Device control method and apparatus, grabbing device, and storage medium

Abstract

A device control method, comprising: acquiring target position information of at least one preset position obtained by a grabbing device contacting a target object from multiple directions, and target pressure information corresponding to the target position information; determining target point cloud data of the target object on the basis of the target position information and the target pressure information corresponding to the target position information; and determining a point cloud data model of the target object on the basis of the target point cloud data, so as to determine a grabbing object of the grabbing device on the basis of the point cloud data model. The target object is modeled by means of a position sensor and a pressure sensor on the grabbing device, so that the grabbing object is identified on the basis of the point cloud data model, improving the intelligence and flexibility of the grabbing device. Also provided are a device control apparatus, a grabbing device, and a storage medium.

Description

Device control method, device, gripping device and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 25, 2023, with application number 202311805756.9 and entitled “Device Control Method, Device, Gripping Device and Storage Medium,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of equipment automation, and in particular to an equipment control method, device, gripping device and storage medium. Background Art

[0003] When existing manipulators grasp an object, they typically use pressure sensors on their surface to determine whether the manipulator has touched the object. However, the inventors recognized that these pressure sensors on existing manipulators can only determine whether an object has been grasped, but cannot obtain more information about the object. Furthermore, they require operations such as image capture to assist in this determination, resulting in certain limitations. A manipulator with greater flexibility and the ability to analyze grasped objects is urgently needed.

[0004] Summary of the Invention

[0005] The main purpose of this application is to provide a device control method, apparatus, gripping device and storage medium, aiming to analyze and identify the gripped object through the tactile information of the gripping device, thereby improving the intelligence of the gripping device.

[0006] In a first aspect, the present application provides a device control method, which is applied to a gripping device and includes the following steps:

[0007] Acquiring target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information;

[0008] determining target point cloud data of the target object according to the target position information and target pressure information corresponding to the target position information;

[0009] A point cloud data model of the target object is determined according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

[0010] In a second aspect, the present application further provides a device control apparatus, the device control apparatus comprising:

[0011] an information acquisition module, configured to acquire target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information;

[0012] a point cloud data determination module, configured to determine target point cloud data of the target object based on the target position information and target pressure information corresponding to the target position information;

[0013] The point cloud data modeling module is used to determine the point cloud data model of the target object according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

[0014] In a third aspect, the present application also provides a gripping device, which includes an array of flexible sensors and an inertial measurement unit coated on the surface of the gripping device, and also includes a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein when the computer program is executed by the processor, it implements the device control method as described in any one of the embodiments of the present application.

[0015] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the device control method as described in any one of the embodiments of the present application is implemented.

[0016] The present application provides a device control method, apparatus, gripping device, and storage medium. The present application obtains target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, as well as target pressure information corresponding to the target position information; determines target point cloud data of the target object based on the target position information and the target pressure information corresponding to the target position information; and determines a point cloud data model of the target object based on the target point cloud data, so as to determine the gripping object of the gripping device based on the point cloud data model. Since the target object is modeled using the position sensor and pressure sensor on the gripping device, the gripping object can be identified based on the point cloud data model to determine whether the gripping object is the target object. This improves the intelligence and flexibility of the gripping device, avoids obtaining visual information of the gripping object, and reduces the complexity of gripping object identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] FIG1 is a schematic flow chart of a device control method provided in one embodiment of the present application;

[0019] FIG2 is a schematic diagram of the structure of a gripping device provided in one embodiment of the present application;

[0020] FIG3 is a schematic block diagram of a device control apparatus provided in an embodiment of the present application;

[0021] FIG4 is a schematic block diagram of the structure of a gripping device according to an embodiment of the present application;

[0022] FIG5 is a schematic block diagram of the structure of another gripping device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0025] Embodiments of the present application provide a device control method, apparatus, gripping device, and storage medium.

[0026] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0027] Please refer to Figure 1, which is a flow chart of a device control method provided in an embodiment of the present application. The device control method can be used in a terminal or a server to implement the device control method described in any one of the embodiments of the present application by controlling the grasping device through the terminal or the server. The terminal can be an electronic device such as a mobile phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, and a wearable device; the server can be an independent server, a server cluster, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0028] Please refer to Figure 2, which is a schematic diagram of the structure of a gripping device provided in one embodiment of the present application. As shown in Figure 2, the gripping device can be a manipulator that simulates the structure of a human hand, such as a flexible manipulator with a deformable surface, etc., although this is not limited here. The surface of the manipulator is covered with an array of flexible sensors and an inertial measurement unit, which are used to obtain position information and pressure information on the manipulator surface, respectively.

[0029] As shown in FIG1 , the device control method includes steps S101 to S103 .

[0030] Step S101: Acquire target position information of at least one preset position obtained by the grasping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information.

[0031] For example, a point cloud data model of a target object can reflect the overall shape of the target object. Therefore, when building the point cloud data model of the target object, it is necessary to obtain point cloud data of the target object from multiple directions. Specifically, the target object is grasped from multiple preset target angles to obtain target position information and target pressure information. For example, the target object can be grasped from six angles: front, side, left, right, top, and bottom, and target position information and target pressure information for the target object can be obtained from these six angles.

[0032] Contacting the target object from multiple directions may include, for example, grasping the target object or touching a specific area of ​​the target object. The contact method between the grasping device and the target object is not limited herein.

[0033] Exemplarily, target position information of a preset position is obtained by using multiple inertial measurement units covered on the surface of the gripping device, and target pressure information of a preset position is obtained by using multiple pressure sensors covered on the surface of the gripping device. The target position information corresponds one-to-one with the target pressure information, and the inertial measurement unit and the pressure sensor can be set at the same or corresponding positions. Specifically, when the inertial measurement unit and the pressure sensor are set at corresponding positions, the target position information corresponding to the target pressure information can be determined based on the position difference between the inertial measurement unit and the pressure sensor.

[0034] For example, the pressure sensor is set on the surface of the gripping device, and the inertial measurement unit is set at a position 0.5 cm below the surface of the gripping device. The pressure sensor and the inertial measurement unit correspond one to one. The target position information corresponding to the target pressure information measured by the pressure sensor can be determined based on the position difference of 0.5 cm. No further details will be given here.

[0035] Of course, it is not limited thereto, and the target position information of the preset position may also be determined according to the joint posture of the grasping device.

[0036] In some embodiments, obtaining target position information of at least one preset position obtained by the grasping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information, includes: obtaining a joint posture associated with the preset position; and determining the position information of at least one of the preset positions based on the joint posture.

[0037] Taking a robotic hand as an example, the target position information of a preset position on a single finger can be determined based on the degree of bending of the joints on that finger. Specifically, the relative angle of the preset position is determined based on the degree of bending of at least one joint on the finger related to the preset position, and the relative distance of the preset position is determined based on the distance between the preset position and the joint.

[0038] For example, if the preset position is located at the tip of the index finger, the joints associated with the preset position are the three joints on the index finger; if the preset position is located at the tip of the thumb, the joints associated with the preset position are the two joints on the thumb. Of course, this is not limited to this. The preset position may be located on a knuckle and associated with one or two joints on the finger, and this is not limited here.

[0039] Step S102: Determine target point cloud data of the target object according to the target position information and target pressure information corresponding to the target position information.

[0040] Exemplarily, target point cloud data of the grasped object is determined based on the one-to-one correspondence between target position information and target pressure information. Specifically, the point cloud data acquired by the grasping device is similar to the point cloud data acquired by a lidar. The lidar can acquire the three-dimensional coordinates (x, y, z) and light reflection information (intensity) of multiple locations on the object, while the target point cloud data includes the three-dimensional coordinates of a preset location and the pressure value at the preset location.

[0041] Exemplarily, the target point cloud data of the grasped object is determined for comparison with the current point cloud data of the grasped object to determine whether the grasped object by the grasping device is a preset target object, thereby improving the flexibility and intelligence of the grasping device.

[0042] Step S103: determining a point cloud data model of the target object according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

[0043] For example, since the target point cloud data in the point cloud data model can reflect the shape of the target object in all directions as a whole, when the grasping device performs a grasping operation, no matter from which angle the target object is grasped, the current point cloud data obtained can be matched with the target point cloud data in the point cloud data model to identify the target object.

[0044] In some embodiments, the judging of the grasping object of the grasping device based on the point cloud data model includes: obtaining current position information of at least one preset position obtained when the grasping device grasps the grasping object, and current pressure information corresponding to the current position information; determining current point cloud information of the grasping object based on the current position information and the current pressure information; matching the point cloud data model of the target object with the current point cloud data of the grasping object based on a preset point cloud data matching algorithm; and determining whether the grasping object is the target object based on the matching result of the point cloud data model and the current point cloud data.

[0045] For example, when grasping an object, current point cloud data of a portion of the grasped object is obtained through the method of steps S101-S102, so that the current point cloud data and the point cloud data model can be matched using a preset point cloud data matching algorithm to determine whether the grasped object is the target object. The type of point cloud data matching algorithm can be set based on actual needs. For example, it can be an image recognition algorithm that calculates the similarity between the point cloud data model and an image composed of the current point cloud data, or it can be an algorithm that calculates the relative distance between the target point cloud data and the current point cloud data, and is not limited here.

[0046] In some embodiments, determining whether the grasped object is the target object based on the matching result between the point cloud data model and the current point cloud data includes: if there is at least a portion of the target point cloud data in the point cloud data model that matches the current point cloud data, determining that the grasped object is the target object.

[0047] It is understandable that since the grasping device can usually only grasp part of the object, the current point cloud data obtained by the grasping device is usually also the local point cloud data of the grasped object. Therefore, when matching, the current point cloud data is matched with at least a part of the target point cloud data, that is, as long as there is local target point cloud data in the point cloud data model that matches the current point cloud data, the grasped object is considered to be the target object.

[0048] For example, the current point cloud data obtained by grasping the target object at different angles is usually different. The device control method provided in the embodiment of the present application identifies the grasped object by matching a part of the target point cloud data with the current point cloud data, so that the grasping device can identify whether the grasped object is the target object regardless of the angle at which the grasping device grasps. The grasped object can be judged without the need for visual assistance through visible light images, thereby improving the flexibility of the device control method.

[0049] In some embodiments, if there is at least a portion of target point cloud data in the point cloud data model that matches the current point cloud data, determining that the grasped object is the target object includes: if there is at least a portion of target point cloud sub-data in the target point cloud data and the point cloud distance between the data is less than or equal to a preset threshold, determining that the grasped object is the target object, wherein the number of the target point cloud sub-data is greater than or equal to a preset number threshold.

[0050] Exemplarily, by matching any part of the target point cloud data in the point cloud data model with the current point cloud data, if the point cloud distance between the current point cloud data and the part of the target point cloud data is less than or equal to a preset threshold, the grasping object corresponding to the current point cloud data is determined to be the target object.

[0051] Among them, the number of target point cloud data used as the basis for judgment is greater than or equal to a preset number threshold. The preset number threshold can be, for example, the number of current point cloud data. Of course, it is not limited to this. The minimum number of target point cloud data used to determine that the grasped object is the target object can be set according to actual needs. There is no limitation here.

[0052] In some embodiments, the point cloud data model of the target object is matched with the current point cloud data of the grasped object based on a preset point cloud data matching algorithm, including: calculating at least one of the Hausdorff distance, chamfer distance, and land movement distance between the target point cloud data in the point cloud data model and the current point cloud data based on a preset point cloud data matching algorithm, to obtain the point cloud distance between the target point cloud data and the current point cloud data.

[0053] Exemplarily, at least one of the Hausdorff distance (HD), the chamfer distance (CD), and the earth mover's distance (EMD) between the point set consisting of the current point cloud data and the point set consisting of the target point cloud data is calculated as the point cloud distance between the current point cloud data and the target point cloud data.

[0054] Taking Hausdorff distance as an example, the current point cloud data set A={a1,...,a p} and the target point cloud data set B={b1,...,b q The Hausdorff distance between} is: H(A,B)=max(h(A,B),h(B,A)), where

[0055] Or, taking the chamfer distance as an example, the chamfer distance between the current point cloud data set S1 and the target point cloud data set S2 is:

[0056] Or, taking the land movement distance as an example, the land movement distance between the current point cloud data set S1 and the target point cloud data set S2 is:

[0057] For a bijection

[0058] In some embodiments, after obtaining the current position information of at least one preset position obtained when the grasping device grasps the grasping object, and the current pressure information corresponding to the current position information, it also includes: determining the softness and hardness of the grasping object based on the current pressure information; if the softness and hardness of the grasping object does not match the preset softness and hardness of the target object, it is determined that the grasping object does not belong to the target object.

[0059] For example, after grasping an object, a preliminary judgment can be made based on the object's softness or hardness. The softness or hardness of the object is determined based on the current pressure information of the object. For example, the greater the pressure of the object relative to the grasping device, the harder the object, i.e., the pressure and hardness are positively correlated.

[0060] For example, if the hardness of the grasped object is high and the target object is a relatively soft object, and the hardness of the grasped object does not match the preset hardness of the target object, the possibility that the grasped object belongs to the target object is directly excluded, and no further identification of the grasped object is required.

[0061] For example, by making a preliminary judgment based on the softness or hardness of the grasped object before object recognition, the judgment logic of the grasping device is made similar to that of a human palm, avoiding the recognition of grasped objects that are obviously not target objects, reducing the complexity of object recognition, and improving recognition efficiency.

[0062] The device control method provided in the above embodiment obtains target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, as well as target pressure information corresponding to the target position information; determines target point cloud data of the target object based on the target position information and the target pressure information corresponding to the target position information; and determines a point cloud data model of the target object based on the target point cloud data, so as to determine the gripping object of the gripping device based on the point cloud data model. Since the target object is modeled using the position sensor and pressure sensor on the gripping device, the gripping object can be identified based on the point cloud data model to determine whether the gripping object is the target object. This improves the intelligence and flexibility of the gripping device, avoids obtaining visual information of the gripping object, and reduces the complexity of gripping object identification.

[0063] Please refer to FIG. 3 , which is a schematic diagram of a device control apparatus provided in an embodiment of the present application. The device control apparatus can be configured in a gripping device to execute the aforementioned device control method.

[0064] As shown in FIG3 , the device control apparatus includes: an information acquisition module, a point cloud data determination module, and a point cloud data modeling module.

[0065] an information acquisition module, configured to acquire target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information;

[0066] a point cloud data determination module, configured to determine target point cloud data of the target object based on the target position information and target pressure information corresponding to the target position information;

[0067] The point cloud data modeling module is used to determine the point cloud data model of the target object according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

[0068] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0069] The methods and apparatus of the present application can be used in a wide variety of general or specialized computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.

[0070] Illustratively, the above method and apparatus may be implemented in the form of a computer program, which may be run on the gripping device shown in FIG. 4 .

[0071] Please refer to Figure 4, which is a schematic block diagram of the structure of a gripping device provided in an embodiment of the present application. The gripping device may be a manipulator.

[0072] As shown in FIG4 , the gripping device includes a processor, a memory, and a sensor connected via a system bus, wherein the memory may include a storage medium and an internal memory, the processor may include a coprocessor and a main processor, and the sensor may include a position sensor and a pressure sensor.

[0073] The storage medium in the memory can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can cause the processor to execute any device control method.

[0074] The processor is used to provide computing and control capabilities to support the operation of the entire grasping device.

[0075] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any device control method.

[0076] The grasping device also includes a position sensor and a pressure sensor coated on the surface. The position sensor may be, for example, an inertial measurement unit, and the pressure sensor may be, for example, an array-type flexible sensor, for obtaining point cloud information of the grasped object so that the processor can process the point cloud information.

[0077] Those skilled in the art will understand that the structure shown in Figure 4 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the gripping device to which the scheme of the present application is applied. The specific gripping device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0078] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0079] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps:

[0080] Acquiring target position information of at least one preset position obtained by the gripping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information;

[0081] determining target point cloud data of the target object according to the target position information and target pressure information corresponding to the target position information;

[0082] A point cloud data model of the target object is determined according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

[0083] Please refer to FIG. 5 , which is a schematic block diagram of the structure of another gripping device provided in an embodiment of the present application.

[0084] As shown in Figure 5, the gripping device collects single-finger pressure data and single-finger position data through pressure sensors and position sensors, respectively, and constructs multi-finger pressure data and multi-finger position data. The data is then transmitted to the coprocessor for processing, and then sent to the main processor to form a point cloud data cloud map. The coprocessor can be a low-end MCU, and the main processor can be a high-end MCU or a low-end SOC, without limitation here.

[0085] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned device control can refer to the corresponding process in the aforementioned device control method embodiment, and will not be repeated here.

[0086] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the device control method of the present application.

[0087] The computer-readable storage medium may be an internal storage unit of the gripping device described in the aforementioned embodiment, such as a hard disk or memory of the gripping device. The computer-readable storage medium may also be an external storage device of the gripping device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the gripping device.

[0088] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0089] It should also be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0090] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A device control method, wherein, Applied to a grasping device, the method includes: Obtaining target position information of at least one preset position obtained by the grasping device contacting a target object from multiple directions, and target pressure information corresponding to the target position information; Determining target point cloud data of the target object according to the target position information and the target pressure information corresponding to the target position information; Determining a point cloud data model of the target object according to the target point cloud data, so as to judge the grasping object of the grasping device according to the point cloud data model.

2. The device control method according to claim 1, wherein, The obtaining the target position information of at least one preset position obtained by the grasping device contacting a target object from multiple directions, and the target pressure information corresponding to the target position information includes: Obtaining a joint pose associated with the preset position; Determining position information of at least one of the preset positions according to the joint pose.

3. The device control method according to claim 1, wherein, The judging the grasping object of the grasping device according to the point cloud data model includes: Obtaining current position information of at least one preset position obtained when the grasping device grasps the grasping object, and current pressure information corresponding to the current position information; Determining current point cloud information of the grasping object according to the current position information and the current pressure information; Based on a preset point cloud data matching algorithm, matching the point cloud data model of the target object with the current point cloud data of the grasping object; Determining whether the grasping object is the target object according to the matching result of the point cloud data model and the current point cloud data.

4. The device control method according to claim 3, wherein, The determining whether the grasping object is the target object according to the matching result of the point cloud data model and the current point cloud data includes: If at least a part of the target point cloud data in the point cloud data model matches the current point cloud data, Determine that the grasping object is the target object.

5. The device control method according to claim 4, wherein, The if at least a part of the target point cloud data in the point cloud data model matches the current point cloud data, determining that the grasping object is the target object includes: If the point cloud distance between at least a part of the target point cloud sub-data in the target point cloud data and the current point cloud data is less than or equal to a preset threshold, determine that the grasping object is the target object, where the number of the target point cloud sub-data is greater than or equal to a preset number threshold.

6. The device control method according to any one of claims 3-5, wherein, The based on a preset point cloud data matching algorithm, matching the point cloud data model of the target object with the current point cloud data of the grasping object includes: Based on a preset point cloud data matching algorithm, calculating at least one of the Hausdorff distance, chamfer distance, and earth mover's distance between the target point cloud data in the point cloud data model and the current point cloud data, to obtain the point cloud distance between the target point cloud data and the current point cloud data.

7. The device control method according to any one of claims 3-5, wherein, After obtaining the current position information of at least one preset position obtained when the grasping device grasps the grasping object, and the current pressure information corresponding to the current position information, it further includes: Determining the softness and hardness of the grasping object according to the current pressure information; If the hardness and softness of the grasped object do not match the preset hardness and softness of the target object, it is determined that the grasped object does not belong to the target object.

8. An apparatus control device, wherein, The device control device includes: An information acquisition module, configured to acquire target position information of at least one preset position obtained by the grasping device contacting the target object from multiple directions, and target pressure information corresponding to the target position information; A point cloud data determination module, configured to determine target point cloud data of the target object according to the target position information and the target pressure information corresponding to the target position information; A point cloud data modeling module, configured to determine a point cloud data model of the target object according to the target point cloud data, so as to judge the grasped object of the grasping device according to the point cloud data model.

9. A grasping device, wherein, The grasping device includes an array-type flexible sensor and an inertial measurement unit covering the surface of the grasping device, and further includes a processor, a memory, and a computer program stored on the memory and executable by the processor. When the computer program is executed by the processor, the steps of the device control method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, wherein, A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the device control method according to any one of claims 1 to 7 are implemented.

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