CN107775639B - Robot anti-collision method and system based on current method - Google Patents
Robot anti-collision method and system based on current method Download PDFInfo
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- CN107775639B CN107775639B CN201711011213.4A CN201711011213A CN107775639B CN 107775639 B CN107775639 B CN 107775639B CN 201711011213 A CN201711011213 A CN 201711011213A CN 107775639 B CN107775639 B CN 107775639B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
Abstract
The invention discloses a robot anti-collision method and system based on a current method. The method comprises the steps of obtaining the working current value of a driving motor, comparing the working current value with a corresponding standard current value-position curve to obtain each current comparison result, and judging whether each part of the robot collides or not according to each current comparison result. The system comprises a current module for acquiring the working current value of the driving motor, a comparison module for comparing the working current value with a standard current value and a judgment module for judging whether the robot breaks down. According to the invention, whether the corresponding part of the robot collides or not can be quickly judged by acquiring the working current of the driving motor, so that measures can be taken in time once the robot collides, thereby realizing automatic monitoring of the robot and ensuring the safety of lives and properties. The invention is widely applied to the technical field of robots.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot anti-collision method and system based on a current method.
Background
With the acceleration of china manufacturing 2025, robots are increasingly applied in various industries, and the well-jet type growth occurs, and safety accidents in use of the robots also occur occasionally, because the robots usually include a plurality of actuators such as a base, a waist, an arm, a wrist, a hand, and a walking part, and in order to ensure the flexibility of the robots, a plurality of motors are generally arranged to drive the actuators respectively, so that the actuators can move freely, and the independent movement of each actuator constitutes the overall action of the robot, thereby realizing the rich functions of the robots, but because the number of the actuators of the robots increases the probability of collision between the robots and between various parts inside the robots. Once the robot collides, the safety of lives and property may be seriously damaged. In a word, the robot is used as an important production tool, effective monitoring must be carried out on the robot, and once the robot collides or has a collision risk, safety measures such as shutdown and the like need to be taken in time to guarantee life and property safety.
Disclosure of Invention
In order to solve the above technical problems, a first object of the present invention is to provide a robot anti-collision method based on a current method, and a second object of the present invention is to provide a robot anti-collision system based on a current method.
The first technical scheme adopted by the invention is as follows:
a robot anti-collision method based on a current method comprises the following steps:
the controller acquires the working current value of each driving motor;
the controller respectively compares the working current value of each driving motor with the corresponding standard current value-position corresponding relation, so as to obtain each current comparison result;
and the controller judges whether each part of the robot collides according to each current comparison result.
Further, the standard current value-position correspondence relationship is specifically a standard current value-position curve.
Further, before the step of comparing the working current value of each driving motor with the corresponding standard current value-position corresponding relation, the controller is further provided with a step of obtaining a standard current value-position curve.
Further, the step of obtaining a standard current value-position curve specifically includes:
commanding the robot to work under a standard working condition;
continuously acquiring the standard current value of each driving motor by the controller in at least one complete working cycle of the robot, and then recording the standard current value of each driving motor and the position of the corresponding robot part in one complete working cycle of the robot, so as to obtain a standard current value-position scatter diagram of each driving motor;
and respectively fitting each standard current value-position scatter diagram into each curve, thereby obtaining the standard current value-position curve of each driving motor.
Further, the step of comparing the working current value of each driving motor with the corresponding standard current value-position corresponding relationship by the controller to obtain each current comparison result includes:
and the controller respectively subtracts the working current value of each driving motor from the standard working current value of the position point of the corresponding robot part in the corresponding standard current value-position curve so as to obtain each current difference value, and the obtained each current difference value is used as each current comparison result required to be obtained.
Further, the step of comparing the working current value of each driving motor with the corresponding standard current value-position corresponding relationship by the controller to obtain each current comparison result includes:
the controller continuously collects and records the working current value of each driving motor and the position of the corresponding robot part, so as to obtain a working current value-position scatter diagram of each driving motor;
fitting the working current value-position scatter diagram of each driving motor to obtain each working current value-position curve;
calculating the similarity between each working current value-position curve and the corresponding standard current value-position curve;
and taking each similarity as each current comparison result required to be obtained.
Further, the controller judges whether each part of the robot collides according to each current comparison result, specifically including:
the controller judges whether each similarity is within a preset range, and if yes, the controller judges that no collision occurs in the corresponding robot part; otherwise, judging that the corresponding robot part is collided.
Further, the similarity is a pearson correlation coefficient.
Further, the calculation formula of the pearson correlation coefficient is as follows:
in the formula, X is a working current value set obtained by sampling the working current value-position curve, Y is a standard current value set obtained by sampling the standard current value-position curve, and N is a sample number.
The second technical scheme adopted by the invention is as follows:
a robot collision avoidance system based on a current method, comprising: the driving motors are respectively and correspondingly connected with drivers, and the drivers are connected with a controller;
the controller is used for obtaining the working current value of each driving motor, then comparing the working current value of each driving motor with the corresponding standard current value-position curve respectively to obtain each current comparison result, and then judging whether each part of the robot collides according to each current comparison result.
The first beneficial effect of the invention is that: by the method, whether the corresponding part of the robot collides can be quickly judged only by acquiring the working current of the driving motor, so that automatic monitoring is realized, fault removal measures such as shutdown and the like can be timely adopted when the robot collides, and life and property losses are avoided.
Furthermore, by the method, the robot has a reference standard for stably and reliably judging whether each part is collided, the judgment speed is increased, and the misjudgment rate is reduced.
The second beneficial effect of the invention is that: by the system, whether the corresponding part of the robot collides can be quickly judged only by acquiring the working current of the driving motor, so that automatic monitoring is realized, fault removal measures such as shutdown and the like can be timely adopted when the robot collides, and life and property losses are avoided.
Drawings
FIG. 1 is a flow chart of a robot collision avoidance method of the present invention;
FIG. 2 is a control schematic of the robot;
FIG. 3 is a standard current value-position scatter diagram of the third motor in the example;
FIG. 4 is a standard current value versus position curve for a third motor in an embodiment;
fig. 5 is a graph of operating current value versus position for the third motor in the example.
Detailed Description
In order to more clearly illustrate the technical solution disclosed in the present invention, the following description is further provided with reference to the embodiments and the accompanying drawings.
Example 1
The invention discloses a robot anti-collision method based on a current method, which comprises the following steps as shown in figure 1:
the controller acquires the working current value of each driving motor;
the controller respectively compares the working current value of each driving motor with the corresponding standard current value-position corresponding relation, so as to obtain each current comparison result;
and the controller judges whether each part of the robot collides according to each current comparison result.
The principle of the method is as follows: the robot includes a plurality of parts such as a base, a waist, an arm, a wrist, a hand, and a walking part, which are also called as actuators, and a plurality of motors are provided to drive the actuators, respectively, so that one robot is provided with a plurality of driving motors, as shown in fig. 2, for example, a first motor for driving the arm, a second motor for driving the wrist, a third motor for driving the robot to walk, and each driving motor is driven by a corresponding driver, so that the driver can obtain the magnitude of the operating current of the driving motor it drives. Each driver is connected with the controller through a servo bus, and the controller and each driver communicate through the servo bus, so that data such as the working current of each driving motor is read, and instructions are sent to each driver.
The working environment and the load of different parts of the robot are different, and the working current of the driving motor of different parts of the robot is different. When the robot collides, the normal rotation of the corresponding driving motor is blocked, which causes the change of the working current of the corresponding motor and the deviation of the working current from the normal working current. Therefore, the robot controller obtains the working current of each driving motor on the robot from the driver of each motor, compares the working current with the pre-stored standard current value-position corresponding relationship of each driving motor to obtain each current comparison result, and the current comparison result is the degree of the actual working current of each driving motor deviating from the standard working current value corresponding to each driving motor, namely the abnormal degree of the working current state of each driving motor, so that the working state of each driving motor can be analyzed, whether each part of the robot collides or not can be known according to the working state of the driving motor, for example, in the embodiment, the working state of the second motor is monitored, so that the wrist of the robot collides, and the worker can conveniently remove the fault.
It is worth pointing out that the abnormal situations such as collision of robot parts, driving motor failure, robot joint failure and robot being blocked by foreign matters can cause the abnormal state of the working current of the corresponding driving motor, but the invention is realized by monitoring the working current of each driving motor, so the robot collision in the invention is not limited to the robot or the robot parts being collided, and also includes the robot abnormal situations such as driving motor self failure and/or robot joint failure and/or robot being blocked by foreign matters or other robot failures.
Further as a preferred embodiment, after the controller judges whether each part of the robot collides, the controller can remotely send the judgment result to the monitoring end, so that equipment or staff at the monitoring end can know the collision condition of the robot and timely process the collision condition, and the robot can be remotely monitored.
Further preferably, the controller further includes a step of obtaining a standard current value-position curve before the step of comparing the operating current value of each driving motor with the corresponding standard current value-position curve to obtain each current comparison result.
The standard current value-position corresponding relation is the corresponding relation between the position or the stroke of each robot part and the current value of the corresponding driving motor when the robot works under the standard working condition. The robot operates according to a program set by a user when in work, the same action and flow are repeated in each cycle, and the load, the operation track, the operation speed and the acceleration of the robot are completely the same at the same position point in each cycle, so that the current of each driving motor is the same at the same position point in each cycle. The corresponding relation between the position or the stroke of each robot part and the current value of the corresponding driving motor when the robot works under the standard working condition is recorded and stored in advance, and the corresponding relation can be in a table form, a scattered point form, a curve form or other forms. The standard current value-position correspondence relationship expressed in the form of a curve, i.e., a standard current value-position curve, is more intuitive and mathematically easier to handle, and therefore, it is preferable to adopt the standard current value-position curve as the standard current value-position correspondence relationship.
Further as a preferred embodiment, the step of obtaining a standard current value-position curve specifically includes:
commanding the robot to work under a standard working condition;
in at least one complete working cycle of the robot, continuously acquiring the standard current value of each driving motor by the controller, and then recording the standard current value of each driving motor and the position of the corresponding robot part in one complete working cycle of the robot, thereby obtaining a standard current value-position scatter diagram of each driving motor;
and respectively fitting each standard current value-position scatter diagram into each curve, thereby obtaining the standard current value-position curve of each driving motor.
The standard working condition in the method refers to an ideal experimental condition in a laboratory or a standard for determining that all parts, all driving motors, a production environment and the like of the robot are in a normal state, and the working current of each driving motor is determined as a reference when the robot works under the standard working condition. In the production process, the robot runs according to a program set by a user, and the same action and flow are repeated in each cycle, namely the load, the running track, the running speed and the acceleration of the robot are completely the same at the same position point in each cycle, so that the working current of each driving motor is the same at the same position point in each cycle under the normal condition, and only the working information of the robot in a complete working period needs to be acquired. The robot works under a standard working condition, each driver continuously acquires a standard current value of a corresponding driving motor and uploads the standard current value to the controller in real time, the controller learns the position of each part of the robot through a sensor arranged on each part of the robot, the controller records and stores the size of the received standard current of each driving motor and a corresponding acquired position point to obtain a standard current value-position corresponding relation of each driving motor, and the relation is expressed on a rectangular coordinate system taking a position axis as a horizontal axis and a standard current value as a vertical axis so as to obtain a standard current value-position scatter diagram of each driving motor.
Fig. 3 is a standard current value-position scatter diagram of the third motor for driving the robot to travel measured under a standard condition in one production procedure. In this production procedure, the position of the robot walking part is expressed in terms of its stroke. The travel of the robot walking part in a complete working cycle is S, after the robot starts to work under a standard working condition, the controller obtains the travel of the robot walking part through a sensor arranged on the robot walking part, and when the robot walking part reaches a preset travel position, the controller records a standard current value of a third motor acquired through a driver and a corresponding position point. The more sampling points in a complete working period, the closer the obtained standard current value-position scatter diagram is to a continuous curve. Since the curve is more convenient to analyze than the scatter diagram in the data processing, the standard current value-position scatter diagram of the third motor needs to be mathematically fitted to a continuous curve to obtain a standard current value-position curve of the third motor.
There are various methods for fitting the standard current value-position scattergram to the standard current value-position curve, and as a preferred embodiment, two points adjacent to each other along the position axis in each standard current value-position scattergram are connected by a line segment to obtain curves connected by the line segment, which are used as the standard current value-position curves of each driving motor to be obtained.
The standard current value-position scatter diagram of the third motor shown in fig. 3 is fitted to obtain a standard current value-position curve of the third motor shown in fig. 4.
Further as a preferred embodiment, the step of comparing, by the controller, the working current value of each driving motor with the corresponding standard current value-position correspondence relationship, so as to obtain each current comparison result specifically includes:
and the controller respectively makes a difference between the working current value of each driving motor and the standard working current at the corresponding position point in the corresponding standard current value-position curve so as to obtain each current difference value, and each obtained current difference value is used as each current comparison result required to be obtained.
The above method is further explained by taking the third motor for driving the robot to walk as an example. The driver of the third motor obtains that the magnitude of the working current of the third motor is 14.8A at the initial position of the working cycle of the robot and uploads the working current to the controller in real time, after the controller receives the working current, the controller can know that the acquisition position point corresponding to 14.8A is the initial position of the working cycle of the robot according to the sensor arranged at the walking part of the robot, namely the stroke is 0, a corresponding point is searched from the standard current value-position curve of the third motor shown in figure 4, and the standard current value of the third motor at the position point is known to be 15A. And (3) obtaining 0.2A by subtracting the measured working current value 14.8A of the third motor from the standard current value 15A of the corresponding position point, wherein the current difference value 0.2A is a current comparison result of the third motor at the position point. And a driver of the third motor keeps continuously acquiring the working current value of the third motor at each preset robot walking part position point and uploads the working current value to the controller in real time, and the controller can obtain the current comparison result of the third motor at each robot walking part position point according to the method so as to realize real-time monitoring of the third motor.
Further, as a preferred embodiment, the method uses the current difference as a current comparison result, and may set a corresponding threshold, and determine whether the current comparison result is within a normal range, so as to determine whether the working current value of the corresponding driving motor is normal. For example, it is preset that the current difference of the third motor cannot exceed 5% of the corresponding standard operating current value, and in the above embodiment, the current difference measured at the start position of the robot operating cycle is 0.2A, the standard operating current value is 15A, and 0.2/15 is 1.3% < 5%, which indicates that the operating current value of the third motor is normal at this position point, and no collision occurs at the robot walking part driven by the third motor.
When the sampling frequency of the driver of the third motor is large enough, for example, the driver samples the working current value once when the robot walking part walks for 1cm, the controller can obtain the current comparison result of the third motor once when the robot walking part walks for 1cm, if the robot walking part collides at a certain position point, the controller rapidly sends a stop instruction to the third motor after knowing the collision condition, the walking stroke of the walking part in the period from collision to stop walking cannot exceed 1cm, and the collision does not cause serious consequences, so that the collision prevention function of the robot is realized.
The method considers whether the instantaneous value of the working current value of the corresponding driving motor at the specific position point of each robot part is normal, but each driving motor is influenced in various aspects in industrial application, and the working current value of the robot possibly jumps at certain time under the condition that the robot is not collided, so that the erroneous judgment of the controller is caused. To avoid this, the present invention proposes another solution.
Further as a preferred embodiment, the step of comparing, by the controller, the working current value of each driving motor with the corresponding standard current value-position correspondence relationship, so as to obtain each current comparison result specifically includes:
the controller continuously collects and records the working current value of each driving motor and the position of the corresponding robot part, so as to obtain a working current value-position scatter diagram of each driving motor;
fitting the working current value-position scatter diagram of each driving motor to obtain each working current value-position curve;
calculating the similarity between each working current value-position curve and the corresponding standard current value-position curve;
and taking each similarity as each current comparison result required to be obtained.
The method is an improvement of a method for judging whether each driving motor is normal or not through the instantaneous value of the working current value of each driving motor, and the inspection of the working current value of each driving motor is widened from a single position point of a robot part to a stroke section of the robot part. The method uses a method similar to the method for obtaining the standard current value-position curve, namely, under the actual production environment, a working current value-position scatter diagram of each driving motor is obtained through sampling, and then the working current value-position scatter diagram is fitted into the working current value-position curve, and the method specifically comprises the following steps: during actual production of the robot, each driver continuously acquires and uploads the working current value of each driving motor to the controller in real time, the controller corresponds the working current value of each driving motor and the corresponding acquisition position point according to the sensor to obtain the working current value-position relation of each driving motor, and the working current value-position relation of each driving motor is a working current value-position scatter diagram in a rectangular coordinate system with the position as a horizontal axis and the working current value as a vertical axis. And fitting the working current value-position scatter diagram into a curve to obtain a working current value-position curve. The working current value-position curves of the driving motors are similar to the corresponding standard current value-position curves mathematically, and the working current value-position curves and the corresponding standard current value-position curves of the same driving motor in the same position section are respectively intercepted, so that the similarity of the working current value-position curves and the corresponding standard current value-position curves can be calculated. The similarity obtained by the calculation of the method reflects the deviation degree of the working current value-position curve of the corresponding driving motor of each robot part in a stroke section relative to the corresponding standard current value-position curve, and obviously, the smaller the deviation degree is, the closer the driving motor is to the most normal working state is. Therefore, the calculated similarity can be used as a current comparison result for judging whether the robot part corresponding to the driving motor collides or not.
The above method is described in more detail with reference to the following examples.
Fig. 5 is a graph of an operating current value versus a position of a third motor for driving the robot to travel, which is measured in an actual production situation in the same production procedure as fig. 4, and a stroke of the robot for one complete working cycle is 30 m. By applying the method, the standard current value-position curve in the 0-S/3 position segment can be intercepted from the graph in FIG. 4, and the working current value-position curve in the 0-S/3 position segment can be intercepted from the graph in FIG. 5 for calculating the image similarity; the calculation of the image similarity can also be carried out by cutting out the standard current value-position curve in the S/3-2S/3 position segment from FIG. 4 and cutting out the working current value-position curve in the S/3-2S/3 position segment from FIG. 5. Of course, curves in other position segments may be extracted, and the start point and the end point of the corresponding position segment may be the same as those of the curve extracted from fig. 4 and the curve extracted from fig. 5. The preferred embodiment is to examine the working current value-position curve of the driving motor in one complete working cycle of the robot and the corresponding standard current value-position curve, and calculate the similarity of the working current value-position curve and the standard current value-position curve.
Further, as a preferred embodiment, the step of judging whether each part of the robot collides or not by the controller according to each current comparison result includes:
the controller judges whether each similarity is within a preset range, and if yes, the controller judges that no collision occurs in the corresponding robot part; otherwise, judging that the corresponding robot part is collided.
Further as a preferred embodiment, the respective similarity is a pearson correlation coefficient of each operating current-position curve with the corresponding standard current value-position curve.
Further, as a preferred embodiment, the calculation formula of the pearson correlation coefficient is:
in the formula, X is a working current value set obtained by sampling the working current value-position curve, Y is a standard current value set obtained by sampling the standard current value-position curve, and N is a sample number.
The pearson correlation coefficient belongs to a mathematical statistical method, which reflects the degree of similarity of two variables. The Pearson correlation coefficient is applied to the method, so that the similarity of the working current-time image of the driving motor and a standard current value-position curve of the driving motor can be obtained.
The specific method comprises the following steps:
and respectively sampling the two variables for N times to respectively obtain N samples. The method comprises the steps of forming a set X by N samples obtained by sampling the working current value, forming a set Y by N samples obtained by sampling the standard current value, and then substituting the set Y into the formula to obtain the Pearson correlation coefficient rho of the working current-time image and the standard current value-position curve of the driving motorX,YThus, the similarity of the two curves is obtained. Resulting Pearson correlation coefficient ρX,YAnd comparing the current with the reference current.
Example 2
The invention discloses a robot anti-collision system based on a current method, as shown in figure 2, comprising: the driving motors are respectively and correspondingly connected with drivers, and the drivers are connected with a controller;
the controller is used for obtaining the working current value of each driving motor, then comparing the working current value of each driving motor with the corresponding standard current value-position curve respectively to obtain each current comparison result, and then judging whether each part of the robot collides according to each current comparison result.
The system can realize the robot anti-collision method based on the current method, including the method in the embodiment 1.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A robot anti-collision method based on a current method is characterized by comprising the following steps:
the controller acquires the working current value of each driving motor;
the controller respectively compares the working current value of each driving motor with the corresponding standard current value-position curve, so as to obtain each current comparison result;
the controller judges whether each part of the robot collides according to each current comparison result;
the controller compares the working current value of each driving motor with the corresponding standard current value-position curve respectively, so as to obtain the comparison result of each current, and the method specifically comprises the following steps:
the controller continuously collects and records the working current value of each driving motor and the position of the corresponding robot part, so as to obtain a working current value-position scatter diagram of each driving motor;
fitting the working current value-position scatter diagram of each driving motor to obtain each working current value-position curve;
calculating the similarity between each working current value-position curve and the corresponding standard current value-position curve;
and taking each similarity as each current comparison result required to be obtained.
2. The robot anti-collision method based on the current method according to claim 1, wherein the controller further comprises a step of obtaining a standard current value-position curve before the step of comparing the operating current value of each driving motor with the corresponding standard current value-position curve.
3. The robot anti-collision method based on the current method according to claim 2, wherein the step of obtaining a standard current value-position curve specifically comprises:
commanding the robot to work under a standard working condition;
continuously acquiring the standard current value of each driving motor by the controller in at least one complete working cycle of the robot, and then recording the standard current value of each driving motor and the position of the corresponding robot part in one complete working cycle of the robot, so as to obtain a standard current value-position scatter diagram of each driving motor;
and respectively fitting each standard current value-position scatter diagram into each curve, thereby obtaining the standard current value-position curve of each driving motor.
4. The robot collision-prevention method based on the current method according to any one of claims 1 to 3, wherein the step of comparing the operating current value of each driving motor with the corresponding standard current value-position curve by the controller to obtain the comparison result of each current comprises:
and the controller respectively subtracts the working current value of each driving motor from the standard working current value of the position point of the corresponding robot part in the corresponding standard current value-position curve so as to obtain each current difference value, and the obtained each current difference value is used as each current comparison result required to be obtained.
5. The robot collision avoidance method based on the current method as claimed in claim 1, wherein the step of judging whether each part of the robot collides or not by the controller according to each current comparison result comprises:
the controller judges whether each similarity is within a preset range, and if yes, the controller judges that no collision occurs in the corresponding robot part; otherwise, judging that the corresponding robot part is collided.
6. The robot anti-collision method based on the current method according to claim 1, wherein the similarity is a Pearson correlation coefficient.
7. The robot anti-collision method based on the current method according to claim 6, wherein the Pearson correlation coefficient is calculated by the following formula:
in the formula, X is a working current value set obtained by sampling the working current value-position curve, Y is a standard current value set obtained by sampling the standard current value-position curve, and N is a sample number.
8. A robot collision avoidance system based on a current method, comprising: the driving motors are respectively and correspondingly connected with drivers, and the drivers are connected with a controller;
the controller is used for obtaining the working current value of each driving motor, then comparing the working current value of each driving motor with the corresponding standard current value-position curve respectively to obtain each current comparison result, and then judging whether each part of the robot collides according to each current comparison result;
the comparing the working current value of each driving motor with the corresponding standard current value-position curve respectively to obtain each current comparison result specifically comprises:
the controller continuously collects and records the working current value of each driving motor and the position of the corresponding robot part, so as to obtain a working current value-position scatter diagram of each driving motor;
fitting the working current value-position scatter diagram of each driving motor to obtain each working current value-position curve;
calculating the similarity between each working current value-position curve and the corresponding standard current value-position curve;
and taking each similarity as each current comparison result required to be obtained.
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