target position; the second preset pressure correspondence comprises a plurality of preset positions and preset ratios corresponding relationship, the preset ratio is a ratio of the preset deformation parameter to preset pressure at the preset position, and the preset positions comprise a plurality of position points on the robot foot device; The fourth determining sub-module 3032 is configured to determine a target pressure corresponding to the target position according to the deformation parameter and the target ratio. ​​

[0122] Optionally, the third determining sub-module 3031 is configured to determine a candidate ratio corresponding to the target position from the plurality of preset ratios in the second preset pressure correspondence, and take the candidate ratio as the target ratio corresponding to the target position.

[0123] Optionally, the preset deformation parameter comprises a linear relationship parameter between each preset position and preset pressure of the cantilever device under the condition that the robot foot device is subjected to pressure; and the second preset pressure correspondence is determined by: for a plurality of preset positions on the robot foot device, by applying a preset pressure to each preset position, to obtain at least one deformation information corresponding to the cantilever device; determine a linear relationship parameter between each preset position and preset pressure according to the deformation information corresponding to each preset position; take the ratio of the linear relationship parameter corresponding to the preset position and the preset pressure as the ratio; determine the second preset pressure correspondence according to the preset ratio corresponding to the preset position.

[0124] By using the above device, the deformation parameter corresponding to the cantilever device is obtained; the target position of the robot foot device subjected to pressure is determined according to the deformation parameter; and the target pressure corresponding to the target position is determined according to the deformation parameter and the target position. In this way, the deformation of the cantilever device directly connected to the robot foot device under stress can be determined, and the corresponding relationship between the deformation and the pressure and the stress position is determined in advance, so that the stress and the stress position of the robot foot device can be determined more accurately and intuitively, thereby improving the motion stability of the robot.

[0125] As to the device in the above embodiment, the specific manner in which various modules perform operations has been described in detail in the embodiments of the method, and will not be described in detail here.

[0126] Figure 10 is a block diagram of a foot bottom sensing device 400 according to an example embodiment. For example, the device 400 can be a mobile phone, a computer, a digital broadcast terminal, a messaging equipment, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0127] Referring to Figure 10The device 400 can include one or more of the following components: a processing component 402, a memory 404, a power supply component 406, a multimedia component 408, an audio component 410, an input / output (I / O) interface 412, a sensor component 414, and a communication component 416.

[0128] The processing component 402 typically controls overall operations of the device 400, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 402 can include one or more processors 420 to execute instructions stored in the memory 404 to complete all or a part of steps of the methods described above. In addition, the processing component 402 can include one or more modules to facilitate interaction between the processing component 402 and other components. For example, the processing component 402 can include a multimedia module to facilitate the interaction between the multimedia component 408 and the processing component 402.

[0129] The memory 404 is configured to store various types of data to support operations of the device 400. Examples of these data include instructions for any applications or methods operating on the device 400, contact data, phonebook data, messages, pictures, videos, and so on. The memory 404 can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0130] The power supply component 406 supplies electrical power for various components of the device 400. The power supply component 406 can include a power supply management system, one or more power supplies, and other components associated with generating, managing and distributing electrical power for the device 400.

[0131] The multimedia component 408 includes a screen providing an output interface between the device 400 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide and a gesture on the touch panel. The touch sensors can not only sense a boundary of a touching or sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 408 includes a front camera and / or a back camera. The front and / or back camera can receive external multimedia data when the device 400 is in an operation mode, such as a shooting mode or a video mode. Each of the front and back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0132] The audio component 410 is configured to output and / or input audio signals. For example, the audio component 410 includes a microphone (MIC) that is configured to receive an external audio signal when the device 400 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 404 or transmitted via the communication component 416. In some embodiments, the audio component 410 also includes a speaker for outputting audio signals.

[0133] The input / output interface 412 provides an interface between the processing component 402 and peripheral interface modules, which can be a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0134] The sensor component 414 includes one or more sensors for providing status assessments of various aspects of the device 400. For example, the sensor component 414 can detect an open / closed position of the device 400, relative positioning of components, such as a display and a keypad of the device 400, a change of position of the device 400 or a component of the device 400, presence or absence of user contact with the device 400, changes in orientation or acceleration / deceleration

[0135] The communication component 416 is configured to facilitate wired or wireless communication between the device 400 and other devices. The device 400 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an example embodiment, the communication component 416 receives broadcast signals or broadcast-related information from external broadcast management systems via a broadcast channel. In an example embodiment, the communication component 416 also includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0136] In an exemplary embodiment, the apparatus 400 can be implemented using one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic devices, to perform the above-described methods.

[0137] In an exemplary embodiment, a non-transitory computer readable storage medium including instructions, such as the memory 404 including instructions, is also provided, which can be executed by the processor 420 of the apparatus 400 to complete the above-described method. For example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc.

[0138] In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described pressure determination method when executed by the programmable apparatus.

[0139] Figure 11 is a block diagram of a foot robot 500 according to an exemplary embodiment. The foot robot 500 includes the above-described pressure determination apparatus 400.

[0140] In the above detailed description, reference is made to the accompanying drawings, which show, by way of illustration, specific aspects in which the disclosure can be practiced. In this regard, directional terminology, such as “central,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” “circumferential,” and like terms, are used herein, for clarity, relative to the views of the figures themselves. As such, directional terminology is used with reference to the accompanying drawings. It is to be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Accordingly, the following detailed description is not to be taken in a limiting sense, as the scope of the embodiments described herein are defined by the appended claims and equivalents thereof.

[0141] It is to be understood that the features of the various aspects of the present disclosure described herein can be combined with each other, unless specifically noted otherwise. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items; similarly, “at least one of’ includes any and all combinations of one or more of the associated listed items.

[0142] It should be understood that, unless there appears to be a specific reason for doing so, the terms "connected," "joined," "mounted," "attached," "connected," "fixed" and like terms as used in the embodiments of the present disclosure are to be construed as being broad terms, for example, they can be fixed connections, or detachable connections, or integral; they can be mechanical connections, or electrical connections, or communication with each other; they can be direct connections, or indirect connections through an intermediate medium, or the internal connection of two elements, or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this article can be understood according to the specific circumstances.

[0143] In addition, the word "over" as used in the context of a component, element, or material layer formed "over" or located "over" a surface in this document can be used to mean that the component, element, or material layer is positioned (e.g., placed, formed, deposited, etc.) "indirectly" on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the word "over" as used in the context of a component, element, or material layer formed "over" or located "over" a surface can also optionally have the specific meaning of the component, element, or material layer being positioned (e.g., placed, formed, deposited, etc.) "directly" on the surface, e.g., in direct contact with the surface.

[0144] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or segments, these components, parts, regions, layers or segments are not limited to these terms. Instead, these terms are only used to distinguish one component, part, region, layer or segment from another component, part, region, layer or segment. Therefore, the first component, part, region, layer or segment mentioned in the examples described herein can also be referred to as the second component, part, region, layer or segment without departing from the teachings of the examples. In addition, the terms "first", "second" are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description herein, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0145] It should be understood that spatial relative terms, such as “above,” “upper,” “below,” and “lower,” are used herein to describe the relationship between one element and another shown in the figures. In addition to the orientation depicted in the figures, these spatial relative terms are also intended to encompass different orientations of the device in use or operation. For example, if the device in the figures is flipped, an element described as “above” or “upper” relative to another element would be “below” or “lower” relative to that other element. Thus, depending on the spatial orientation of the device, the term “above” encompasses both above and below orientations. Devices may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

[0146] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0147] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0148] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

[0149] It should be understood that the present disclosure is not limited to the precise structures herein described and illustrated in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the claims that follow.

Claims

1. A method for determining pressure, characterized in that, The method includes: Obtain deformation parameters corresponding to at least one cantilever device on the robot foot device, wherein the deformation parameters characterize the deformation state of the cantilever device under pressure on the robot foot device; Based on the deformation parameters, determine the target position where the robot foot device is subjected to pressure; The target pressure corresponding to the target position is determined based on the deformation parameters and the target position.

2. The method according to claim 1, characterized in that, Determining the target position of the robot foot device under pressure based on the deformation parameters includes: Based on the deformation parameters, the target position of the robot foot device under pressure is determined through a first preset pressure correspondence; the first preset pressure correspondence includes the correspondence between multiple preset deformation parameters and preset positions, and the preset positions include multiple position points on the robot foot device.

3. The method according to claim 2, characterized in that, The step of determining the target position of the robot foot device subjected to pressure based on the deformation parameters and the first preset pressure correspondence includes: From the plurality of preset deformation parameters in the first preset pressure correspondence, candidate deformation parameters that meet preset conditions are determined; Based on the first preset pressure correspondence, the candidate position corresponding to the candidate deformation parameter is determined, and the candidate position is used as the target position where the robot foot device is subjected to pressure.

4. The method according to claim 3, characterized in that, The step of determining candidate deformation parameters that meet preset conditions from a plurality of preset deformation parameters in the first preset pressure correspondence includes: Determine the similarity between the deformation parameters and each of the preset deformation parameters; The preset deformation parameter with the highest similarity among multiple similarities is used as the candidate deformation parameter.

5. The method according to any one of claims 2-4, characterized in that, The preset deformation parameters include the unit vector corresponding to the deformation of the cantilever device under pressure on the robot's foot device; the first preset pressure correspondence is determined in the following way: For multiple preset positions on the robot's foot device, a preset pressure is applied to each preset position to obtain multiple deformation information corresponding to the cantilever device; The first preset pressure correspondence is determined based on the deformation information corresponding to each preset position.

6. The method according to claim 2, characterized in that, Determining the target pressure corresponding to the target position based on the deformation parameters and the target position includes: Based on the target position, a target ratio corresponding to the target position is determined through a second preset pressure correspondence; the second preset pressure correspondence includes a correspondence between multiple preset positions and preset ratios, and the preset ratio is the ratio of the preset deformation parameter to the preset pressure at the preset position, and the preset position includes multiple position points on the robot foot device; The target pressure corresponding to the target position is determined based on the deformation parameters and the target ratio.

7. The method according to claim 6, characterized in that, The step of determining the target ratio corresponding to the target position based on the deformation parameter and the target position through the second preset pressure correspondence includes: From the multiple preset ratios in the second preset pressure correspondence, a candidate ratio corresponding to the target position is determined, and the candidate ratio is used as the target ratio corresponding to the target position.

8. The method according to claim 6 or 7, characterized in that, The preset deformation parameters include the linear relationship parameters between the cantilever device and the preset pressure for each preset position when the robot foot device is subjected to pressure. The second preset pressure correspondence is determined in the following way: For multiple preset positions on the robot's foot device, a preset pressure is applied to each preset position to obtain at least one deformation information corresponding to the cantilever device; Based on the deformation information corresponding to each preset position, determine the linear relationship parameter between each preset position and the preset pressure; The ratio of the linear relationship parameter corresponding to the preset position to the preset pressure is used as the ratio value; The second preset pressure correspondence is determined based on the preset ratio corresponding to the preset position.

9. A pressure determining device, characterized in that, include: The acquisition module is configured to acquire deformation parameters corresponding to at least one cantilever device on the robot foot assembly, wherein the deformation parameters characterize the deformation state of the cantilever device under pressure on the robot foot assembly. The first determining module is configured to determine the target position where the robot foot device is subjected to pressure based on the deformation parameters; The second determining module is configured to determine the target pressure corresponding to the target position based on the deformation parameters and the target position.

10. A pressure determining device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the method according to any one of claims 1-8 when executing.

11. A legged robot, characterized in that, Includes the pressure determining device as described in claim 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1-8.

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

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