Robot operation target tracking method and system, product and medium
By constructing a sensor and tool coordinate system and calculating six-dimensional force parameters, the robot's target can be accurately positioned and moved under visual occlusion conditions. This solves the problem of precise form and position coordination in robot operations under visual constraints, and improves operational safety and efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-31
- Publication Date
- 2026-05-15
AI Technical Summary
Existing technologies cannot reliably and in real-time acquire the relative state between the robot's target and its end effector under conditions of limited or complete visual obstruction, making it difficult to achieve precise positioning and coordination.
By constructing a sensor coordinate system and a tool coordinate system, combining force sensor data, calculating six-dimensional force parameters, correcting posture deviations, and generating displacement commands that the robot can execute, the precise movement of the tool's work point is achieved.
Even with visual occlusion, the robot achieves precise positioning and movement of its target, improving operational safety and efficiency while avoiding reliance on visual perception.
Smart Images
Figure CN122033976A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more particularly to a method, system, product, and medium for tracking targets in robot operations. Background Technology
[0002] Live-line work is a crucial means of improving the reliability of power grid supply. Currently, live-line work mainly relies on personnel climbing to heights and working close to live conductors, which presents problems such as high risks of personal injury and low levels of standardization. In recent years, specialized robots for live-line work have become a research hotspot. Robotic operations can replace or assist manual labor in completing high-risk, high-intensity tasks, significantly improving operational safety and efficiency, while also promoting the standardization and automation of work processes, representing an important development direction for future smart grid operation and maintenance.
[0003] Currently, most robot operation methods are based on visual perception technology. However, due to the dense network of power distribution equipment and limited safety space, robot visual sensing is easily interfered with by occlusion from its own structure or environmental entities during actual operations, making it difficult to achieve effective visual perception and target localization. Therefore, the deficiency of existing technologies lies in their inability to reliably and in real-time acquire the relative state between the target and the end effector under conditions of limited or complete visual obstruction, thus failing to achieve precise form-position coordination. Summary of the Invention
[0004] This application provides a robot operation target tracking method, system, product, and medium, which can achieve precise movement of the operation point while resisting visual interference.
[0005] This application provides a robot target tracking method, including: Based on the real-time position of the force sensor, a sensing coordinate system is constructed, and force sensing data corresponding to the force sensor is obtained based on the sensing coordinate system. Based on the real-time position of the tool's working point and the real-time position of the force sensor, displacement deviation data and attitude deviation data in the tool coordinate system are obtained; wherein, the tool coordinate system is established based on the real-time position of the tool's working point; Based on the force sensing data and the rotation matrix, the six-dimensional force parameters of the force sensing data in the tool coordinate system are calculated; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data; Based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, the first lever arm is obtained. The first lever arm is then corrected based on the displacement deviation data to obtain the positioning result in the tool coordinate system. Based on the rotation matrix, the positioning result in the tool coordinate system is mapped to the sensing coordinate system to obtain the final movement result. Based on the final movement result, the tool's working point is controlled to move.
[0006] This application establishes an accurate data foundation for subsequent spatial calculations by transforming raw force sensing data and attitude deviations into a unified tool coordinate system. The lever arm is calculated by analyzing the relationship between torque and force in the six-dimensional force parameters, and geometric corrections are performed using known displacement deviations. This yields the precise relative position of the target in the tool coordinate system. Finally, through coordinate mapping, displacement commands that the robot can directly execute are generated, enabling precise movement of the tool's work point. Compared to existing technologies, this application can obtain basic positioning results from six-dimensional force data, correct these results based on displacement deviation data, and map them back to sensor coordinates to obtain a displacement scheme usable by the robot in the sensor coordinate system. This achieves the effect of force sensing positioning technology that does not rely on visual positioning.
[0007] Further, the step of obtaining the first lever arm based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, and correcting the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system includes: Based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, and combined with the Z-axis component of the displacement deviation data, the X-axis lever arm is obtained, and the X-axis positioning result is obtained by subtracting the X-axis component of the displacement deviation data from the X-axis lever arm. Based on the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters, and combined with the Z-axis component of the displacement deviation data, the Y-axis lever arm is obtained, and the Y-axis positioning result is obtained by subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm. The X-axis lever arm and the Y-axis lever arm are used as the first lever arm.
[0008] By combining the force and torque in the six-dimensional force parameters with the fixed Z-axis deviation, the equivalent force arms in the X and Y directions are calculated, and the position offsets in the two axes are solved based on the force arms. This decouples the complex spatial contact mechanics problem into two independent planar positioning calculations, completing a precise and rapid mapping from multi-dimensional force information to two-dimensional planar position, achieving a single-contact precise positioning effect without relying on visual sensing.
[0009] Further, the step of obtaining the X-axis lever arm based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and subtracting the X-axis component of the displacement deviation data from the X-axis lever arm to obtain the X-axis positioning result includes: Multiply the X-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain the first disturbance torque; Subtract the first disturbance torque from the Y-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the X-axis; Divide the net torque around the X-axis by the Z-axis component of the force in the six-dimensional force to obtain the X-axis lever arm. Then subtract the X-axis component of the displacement deviation data from the X-axis lever arm to obtain the X-axis positioning result.
[0010] By subtracting the first disturbance torque from the measured torque around the Y-axis, a net torque in the X-axis direction, which is only related to the target position offset, is obtained. The equivalent force arm in the X-axis direction is calculated using the ratio of this net torque to the axial normal force, and then corrected based on the X-axis component of the displacement deviation data to obtain a precise positioning result in the X-axis direction in the tool coordinate system.
[0011] Further, the step of obtaining the Y-axis lever arm based on the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and then subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain the Y-axis positioning result, specifically involves: Multiply the Y-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain the second disturbance torque; Subtract the second disturbance torque from the X-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the Y-axis; Divide the net torque around the Y-axis by the Z-axis component of the force in the six-dimensional force to obtain the Y-axis lever arm. Then subtract the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain the Y-axis positioning result.
[0012] By subtracting the second disturbance torque from the measured torque around the X-axis, a net torque in the Y-axis direction, which is only related to the target position offset, is obtained. The equivalent force arm in the Y-axis direction is calculated using the ratio of this net torque to the axial normal force, and then corrected based on the Y-axis component of the displacement deviation data to obtain a precise positioning result in the Y-axis direction in the tool coordinate system.
[0013] Further, the step of calculating the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix includes: The force and torque in the force sensing data are multiplied by the inverse of the rotation matrix to obtain the six-dimensional force parameters in the tool coordinate system.
[0014] By introducing a rotation matrix, the force and torque vectors directly measured by the sensor are transformed from the sensing coordinate system to the tool coordinate system based on the tool's working point. This solves the problem of misalignment of the mechanical data reference system caused by the inconsistency between the spatial posture of the sensor and the tool end, providing a unified, accurate, and physically meaningful input for subsequent position calculations, and ensuring the accuracy of the entire force sensing positioning method.
[0015] Furthermore, the step of constructing a sensing coordinate system based on the real-time position of the force sensor includes: With the force sensor as the origin, the X-axis and Y-axis are obtained in the plane where the sensor is located according to two preset mutually orthogonal straight lines; based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is the Z-axis. A sensing coordinate system is established based on the X-axis, Y-axis, and Z-axis.
[0016] By establishing a right-handed Cartesian coordinate system fixed to the sensor, a definite spatial reference is given to the six-dimensional force sensing data, ensuring that the physical meaning of the original data is clear and accurate, and establishing a unified, accurate and reliable geometric foundation for all subsequent coordinate transformations and mechanical analyses.
[0017] Furthermore, the tool coordinate system is established based on the real-time position of the tool's working point, including: With the tool's working point as the origin, the X-axis and Y-axis are obtained in the plane where the tool's working point is located, based on two pre-defined mutually orthogonal straight lines; based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is defined as the Z-axis; Establish a tool coordinate system based on the X-axis, Y-axis, and Z-axis.
[0018] By defining a tool coordinate system that is fixed to the tool's work point, a logical core is established for subsequent mechanical calculations and position representation, and a geometric reference is provided for subsequent positioning results. This transforms and simplifies the complex mechanical relationships expressed in the sensor coordinate system into intuitive spatial offsets in the tool coordinate system.
[0019] This application provides a robot operation target tracking system, including: a force sensing data acquisition module, an operation data acquisition module, a six-dimensional force sensing module, a positioning module, and a motion calculation module; The force sensing data acquisition module is used to construct a sensing coordinate system based on the real-time position of the force sensor, and acquire the force sensing data corresponding to the force sensor based on the sensing coordinate system. The work data acquisition module is used to acquire displacement deviation data and attitude deviation data in the tool coordinate system based on the real-time position of the tool's work point and the real-time position of the force sensor; wherein, the tool coordinate system is established based on the real-time position of the tool's work point; A six-dimensional force sensing module is used to calculate the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data; The positioning module obtains the first lever arm based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, and corrects the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system. The motion calculation module is used to map the positioning result in the tool coordinate system to the sensing coordinate system according to the rotation matrix to obtain the final motion result, and control the tool working point to move according to the final motion result.
[0020] Another embodiment of this application provides a computer-readable storage medium storing a computer program product thereon, which, when executed by a processor, implements the steps of the robot target tracking method of this application.
[0021] Another embodiment of this application provides a computer program product, including a computer program or instructions, which, when executed by a communication device, implement the steps of the robot target tracking method of this application. Attached Figure Description
[0022] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0023] Figure 1 This is a flowchart illustrating one embodiment of the robot target tracking method provided in this application.
[0024] Figure 2 This application provides a sensing coordinate system. With tool coordinate system A schematic diagram.
[0025] Figure 3 This is a schematic diagram of one embodiment of the robot target tracking system provided in this application. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0028] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0030] Example 1 See Figure 1 To address the issues of real-time dynamic presentation and real-time status monitoring of distribution station data in existing technologies, this application provides an embodiment of a robot operation target tracking method, including steps 11 to 15, the specific steps of which are as follows: Step 11: Construct a sensing coordinate system based on the real-time position of the force sensor, and obtain the force sensing data corresponding to the force sensor based on the sensing coordinate system.
[0031] Furthermore, the step of constructing a sensing coordinate system based on the real-time position of the force sensor includes: taking the force sensor as the origin, obtaining the X-axis and Y-axis in the plane where the sensor is located based on two preset mutually orthogonal straight lines; based on the right-hand rule, defining the direction perpendicular to the plane formed by the X-axis and Y-axis as the Z-axis; and establishing a sensing coordinate system based on the X-axis, Y-axis, and Z-axis.
[0032] In one embodiment, a sensing coordinate system is constructed based on the real-time position of the force sensor, and force sensing data corresponding to the force sensor is obtained based on the sensing coordinate system, including steps 1101 to 1102, each step of which is as follows: Step 1101: Construct a sensing coordinate system based on the real-time position of the force sensor.
[0033] Among them, the force sensor installation point Using the origin as the reference point, within the plane of the sensor, the X-axis and Y-axis are obtained based on two pre-defined mutually orthogonal straight lines; based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is designated as the Z-axis; based on the X-axis, Y-axis, and Z-axis, a system is established as follows: Figure 2 middle The sensing coordinate system shown.
[0034] By establishing a right-handed Cartesian coordinate system fixed to the sensor, a definite spatial reference is given to the six-dimensional force sensing data, ensuring that the physical meaning of the original data is clear and accurate, and establishing a unified, accurate and reliable geometric foundation for all subsequent coordinate transformations and mechanical analyses.
[0035] Step 1102: Obtain force sensing data in the sensing coordinate system.
[0036] The force sensing data refers to the force and torque measured during the contact between the tool and the target.
[0037] Specifically, the force collected by the force sensor is The torque collected by the force sensor is Where F represents normal force, T represents torque around the direction of normal force, the superscript T indicates transpose, and the subscript S represents sensor data.
[0038] Step 12: Based on the real-time position of the tool's working point and the real-time position of the force sensor, obtain displacement deviation data and attitude deviation data in the tool coordinate system; wherein, the tool coordinate system is established based on the real-time position of the tool's working point.
[0039] Furthermore, the tool coordinate system is established based on the real-time position of the tool's working point, including: taking the tool's working point as the origin, obtaining the X-axis and Y-axis in the plane where the tool's working point is located according to two preset mutually orthogonal straight lines; based on the right-hand rule, defining the direction perpendicular to the plane formed by the X-axis and Y-axis as the Z-axis; and establishing the tool coordinate system according to the X-axis, Y-axis, and Z-axis.
[0040] In one embodiment, displacement deviation data and attitude deviation data in the tool coordinate system are obtained based on the real-time position of the tool's working point and the real-time position of the force sensor, including steps 1201 to 1202, each step of which is as follows: Step 1201: Construct the tool coordinate system based on the real-time position of the tool's work point.
[0041] Among them, the effective working points of robot end tools Using the origin as the reference point, within the plane where the tool's working point is located, the X-axis and Y-axis are obtained based on two pre-defined mutually orthogonal straight lines. Based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is designated as the Z-axis. Based on the X-axis, Y-axis, and Z-axis, a system is established as follows: Figure 2 The tool coordinate system shown is fixed to the effective work point. .
[0042] The plane where the work point is located is taken as the tool's working surface, which is the set of areas where the tool may come into contact with the work target.
[0043] By defining a tool coordinate system that is fixed to the tool's work point, a logical core is established for subsequent mechanical calculations and position representation, and a geometric reference is provided for subsequent positioning results. This transforms and simplifies the complex mechanical relationships expressed in the sensor coordinate system into intuitive spatial offsets in the tool coordinate system.
[0044] Step 1202: Obtain displacement deviation data and attitude deviation data in the tool coordinate system.
[0045] Specifically, displacement deviation data in the tool coordinate system is obtained based on the real-time position of the tool's effective working point and the real-time position of the force sensor. and attitude deviation data .
[0046] By acquiring displacement and attitude deviation data, the foundation for constructing the rotation matrix is obtained. This is a crucial means to accurately convert force sensing data to the tool coordinate system in subsequent steps, thereby correcting the positioning results. It effectively compensates for data deviations caused by misalignment of sensor and tool end-effector installation positions and attitudes, as well as asymmetrical structures. Thus, even with complete visual obstruction, high-precision target tracking and positioning based on force sensing data can be achieved.
[0047] Step 13: Based on the force sensing data and the rotation matrix, calculate the six-dimensional force parameters of the force sensing data in the tool coordinate system; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data.
[0048] Furthermore, the step of calculating the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix includes: multiplying the force and torque in the force sensing data by the inverse of the rotation matrix to obtain the six-dimensional force parameters in the tool coordinate system.
[0049] In one embodiment, the six-dimensional force parameters of the force sensing data in the tool coordinate system are calculated based on the force sensing data and the rotation matrix, including steps 1301 to 1302, each of which is as follows: Step 1301: Construct a rotation matrix based on the attitude deviation data.
[0050] The rotation matrix R is specifically: Step 1302: Align the force sensing data with the tool coordinate system according to the rotation matrix.
[0051] Aligned six-dimensional force parameters The specific calculation formula is as follows: Among them, the six-dimensional force parameters This includes six-dimensional force and six-dimensional torque.
[0052] By introducing a rotation matrix, the force and torque vectors directly measured by the sensor are transformed from the sensing coordinate system to the tool coordinate system based on the tool's working point. This solves the problem of misalignment of the mechanical data reference system caused by the inconsistency between the spatial posture of the sensor and the tool end, providing a unified, accurate, and physically meaningful input for subsequent position calculations, and ensuring the accuracy of the force-sensing positioning method.
[0053] Step 14: Based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, obtain the first lever arm; correct the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system.
[0054] Further, the step of obtaining a first lever arm based on the six-dimensional force parameters and the Z-axis component of the displacement deviation data, and correcting the first lever arm based on the displacement deviation data to obtain a positioning result in the tool coordinate system, includes: obtaining an X-axis lever arm based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and subtracting the X-axis component of the displacement deviation data from the X-axis lever arm to obtain an X-axis positioning result; obtaining a Y-axis lever arm based on the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain a Y-axis positioning result; and using the X-axis lever arm and the Y-axis lever arm as the first lever arm.
[0055] Further, the step of obtaining the X-axis lever arm based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and subtracting the X-axis component of the displacement deviation data from the X-axis lever arm to obtain the X-axis positioning result includes: multiplying the X-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain a first disturbance torque; subtracting the first disturbance torque from the Y-axis component of the torque in the six-dimensional force parameters to obtain a net torque around the X-axis; dividing the net torque around the X-axis by the Z-axis component of the force in the six-dimensional force to obtain the X-axis lever arm; and then subtracting the X-axis component of the displacement deviation data from the X-axis lever arm to obtain the X-axis positioning result.
[0056] Further, the step of obtaining the Y-axis lever arm based on the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data, and subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain the Y-axis positioning result specifically involves: multiplying the Y-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain the second disturbance torque; subtracting the second disturbance torque from the X-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the Y-axis; dividing the net torque around the Y-axis by the Z-axis component of the force in the six-dimensional force parameters to obtain the Y-axis lever arm; and then subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain the Y-axis positioning result.
[0057] In one embodiment, a first lever arm is obtained based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data. The first lever arm is then corrected based on the displacement deviation data to obtain the positioning result in the tool coordinate system. This includes steps 1401 to 1402, each of which is as follows: Step 1401: Calculate the X-axis positioning result based on the displacement deviation data and the six-dimensional force parameters.
[0058] Specifically, the X-axis component of the force in the six-dimensional force parameters is multiplied by the Z-axis component of the displacement deviation data to obtain the first disturbance torque; the first disturbance torque is subtracted from the Y-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the X-axis; the net torque around the X-axis is divided by the Z-axis component of the force in the six-dimensional force to obtain the X-axis lever arm; and the X-axis lever arm is subtracted from the X-axis component of the displacement deviation data to obtain the X-axis positioning result.
[0059] The specific formula for calculating the X-axis positioning result is as follows: Step 1402: Calculate the Y-axis positioning result based on the displacement deviation data and the six-dimensional force parameters.
[0060] Specifically, the second disturbance torque is obtained by multiplying the Y-axis component of the force in the six-dimensional force parameters with the Z-axis component of the displacement deviation data; the second disturbance torque is obtained by subtracting the second disturbance torque from the X-axis component of the torque in the six-dimensional force parameters; the net torque around the Y-axis is obtained by dividing the net torque around the Y-axis by the Z-axis component of the force in the six-dimensional force parameters; and the Y-axis lever arm is obtained by subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm.
[0061] The specific formula for calculating the Y-axis positioning result is as follows: This physical calculation formula, which divides torque by force to obtain the lever arm, is used to obtain the normal pressure on the vertical tool working surface by subtracting the interference torque, thus achieving surface positioning on the working surface. The positioning results of the X-axis and Y-axis are corrected by subtracting displacement deviation data, and finally accurate X-axis and Y-axis positioning results are obtained.
[0062] Step 15: Based on the rotation matrix, map the positioning result in the tool coordinate system to the sensor coordinate system to obtain the final movement result. Based on the final movement result, control the tool's working point to move.
[0063] In one embodiment, the positioning result in the tool coordinate system is mapped to the sensing coordinate system according to the rotation matrix to obtain the final movement result. Based on the final movement result, the tool's working point is controlled to move, including step 1501, which is as follows: Step 1501: Calculate the final movement result in the sensor coordinate system based on the rotation matrix.
[0064] The specific formula for calculating the final movement result is as follows: The robot is based on the final movement result. The control tool moves the work point.
[0065] By mapping the obtained movement results to coordinates, displacement commands that the robot can directly execute in the sensing coordinate system are obtained, thereby achieving physical contact between the effective working point of the tool and the working target.
[0066] See Figure 3 Another embodiment of this application also provides a robot operation target tracking system, including: a force sensing data acquisition module 301, an operation data acquisition module 302, a six-dimensional force sensing module 303, a positioning module 304, and a motion calculation module 305.
[0067] The force sensing data acquisition module 301 is used to construct a sensing coordinate system based on the real-time position of the force sensor, and acquire the force sensing data corresponding to the force sensor based on the sensing coordinate system.
[0068] The work data acquisition module 302 is used to acquire displacement deviation data and attitude deviation data in the tool coordinate system based on the real-time position of the tool work point and the real-time position of the force sensor; wherein the tool coordinate system is established based on the real-time position of the tool work point.
[0069] The six-dimensional force sensing module 303 is used to calculate the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data.
[0070] The positioning module 304 obtains the first lever arm based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, and corrects the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system.
[0071] The motion calculation module 305 is used to map the positioning result in the tool coordinate system to the sensing coordinate system according to the rotation matrix to obtain the final motion result, and control the tool working point to move according to the final motion result.
[0072] By combining raw force sensing data with attitude deviations and transforming it into a unified tool coordinate system, an accurate data foundation is established for subsequent spatial calculations. The lever arm is calculated by analyzing the relationship between torque and force in the six-dimensional force parameters, and geometric corrections are performed using known displacement deviations. This allows for the precise relative position of the target in the tool coordinate system. Finally, through coordinate mapping, displacement commands that the robot can directly execute are generated, enabling precise movement of the tool's work point.
[0073] It is understood that the above system embodiments correspond to the method embodiments of this application, and can implement the robot operation target tracking method provided by any of the above method embodiments of this application.
[0074] It should be noted that the system embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the system embodiments provided in this application, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.
[0075] Based on the above embodiments of the robot task target tracking method, another embodiment of this application provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the robot task target tracking method of any embodiment of this application.
[0076] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete this application. The one or more module units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.
[0077] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and memory.
[0078] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.
[0079] Based on the above-described method embodiments, another embodiment of this application provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the robot operation target tracking method described in any of the above-described method embodiments of this application.
[0080] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.
[0081] The above description is the 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 are also considered to be within the scope of protection of this application.
Claims
1. A robot target tracking method, characterized in that, include: Based on the real-time position of the force sensor, a sensing coordinate system is constructed, and force sensing data corresponding to the force sensor is obtained based on the sensing coordinate system. Based on the real-time position of the tool's working point and the real-time position of the force sensor, displacement deviation data and attitude deviation data in the tool coordinate system are obtained; wherein, the tool coordinate system is established based on the real-time position of the tool's working point; Based on the force sensing data and the rotation matrix, the six-dimensional force parameters of the force sensing data in the tool coordinate system are calculated; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data; Based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, the first lever arm is obtained. The first lever arm is then corrected based on the displacement deviation data to obtain the positioning result in the tool coordinate system. Based on the rotation matrix, the positioning result in the tool coordinate system is mapped to the sensing coordinate system to obtain the final movement result. Based on the final movement result, the tool's working point is controlled to move.
2. The robot target tracking method according to claim 1, characterized in that, The process of obtaining a first lever arm based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, and correcting the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system includes: Based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, and combined with the Z-axis component of the displacement deviation data, the X-axis lever arm is obtained, and the X-axis positioning result is obtained by subtracting the X-axis component of the displacement deviation data from the X-axis lever arm. Based on the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters, and combined with the Z-axis component of the displacement deviation data, the Y-axis lever arm is obtained, and the Y-axis positioning result is obtained by subtracting the Y-axis component of the displacement deviation data from the Y-axis lever arm. The X-axis lever arm and the Y-axis lever arm are used as the first lever arm.
3. The robot target tracking method according to claim 2, characterized in that, The process involves obtaining the X-axis lever arm based on the X-axis component of the force and the Y-axis component of the torque in the six-dimensional force parameters, combined with the Z-axis component of the displacement deviation data. Subtracting the X-axis component of the displacement deviation data from the X-axis lever arm yields the X-axis positioning result, including: Multiply the X-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain the first disturbance torque; Subtract the first disturbance torque from the Y-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the X-axis; Divide the net torque around the X-axis by the Z-axis component of the force in the six-dimensional force to obtain the X-axis lever arm. Then subtract the X-axis component of the displacement deviation data from the X-axis lever arm to obtain the X-axis positioning result.
4. The robot target tracking method according to claim 2, characterized in that, The process involves obtaining the Y-axis lever arm by combining the Y-axis component of the force and the X-axis component of the torque in the six-dimensional force parameters with the Z-axis component of the displacement deviation data. The Y-axis positioning result is then obtained by subtracting the Y-axis lever arm from the Y-axis component of the displacement deviation data. Specifically: Multiply the Y-axis component of the force in the six-dimensional force parameters by the Z-axis component of the displacement deviation data to obtain the second disturbance torque; Subtract the second disturbance torque from the X-axis component of the torque in the six-dimensional force parameters to obtain the net torque around the Y-axis; Divide the net torque around the Y-axis by the Z-axis component of the force in the six-dimensional force to obtain the Y-axis lever arm. Then subtract the Y-axis component of the displacement deviation data from the Y-axis lever arm to obtain the Y-axis positioning result.
5. The robot target tracking method according to claim 1, characterized in that, The step of calculating the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix includes: The force and torque in the force sensing data are multiplied by the inverse of the rotation matrix to obtain the six-dimensional force parameters in the tool coordinate system.
6. The robot target tracking method according to claim 1, characterized in that, The step of constructing a sensing coordinate system based on the real-time position of the force sensor includes: With the force sensor as the origin, the X-axis and Y-axis are obtained in the plane where the sensor is located according to two preset mutually orthogonal straight lines; based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is the Z-axis. A sensing coordinate system is established based on the X-axis, Y-axis, and Z-axis.
7. The robot target tracking method according to claim 1, characterized in that, The tool coordinate system is established based on the real-time position of the tool's working point, including: With the tool's working point as the origin, the X-axis and Y-axis are obtained in the plane where the tool's working point is located, based on two pre-defined mutually orthogonal straight lines; based on the right-hand rule, the direction perpendicular to the plane formed by the X-axis and Y-axis is defined as the Z-axis; Establish a tool coordinate system based on the X-axis, Y-axis, and Z-axis.
8. A robot target tracking system, characterized in that, include: Force sensing data acquisition module, operation data acquisition module, six-dimensional force sensing module, positioning module and mobile computing module; The force sensing data acquisition module is used to construct a sensing coordinate system based on the real-time position of the force sensor, and acquire the force sensing data corresponding to the force sensor based on the sensing coordinate system. The work data acquisition module is used to acquire displacement deviation data and attitude deviation data in the tool coordinate system based on the real-time position of the tool's work point and the real-time position of the force sensor; wherein, the tool coordinate system is established based on the real-time position of the tool's work point; A six-dimensional force sensing module is used to calculate the six-dimensional force parameters of the force sensing data in the tool coordinate system based on the force sensing data and the rotation matrix; wherein the six-dimensional force parameters include three-dimensional force components and three-dimensional torque components; wherein the rotation matrix is obtained based on the attitude deviation data; The positioning module obtains the first lever arm based on the Z-axis component of the six-dimensional force parameters and the displacement deviation data, and corrects the first lever arm based on the displacement deviation data to obtain the positioning result in the tool coordinate system. The motion calculation module is used to map the positioning result in the tool coordinate system to the sensing coordinate system according to the rotation matrix to obtain the final motion result, and control the tool working point to move according to the final motion result.
9. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the communication device, the robot operation target tracking method as described in any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, which, when executed by a communication device, implement the robot target tracking method as described in any one of claims 1 to 7.