CN112197676A - Method and device for acquiring object surface information, computer equipment and storage medium - Google Patents
Method and device for acquiring object surface information, computer equipment and storage medium Download PDFInfo
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- CN112197676A CN112197676A CN202011097898.0A CN202011097898A CN112197676A CN 112197676 A CN112197676 A CN 112197676A CN 202011097898 A CN202011097898 A CN 202011097898A CN 112197676 A CN112197676 A CN 112197676A
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
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Abstract
The application relates to a method and a device for acquiring object surface information, computer equipment and a storage medium. The method relates to a touch sensing technology, and comprises the following steps: controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object; acquiring force and moment applied to the touch sphere in each direction of a preset coordinate system during contact; determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction; obtaining normal and tangential forces corresponding to the contact points based on the forces and coordinates in the directions; and obtaining the object surface information corresponding to the object according to the normal force and the tangential force. By adopting the method, various objects in different shapes can be touched, the stability is higher, and the obtained object surface information is more accurate.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for acquiring object surface information, a computer device, and a storage medium.
Background
Object surface information is important for the three-dimensional reconstruction of objects. In the conventional technology, a vision sensor can be used for acquiring the object surface information of an object to be measured, however, this method is easily influenced by illumination factors, for example, in the case of darkness and shielding, it is difficult to obtain accurate object surface information.
Therefore, some touch sensing technologies are utilized to obtain object surface information through contact, and for some places where visual signals have deviation and occlusion, touch information can be obtained through touching objects, so that environment sensing and object distinguishing are achieved. However, the current methods for obtaining the object surface information by using the touch technology have the problem of poor touch performance, so that the obtained object surface information is not accurate enough.
Disclosure of Invention
In view of the above, it is necessary to provide a method, an apparatus, a computer device and a storage medium for acquiring object surface information, which can improve the touch performance and thus improve the accuracy of the acquired object surface information.
A method of obtaining information about a surface of an object, the method comprising:
controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object;
acquiring force and moment applied to the touch sphere in each direction of a preset coordinate system during contact;
determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction;
obtaining normal and tangential forces corresponding to the contact point based on the forces in the directions and the coordinates;
and obtaining object surface information corresponding to the object according to the normal force and the tangential force.
An apparatus for obtaining information on a surface of an object, the apparatus comprising:
the control module is used for controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object;
the first acquisition module is used for acquiring force and moment which are applied to the touch sphere in each direction of a preset coordinate system during contact;
the contact point determining module is used for determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction;
a second obtaining module, configured to obtain a normal force and a tangential force corresponding to the contact point based on the force in each direction and the coordinate;
and the third acquisition module is used for acquiring the object surface information corresponding to the object according to the normal force and the tangential force.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object;
acquiring force and moment applied to the touch sphere in each direction of a preset coordinate system during contact;
determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction;
obtaining normal and tangential forces corresponding to the contact point based on the forces in the directions and the coordinates;
and obtaining object surface information corresponding to the object according to the normal force and the tangential force.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object;
acquiring force and moment applied to the touch sphere in each direction of a preset coordinate system during contact;
determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction;
obtaining normal and tangential forces corresponding to the contact point based on the forces in the directions and the coordinates;
and obtaining object surface information corresponding to the object according to the normal force and the tangential force.
According to the method and the device for acquiring the object surface information, the computer equipment and the storage medium, the touch sphere is controlled to move on the object surface, the touch sphere is kept to be in contact with the object surface, the touch sphere is used for touching the object surface, and compared with touch objects in other shapes, the sphere is higher in stability as a touch piece; in addition, when the touch sphere is in contact with the surface of the object, after the force and the moment applied to the touch sphere in each direction of the preset coordinate system are obtained, the coordinates of the contact point of the touch sphere and the surface of the object can be determined according to the characteristics of the spherical surface of the touch sphere and the obtained force and moment in each direction of the preset coordinate system, then the normal force and the tangential force corresponding to the contact point can be obtained based on the force and the coordinates in each direction, the obtained normal force and the obtained tangential force can be used as the basis for adjusting the moving position of the touch sphere, each step of touch is guaranteed to be effective touch, the performance of the touch process can be improved, and the obtained information of the surface of the object is more accurate.
Drawings
FIG. 1 is a diagram of an exemplary environment in which a method for obtaining surface information of an object may be implemented;
FIG. 2 is a schematic diagram of a touch sphere in one embodiment;
FIG. 3 is a schematic flow chart illustrating a method for obtaining surface information of an object according to an embodiment;
FIG. 4 is a schematic flowchart of a method for acquiring information on a surface of an object according to another embodiment;
FIG. 5 is a schematic flow chart of the steps for obtaining normal and tangential forces at a contact point in one embodiment;
FIG. 6 is a flowchart illustrating the steps of controlling movement of a touch sphere in one embodiment;
FIG. 7 is a schematic diagram of the movement of a touch sphere over the surface of an object in one embodiment;
FIG. 8 is a flowchart illustrating a method for obtaining surface information of an object according to an exemplary embodiment;
FIG. 9 is a block diagram showing the structure of an apparatus for acquiring information on the surface of an object according to an embodiment;
fig. 10 is an internal configuration diagram of a control device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The method for acquiring the object surface information can be applied to the application environment shown in fig. 1. The control device 102 may be in communication with the mechanical arm 104, and the end of the mechanical arm 104 is connected to at least one sensor, which is connected to the touch sphere, and the sensor is configured to measure the force and moment applied to the touch sphere in each direction of the preset coordinate system when the touch sphere is in contact with the surface of the object. The control device 102 may issue control commands to the robot arm 104 to control the touch sphere at the end of the robot arm 104 to move across the surface of the object. The control device 102 may be coupled to the robotic arm 104 via a data transmission line or may be coupled to the robotic arm 104 via a network. The control device 102 may also be mounted on the robot 104, such as embedded in a robot base, to automatically control the movement of the robot 104 and a touch ball at the end of the robot 104 over the surface of the object.
The control device 102 may be a terminal, which may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and the like. The control device 102 may also be a control device having computing and processing capabilities. The robot arm 104 may be a four-axis robot arm, a three-axis robot arm, or a two-axis robot arm. The sensor may be a multi-dimensional sensor capable of measuring force and moment components in more than two directions simultaneously. The touch sphere can be one of a spherical touch sphere, a hemispherical touch sphere, an ellipsoidal touch sphere or a semi-ellipsoidal touch sphere, and can be set according to actual conditions. The touch ball body can be made of ABS resin material, and can also be made of hard materials such as organic glass or polyvinyl chloride.
Referring to fig. 2, which is a schematic diagram of a touch sphere in an embodiment, referring to fig. 2, a top surface of the touch sphere for touching a surface of an object further includes a triangular support for supporting, the triangular support can be connected to a sensor through a fixing screw, and the sensor is further connected to a distal end of a robot arm.
In one embodiment, the control device can control the touch sphere to move on the surface of the object and keep the touch sphere in contact with the surface of the object by controlling the movement of the mechanical arm, and in the contact process, the control device obtains the force and moment applied to the touch sphere in each direction of a preset coordinate system when the touch sphere is in contact with the surface of the object and measured by the sensor, and determines the coordinates of the contact point of the touch sphere and the surface of the object according to the force and moment in each direction; obtaining normal and tangential forces corresponding to the contact points based on the forces and coordinates in the directions; and obtaining the surface information of the object according to the normal force and the tangential force.
In an application scene, the control equipment can also be a robot, the robot is designed based on an artificial intelligence technology, the robot has the ability of sensing the surrounding environment of the object to be detected, the robot can sense the surrounding environment of the object to be detected in the process of touching the object to be detected, and the position of the robot is adjusted according to the sensed information, so that the robot can touch the object to be detected from different angles, positions or postures, and more comprehensive and accurate object surface information can be obtained. Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.
In one embodiment, as shown in fig. 3, there is provided a method for acquiring surface information of an object, which is described by taking the method as an example for being applied to the control device 102 in fig. 1, and includes the following steps:
and step 302, controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object.
The touch ball is a medium for the control device to obtain the surface information of the object, the touch ball is used as a touch piece and generates an interactive contact force when contacting with the surface of the object, and the control device can determine the surface information of the object to be detected according to the contact force. Specifically, the control device can send a control instruction to the mechanical arm to control the movement of the mechanical arm, the touch ball is located at the tail end of the mechanical arm, the touch ball can move along with the movement of the mechanical arm, and meanwhile, in the moving process, the touch ball needs to be in contact with the surface of the object, so that the surface information of the object can be continuously obtained.
In one embodiment, the control device may obtain a feedback contact force when controlling the touch sphere to move on the surface of the object and maintain contact with the surface of the object, and control the moving step of the touch sphere on the surface of the object according to the feedback contact force. Specifically, the contact force may reflect whether the contact between the touch sphere and the surface of the object is effective contact, the control device may compare the contact force with a reference value, determine whether the contact between the touch sphere and the surface of the object is effective contact according to the comparison result, if the contact is effective contact, the control device may appropriately increase a moving step length of the touch sphere moving on the surface of the object, control the touch sphere to move on the surface of the object at a faster moving speed, and improve efficiency of obtaining information on the surface of the object; on the contrary, if the touch is not effective contact, the control device may appropriately decrease the moving step size of the touch ball moving on the object surface, and control the touch ball to move on the object surface at a slower moving speed, so as to obtain more detailed object surface information.
And step 304, acquiring the force and moment applied to the touch sphere in each direction of the preset coordinate system during contact.
Specifically, before the method provided by the embodiment of the present application is used to obtain the surface information of the object, a coordinate system needs to be set, and the sensor needs to be calibrated, so that the sensor can measure the force and the moment in each coordinate axis direction in the coordinate system. The preset coordinate system can be a space coordinate system determined by taking the base of the mechanical arm as an original point, taking the horizontal right direction as the positive direction of an x axis, taking the vertical upward direction as the positive direction of a z axis and taking the horizontal forward direction as the positive direction of a y axis, so that subsequent calculation can be facilitated. Of course, the preset coordinate system may also use other fixed joint points of the robot arm as the origin. In the process that the control device controls the touch sphere to move on the surface of the object, the sensor can acquire three components of the contact force in the contact under the space coordinate system, namely fx、fyAnd fzAnd the moment m generated by the three components of the contact force in the space coordinate systemx、myAnd mz。
In one embodiment, the control device is connected to the data acquisition card, the data acquisition card is connected to the sensor, and the control device can read sensor data from the data acquisition card, wherein the sensor data comprises the force and moment of the sensor in each coordinate axis direction under the preset coordinate system.
And step 306, determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction.
Specifically, the contact point of the touch sphere with the surface of the object is located on the surface of the object and also on the spherical surface of the touch sphere, and the contact point satisfies the spherical geometric equation of the touch sphere. Meanwhile, the moment of the contact force applied at the contact point also conforms to the resultant moment theorem, namely the moment of the resultant force on the contact point in any coordinate axis direction of the preset coordinate system is equal to the sum of the moment generated by the force in each direction of the preset coordinate system and the local rotation moment generated at the contact point. Therefore, the control equipment can construct a spherical geometric equation and a spherical balance equation according to the force and the moment measured by the sensor in each direction of each coordinate axis, and the coordinates of the contact point are calculated according to the constructed equations.
In one embodiment, determining coordinates of a contact point of the touch sphere with the surface of the object based on the forces and moments in the directions includes: establishing a spherical geometric equation of the touch sphere under a preset coordinate system; establishing a spherical balance equation of the touch sphere according to the moment in each direction of the preset coordinate system, the moment generated by the force in each direction of the preset coordinate system and the local rotation moment generated at the contact point; and calculating the coordinates of the contact point under a preset coordinate system according to a spherical geometric equation and a spherical balance equation.
The spherical geometric equation of the touch sphere in the preset coordinate system can be determined according to geometric parameters of the touch sphere, wherein the geometric parameters include the center coordinates of the touch sphere and the radius of the touch sphere. For example, the spherical geometry equation may be represented by U (x, y, z) ═ 0.
The moment generated by the force in each direction of the predetermined coordinate system can be determined according to the force in each direction and the coordinates of the contact point, for example, the coordinates of the contact point are (x0, y0, z0), and the force f in the y-axis direction when the contact is madeyThe moment generated on the x-axis can be represented by-fyz0Showing the force f in the z-axis direction upon contactzThe moment generated on the x-axis can be represented by fzy0Represents; similarly, the force f in the z-axis direction upon contactzThe moment generated on the y-axis can be represented by-fzx0Showing the force f in the x-axis direction upon contactxThe moment generated on the y-axis can be represented by fxz0Represents; force f in the x-axis direction upon contactxThe moment generated in the z-axis can be represented by-fzy0Showing the force f in the y-axis direction upon contactyThe moment generated in the z-axis can be represented by fyx0And (4) showing.
The local rotation moment generated at the contact point in the directions of the coordinate axes can be used
Expressed as p is a constant coefficient related to the material of the surface of the object,
representing the derivation of the spherical equation. For example,
indicating the local moment generated in the x-axis direction at the contact force,
indicating the local moment generated in the y-axis direction at the contact force,
indicating the local moment generated in the z-axis direction at the contact force.
The control device may construct the following equation:
gT(q)＝(g1(q),g2(q),g3(q),g4(q))T；
g4(q)＝U(x,y,z)；
wherein g is1(q)、g2(q) and g3(q) is the spherical balance equation, g4And (q) is a spherical geometric equation.
Let gt (q) be 0 and solve the equation using nonlinear least squares (Levenberg-Marquardt Method, LMA), i.e. the coordinates of the contact point (x0, y0, z 0).
Based on the forces and coordinates in the directions, normal and tangential forces corresponding to the contact points are obtained, step 308.
The normal force is a force applied to the touch point in a normal vector direction, the normal vector of the touch point is a vector of the touch point in a normal direction of the spherical surface of the touch sphere, the normal force indicates a degree of pressing of the contact with the surface of the object, and the larger the normal force is, the higher the degree of pressing is, and the smaller the normal force is, the lower the degree of pressing is. Too high or too low a degree of pressing may affect contact with the object surface, resulting in inaccurate information of the object surface being obtained. The tangential force is a force applied to the touch point in the direction of a tangential vector, which is a vector of the touch point in the direction of a tangent to the sphere of the touch sphere. In the process that the control equipment controls the touch sphere to move, the sensors sequentially detect the force applied at different touch points and the generated moment, and the coordinates of the contact points are determined in real time, so that the normal force and the tangential force applied to the touch points are calculated according to the force, the moment and the coordinates of the contact points obtained from the sensors.
And step 310, obtaining object surface information corresponding to the object according to the normal force and the tangential force.
The object surface information is information capable of reflecting the surface properties of the object, and may include contour information of the object, morphological information of the object, and a friction coefficient of the surface of the object. The control equipment can determine the moving position of the next touch according to the normal force and the tangential force obtained by the current touch, so that the contact between the touch sphere and the surface of the object is in a proper range, the effective touch with the surface of the object is ensured, the touch performance is improved, and the surface information of the object corresponding to the object is obtained in the moving process. In some embodiments, the control device may further obtain overall morphological information of the object based on the object surface information and the visual information of the object surface collected by the visual sensor.
According to the method for acquiring the object surface information, the touch sphere is controlled to move on the object surface, the touch sphere is kept in contact with the object surface, the touch sphere is used for touching the object surface, and compared with touch objects in other shapes, the sphere is higher in stability as a touch piece; in addition, when the touch sphere is in contact with the surface of the object, the contact point is on the surface of the object and on the spherical surface of the touch sphere at the same time, so that a spherical geometric equation of the touch sphere is satisfied, after the force and the moment applied to the touch sphere in each direction of the preset coordinate system during contact are obtained, the coordinate of the contact point of the touch sphere and the surface of the object can be determined according to the characteristics of the spherical surface of the touch sphere and the obtained force and the moment in each direction of the preset coordinate system, and then the normal force and the tangential force corresponding to the contact point are obtained based on the force and the coordinate in each direction, and can be used as a basis for adjusting the moving position of the touch sphere, so that each step of touch is guaranteed to be effective touch, the performance of the touch process can be improved, and the obtained information.
As shown in fig. 4, which is a flowchart of an object surface information obtaining method in an embodiment, referring to fig. 4, the method includes:
and step 402, controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object.
In step 404, the force and moment applied to the touch sphere in each direction of the preset coordinate system during the contact are obtained.
And step 406, determining coordinates of a contact point between the touch sphere and the surface of the object according to the force and the moment in each direction.
Based on the forces and coordinates in the directions, normal and tangential forces corresponding to the contact points are obtained, step 408.
And step 410, adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force.
The moving direction of the touch sphere on the surface of the object comprises a tangential direction and a normal direction, the unit moving step length is the distance of single movement of the touch sphere, and the unit moving step length comprises the moving distance of the tangential direction and the moving distance of the normal direction. Specifically, the control device can determine the moving direction and unit moving step length of the next touch according to the normal force and the tangential force obtained by the current touch, so that the contact between the touch ball and the surface of the object is in a proper range, the effective touch with the surface of the object is ensured, and the touch performance is improved.
And step 412, calculating the friction coefficient of the object surface according to the normal force and the tangential force obtained by the touch sphere moving on the object surface.
The coefficient of friction can be expressed, among other things, as the ratio of the frictional force of the surface of the object to the force acting perpendicularly on the surface of the object. In order to obtain the friction coefficient of the surface of the object, the control device needs to obtain a normal vector and a tangential vector of the contact point, determine a normal force applied in a direction of the normal vector and a tangential force applied in a direction of the tangential vector, and determine the friction coefficient of the surface of the object according to a ratio of the tangential force to the normal force. It can be understood that, since a touch point is a point on the surface of a touch sphere, the normal vector and the tangential vector of the touch point can be calculated by the spherical equation of the touch sphere and the coordinates of the touch point.
In this embodiment, the normal vector and the tangential vector of the contact point are obtained through the spherical equation of the touch sphere and the coordinates of the contact point, so that the normal direction and the tangential direction of the contact point are determined, and the contact force can be projected to the determined normal direction and tangential direction to obtain the normal force and the tangential force corresponding to the contact point. The obtained normal force and the tangential force can also be used as a judgment basis for the next moving direction and unit moving step length of the touch ball, so that each step of touch is guaranteed to be effective touch, the performance of the touch process can be improved, and the obtained object surface information is more accurate.
In one embodiment, the obtaining object surface information corresponding to the object according to the normal force and the tangential force includes: adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force; obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves; and obtaining the contour information of the surface of the object according to the moving track.
In one embodiment, the obtaining object surface information corresponding to the object according to the normal force and the tangential force includes: adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force; obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves; and matching the moving track with a preset object model to obtain the shape information of the object.
In one embodiment, as shown in fig. 5, obtaining the normal force and the tangential force corresponding to the contact point based on the forces and the coordinates in the directions includes:
The direction of the resultant force applied to the contact point is determined according to the force in each direction of the predetermined coordinate system according to the parallelogram rule, and the magnitude of the resultant force is determined by the sum of the squares of the forces in each direction, that is, the magnitude of the resultant force F can be expressed by the following formula:
and step 504, obtaining a normal vector of the contact point to the spherical surface of the touch sphere according to a spherical geometric equation of the touch sphere in a preset coordinate system and the coordinates of the contact point.
At step 506, a normal force corresponding to the contact point is determined based on the resultant force and the normal vector.
A tangential force corresponding to the contact point is determined from the resultant force and the normal force, step 508.
For example: spherical geometric equation: u (x, y, z); coordinates of the contact point: (x0, y0, z 0);
normal vector at any point of the spherical surface of the touch sphere
Normal vector of contact point on spherical surface of touch sphere
The normal force at the contact point can be obtained by projecting the resultant force on the normal vector, i.e. the normal force Fn can be expressed by the following formula:
Tangential force F at this point of contacttCan be expressed by the following formula:
and theta is an included angle between the direction of the normal force and the direction of the resultant force.
In one embodiment, as shown in fig. 6, the method further includes the step of controlling the movement of the touch sphere, including:
The control equipment can also realize the adjustment of the moving speed of the touch sphere in the process of controlling the movement of the touch sphere. Reference toThe normal force interval can ensure that the touch between the touch sphere and the surface of the object is effective touch, that is, if the normal force fed back by the control device is in the interval, the touch between the touch sphere and the surface of the object is indicated to be effective touch, the effective touch refers to that the touch sphere can be attached to the surface of the object to move and obtain correct contour information of the surface of the object, and the size and the direction of the normal force corresponding to the touch point can be effectively estimated when the touch sphere passes through a certain touch point. I FrThe reference normal force interval defines a value interval of the reference normal force, and the value interval may be set according to an actual operation condition, for example, may be set to [0.7, 1.3 ]]The unit is newton.
And step 604, determining the moving direction of the touch sphere according to the inclusion relation between the normal force and the reference normal force interval, wherein the moving direction is one of the normal force direction and the tangential force direction.
It can be understood that, under the condition that the moving speed of the touch sphere is too fast or too slow, the touch sphere is easy to separate from the surface of the object, the touch effect is not good, at this time, the normal force at the touch point during the touch is smaller or larger, the obtained information on the surface of the object is not accurate enough, and under the condition that the moving speed of the touch sphere is proper, the good touch effect can be ensured, and at this time, the magnitude of the normal force at the touch point is the value in the reference normal force interval corresponding to the effective touch. Therefore, the control device can determine whether the touch of the current touch sphere and the surface of the object is a valid touch according to the inclusion relation between the normal force and the reference normal force interval, so as to determine whether to control the touch sphere to move towards the normal force direction or the tangential force direction, determine the unit movement step length of the touch sphere and control the movement speed of the touch sphere on the surface of the object.
Wherein the unit movement step is the distance that the touch sphere moves per step. If the moving direction is the normal force direction, the control device may determine, according to the normal force, a unit moving step length of the touch sphere in the normal force direction when moving next step. Similarly, if the direction of movement is the tangential force direction, the control device may determine a unit movement step size of the touch sphere in the tangential force direction when moving next according to the tangential force.
And step 608, controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in the moving direction according to the unit moving step length.
After the moving direction and the unit moving step length are determined according to the inclusion relation between the normal force and the reference normal force interval, the control device can move towards the corresponding moving direction according to the determined unit moving step length while controlling the touch ball to be in contact with the surface of the object, so that more accurate information of the surface of the object can be obtained.
In this embodiment, the normal force is compared with the reference normal force interval to determine the direction and distance of the next movement, so that the contact condition between the touch ball and the surface of the object can be dynamically adjusted in real time, and the overall touch performance is improved.
In one embodiment, determining the movement direction of the touch sphere according to the inclusion relationship of the normal force and the reference normal force interval comprises: when the normal force is smaller than the minimum value of the reference normal force interval, determining the moving direction of the touch ball as the normal force direction; controlling the touch sphere to contact the surface of the object and move towards the moving direction according to the unit moving step length, comprising: and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in the positive direction of the normal force according to the unit moving step length.
In this embodiment, when the normal force is smaller than the minimum value of the reference normal force interval, it represents that the normal force is too small, and the control device needs to control the touch sphere to move in the positive direction of the normal force to increase the normal force, so the control device needs to calculate a unit moving step length in the normal direction, and control the touch sphere to move in the positive direction of the normal force according to the unit moving step length while contacting the surface of the object.
In one embodiment, determining a unit step of movement of the touch sphere in the direction of movement comprises: acquiring a movement scale coefficient for adjusting the unit movement step length of the touch sphere; and determining the unit movement step length of the touch sphere in the movement direction according to the movement scale factor.
The movement scale factor is a parameter value for adjusting a unit movement step of the touch sphere, and may be represented by a letter K. In the process of touching the surface of the object at one time, the movement scale factor can be a preset value as required, and the value of the movement scale factor in the next touch process can be adjusted according to the last touch condition.
Specifically, if the normal force in the previous touch process is included in the reference normal force interval, it indicates that the value K meets the effective touch, and when the set movement proportionality coefficient K can be increased in the next touch process, the movement speed of the touch ball in the tangential direction can be increased; under the condition that more detailed tactile information of the surface of the object to be detected needs to be acquired, the set moving proportionality coefficient K can be reduced in the next touch process, and the moving speed of the touch ball in the tangential direction is properly reduced.
In the case where the effective touch is not satisfied, the control apparatus may adjust the unit movement step size of the touch sphere in the normal direction by adjusting the magnitude of the movement scale factor. If the normal forces in the previous touch process are all smaller than the minimum value of the reference normal force interval, a larger K value is used in the next touch process, so that the moving step length in the normal direction can be increased, the normal force is in the reference normal force interval, and effective touch is guaranteed. If the normal force in the previous touch process is larger than the maximum value of the reference normal force interval, a smaller K value can be used in the next touch process, so that the moving step length in the normal direction can be reduced, the normal force is in the reference normal force interval, and effective touch is guaranteed.
In this embodiment, when the normal force is smaller than the minimum value of the reference normal force interval, which represents that the normal force is too small, the control device may calculate a unit movement step length of the touch sphere in the normal force direction according to the movement proportionality coefficient, and control the touch sphere to move in the unit movement step length in the positive direction of the normal force while contacting with the surface of the object.
In one embodiment, determining the movement direction of the touch sphere according to the inclusion relationship of the normal force and the reference normal force interval comprises: when the normal force is larger than the maximum value of the reference normal force interval, determining the moving direction of the touch ball as the normal force direction; controlling the touch sphere to contact the surface of the object and move towards the moving direction according to the unit moving step length, comprising: and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in a unit moving step length in the negative direction of the normal force.
Specifically, when the normal force is greater than the maximum value of the reference normal force interval, which indicates that the normal force is too large, the control device needs to control the touch sphere to move in the negative direction of the normal force to reduce the normal force, and therefore the control device needs to calculate a unit movement step length of the normal direction and control the touch sphere to move in the unit movement step length in the negative direction of the normal force while contacting the surface of the object.
In one embodiment, determining a unit movement step size of the touch sphere from a movement scaling factor based on a contained relationship of the normal force to the reference normal force interval comprises: when the normal force is included in the reference normal force interval, determining that the moving direction of the touch sphere is the tangential force direction; controlling the touch sphere to move in unit movement step while contacting the object surface, comprising: and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in the positive direction of the tangential force according to the unit moving step length.
Specifically, when the normal force is included in the reference normal force interval, which indicates that the normal force is appropriate, the control device may increase the unit movement step in the tangential force direction to increase the movement speed of the touch ball, and control the touch ball to move in the unit movement step in the positive direction of the tangential force while contacting the surface of the object.
In one embodiment, determining a unit movement step size of the touch sphere in the movement direction according to the movement scaling factor when the movement direction is the normal force direction includes: calculating the abscissa increment of the touch sphere in the normal force direction according to the normal force; calculating the ordinate increment of the touch sphere in the normal force direction according to the normal force; and determining the unit movement step length of the touch sphere in the normal force direction according to the movement scale factor, the abscissa increment and the ordinate increment.
Abscissa increment of touch sphere: (ii) a
FnxRepresenting the component of the normal force in the abscissa direction.
Ordinate increment of touch sphere:
Fnyrepresenting the component of the normal force in the ordinate direction;
unit step of movement of the touch sphere in the normal force direction:
according to the above derivation, when the normal force is larger than the maximum value of the reference normal force interval, the control device may control the touch ball to contact the surface of the object according to the unit movement step length predicted by the coordinates of the next contact point, and move in the negative direction of the normal force according to the unit movement step length, and the abscissa and the ordinate of the next contact point are the abscissa and the ordinate of the next contact point, respectively
Similarly, when the normal force is smaller than the minimum value of the reference normal force interval, the control device controls the touch sphere to contact with the surface of the object and moves in the unit moving step towards the positive direction of the normal force, and the abscissa x of the next contact point moves1With ordinate y1Are respectively as
In one embodiment, when the moving direction is the tangential force direction, determining a unit moving step size of the touch sphere in the moving direction according to the moving scale factor includes: calculating the abscissa increment of the touch sphere in the tangential force direction according to the tangential force; calculating the ordinate increment of the touch sphere in the tangential force direction according to the tangential force; and determining the unit moving step length of the touch sphere in the tangential force direction according to the moving scale factor, the abscissa increment and the ordinate increment.
Abscissa increment of touch sphere:
Ftxrepresenting the component of the tangential force in the direction of the abscissa.
Ordinate increment of touch sphere:
Ftyrepresenting the component of the tangential force in the direction of the ordinate.
Unit movement step length of touch sphere in tangential force direction:
according to the above derivation, when the normal force is included in the reference normal force interval, the control device may control the touch ball to contact the surface of the object while moving in the positive direction of the tangential force by the unit movement step according to the coordinates of the next contact point predicted by the unit movement step, and the abscissa x of the next contact point1With ordinate y1Are respectively as
In the above embodiment, in a single touch process, the movement scale factor is fixed, for example, in the current touch process, K may be 1; according to the feedback of the normal force, in the next touch process, K can be 1.5 to increase the unit moving step length of the touch sphere, or K can be 0.5 to decrease the unit moving step length of the touch sphere, so that the moving speed of the touch sphere on the surface of the object is controlled, and the touch performance is improved.
In one embodiment, obtaining a movement scaling factor for adjusting a unit movement step of a touch sphere comprises: acquiring a difference between the normal force and a reference normal force; and determining a movement scale factor for adjusting a unit movement step size of the touch sphere according to the difference, wherein the movement scale factor is positively correlated with the difference.
In this embodiment, in a single touch process, the movement proportionality coefficient is variable, and the movement proportionality coefficient is in positive correlation with the difference between the normal force and the reference normal force, that is, the larger the difference between the normal component of the resultant force of the contact point and the reference normal force is, the larger the unit movement step length of the touch sphere is, so that the normal force is in the reference normal force interval to ensure effective touch, that is, the unit movement step length of the touch sphere can adapt to the change of the contact force to improve the touch performance. The movement scale factor at this time can be expressed by the following equation:
K＝c*(|||Fn||-||Fr| | |) where c is a constant.
FIG. 7 is a schematic diagram of the movement of the touch sphere on the surface of an object in one embodiment. Referring to fig. 7, the predetermined coordinate system is an xyz geometric space coordinate system with the base of the mechanical arm as an origin, the contact point is a, the contact force is F, M is a moment generated by the contact force applied to the touch ball in each coordinate axis direction of the xyz geometric space coordinate system when the sensor measures contact, Fn is a normal component of the contact force F, Ft is a tangential component of the contact force F, r (x, y, z) × F represents the moment generated by the contact force F in each coordinate axis direction of the xyz coordinate system, U is a spherical equation of the touch ball, p is a constant coefficient related to the surface material of the object,
a local rotational moment at the contact point a for the applied contact force F.
Fig. 8 is a schematic flow chart of a method for acquiring object surface information in a specific embodiment. Referring to fig. 8, the method includes the steps of:
and step 802, controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object.
And step 804, acquiring the force and moment applied to the touch sphere in each direction of the preset coordinate system during contact.
And 808, establishing a spherical balance equation of the touch sphere according to the moment in each direction of the preset coordinate system, the moment generated by the force in each direction of the preset coordinate system and the local rotation moment generated at the contact point.
And 810, calculating the coordinates of the contact point in a preset coordinate system according to a spherical geometric equation and a spherical balance equation.
And step 812, obtaining a resultant force applied to the contact point according to the force applied to the touch sphere in each direction of the preset coordinate system.
And 814, obtaining a normal vector of the contact point to the spherical surface of the touch sphere according to a spherical geometric equation of the touch sphere in a preset coordinate system and the coordinates of the contact point.
At step 816, a normal force corresponding to the contact point is determined based on the resultant force and the normal vector.
At step 818, a tangential force corresponding to the contact point is determined from the resultant force and the normal force.
And step 820, obtaining the friction coefficient of the surface of the object according to the normal force and the tangential force.
It should be understood that, although the steps in the flowcharts of fig. 3 to 6 and 8 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3 to 6 and 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 9, there is provided an apparatus 900 for acquiring information on a surface of an object, which may be a part of a control device using a software module or a hardware module, or a combination of the two modules, the apparatus specifically includes: a control module 902, a first acquisition module 904, a contact point determination module 906, and a second acquisition module 908, wherein:
a control module 902, configured to control the touch sphere to move on the surface of the object and keep the touch sphere in contact with the surface of the object;
a first obtaining module 904, configured to obtain a force and a moment applied to the touch sphere in each direction of a preset coordinate system during the contact;
a contact point determining module 906, configured to determine coordinates of a contact point between the touch sphere and the surface of the object according to the force and the moment in each direction;
a second obtaining module 908 for obtaining a normal force and a tangential force corresponding to the contact point based on the forces and the coordinates in the directions;
and a third obtaining module 910, configured to obtain object surface information corresponding to the object according to the normal force and the tangential force.
In one embodiment, the contact point determining module 906 is further configured to establish a spherical geometric equation of the touch sphere in a preset coordinate system; establishing a spherical balance equation of the touch sphere according to the moment in each direction of the preset coordinate system, the moment generated by the force in each direction of the preset coordinate system and the local rotation moment generated at the contact point; and calculating the coordinates of the contact point under a preset coordinate system according to a spherical geometric equation and a spherical balance equation.
In one embodiment, the third obtaining module 910 is further configured to adjust a moving direction and a unit moving step of the touch sphere on the object surface according to the normal force and the tangential force; and calculating the friction coefficient of the object surface according to the normal force and the tangential force obtained by the touch sphere moving on the object surface.
In one embodiment, the third obtaining module 910 is further configured to adjust a moving direction and a unit moving step of the touch sphere on the object surface according to the normal force and the tangential force; obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves; and obtaining the contour information of the surface of the object according to the moving track.
In one embodiment, the third obtaining module 910 is further configured to adjust a moving direction and a unit moving step of the touch sphere on the object surface according to the normal force and the tangential force; obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves; and matching the moving track with a preset object model to obtain the shape information of the object.
In one embodiment, the second obtaining module 908 is further configured to obtain a resultant force applied to the contact point according to the force applied to the touch sphere in each direction of the preset coordinate system; obtaining a normal vector of the contact point to the spherical surface of the touch sphere according to a spherical geometric equation of the touch sphere in a preset coordinate system and the coordinates of the contact point; determining a normal force corresponding to the contact point according to the resultant force and the normal vector; a tangential force corresponding to the point of contact is determined from the resultant force and the normal force.
In one embodiment, the third obtaining module 910 is configured to obtain a preset reference normal force interval; determining the moving direction of the touch ball according to the inclusion relation between the normal force and the reference normal force interval, wherein the moving direction is one of the normal force direction and the tangential force direction; determining a unit moving step length of the touch sphere in the moving direction; and controlling the touch sphere to contact with the surface of the object and simultaneously moving towards the moving direction according to the unit moving step length.
In one embodiment, the third obtaining module 910 is further configured to determine the moving direction of the touch sphere as the normal force direction when the normal force is smaller than the minimum value of the reference normal force interval; and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in the positive direction of the normal force according to the unit moving step length.
In one embodiment, the third obtaining module 910 is further configured to determine the moving direction of the touch sphere as the normal force direction when the normal force is greater than the maximum value of the reference normal force interval; and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in a unit moving step length in the negative direction of the normal force.
In one embodiment, the third obtaining module 910 is further configured to determine the moving direction of the touch sphere as the tangential force direction when the normal force is included in the reference normal force interval; and controlling the touch sphere to contact with the surface of the object, and moving the touch sphere in the positive direction of the tangential force according to the unit moving step length.
In one embodiment, the third obtaining module 910 is further configured to calculate an abscissa increment of the touch sphere in the normal force direction according to the normal unit vector of the normal force direction and the abscissa of the contact point; calculating the ordinate increment of the touch sphere in the normal force direction according to the normal unit vector in the normal force direction and the ordinate of the contact point; and determining the unit movement step length of the touch sphere in the normal force direction according to the movement scale factor, the abscissa increment and the ordinate increment.
In one embodiment, the third obtaining module 910 is further configured to calculate an abscissa increment of the touch sphere in the tangential force direction according to the tangential unit vector of the tangential force direction and the abscissa of the contact point; calculating the ordinate increment of the touch sphere in the tangential force direction according to the tangential unit vector of the tangential force direction and the ordinate of the contact point; and determining the unit moving step length of the touch sphere in the tangential force direction according to the moving scale factor, the abscissa increment and the ordinate increment.
In one embodiment, the third obtaining module 910 is further configured to obtain a difference between the normal force and a reference normal force; and determining a movement scale factor for adjusting a unit movement step size of the touch sphere according to the difference, wherein the movement scale factor is positively correlated with the difference.
In one embodiment, the touch sphere is located at the end of the robot arm, and the robot arm further includes a sensor fixedly connected to the touch sphere, the sensor being configured to measure the force and moment applied to the touch sphere in each direction of the predetermined coordinate system when the touch sphere is in contact with the surface of the object.
The device 900 for acquiring the object surface information controls the touch sphere to move on the object surface and keeps the touch sphere in contact with the object surface, and the touch sphere is used for touching the object surface, so that the sphere has higher stability as a touch piece compared with other touch objects in other shapes; in addition, when the touch sphere is in contact with the surface of the object, after the force and the moment applied to the touch sphere in each direction of the preset coordinate system are obtained, the coordinates of the contact point of the touch sphere and the surface of the object can be determined according to the characteristics of the spherical surface of the touch sphere and the obtained force and moment in each direction of the preset coordinate system, and then the normal force and the tangential force corresponding to the contact point can be obtained based on the force and the coordinates in each direction.
For specific limitations of the apparatus 900 for acquiring object surface information, reference may be made to the above limitations of the method for acquiring object surface information, which are not described herein again. The modules in the device 900 for acquiring information on the surface of an object may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the control device, and can also be stored in a memory in the control device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a control device, the internal structure of which may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer equipment is used for sending a control command through a network so as to control the touch sphere at the tail end of the mechanical arm to move on the surface of the object. The computer program is executed by a processor to implement a method of acquiring information on a surface of an object.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. A method for obtaining information on a surface of an object, the method comprising:
controlling the touch sphere to move on the surface of the object and keeping the touch sphere in contact with the surface of the object;
acquiring force and moment applied to the touch sphere in each direction of a preset coordinate system during contact;
determining the coordinates of the contact point of the touch sphere and the surface of the object according to the force and the moment in each direction;
obtaining normal and tangential forces corresponding to the contact point based on the forces in the directions and the coordinates;
and obtaining object surface information corresponding to the object according to the normal force and the tangential force.
2. The method of claim 1, wherein determining coordinates of a contact point of the touch sphere with the surface of the object based on the forces and moments in the directions comprises:
establishing a spherical geometric equation of the touch sphere under the preset coordinate system;
establishing a spherical balance equation of the touch sphere according to the moment in each direction of a preset coordinate system, the moment generated by the force in each direction of the preset coordinate system and the local rotation moment generated at the contact point;
and calculating the coordinates of the contact point under a preset coordinate system according to the spherical geometric equation and the spherical balance equation.
3. The method of claim 1, wherein obtaining normal and tangential forces corresponding to the contact point based on the forces in the directions and the coordinates comprises:
obtaining a resultant force applied to the contact point according to the force applied to the touch sphere in each direction of a preset coordinate system;
obtaining a normal vector of the contact point to the spherical surface of the touch sphere according to a spherical geometric equation of the touch sphere in the preset coordinate system and the coordinates of the contact point;
and determining a normal force and a tangential force corresponding to the contact point according to the resultant force and the normal vector.
4. The method of claim 1, wherein obtaining object surface information corresponding to the object based on the normal force and the tangential force comprises:
adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force;
and calculating the friction coefficient of the object surface according to the normal force and the tangential force obtained by the touch sphere moving on the object surface.
5. The method of claim 1, wherein obtaining object surface information corresponding to the object based on the normal force and the tangential force comprises:
adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force;
obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves;
and obtaining the contour information of the surface of the object according to the moving track.
6. The method of claim 1, wherein obtaining object surface information corresponding to the object based on the normal force and the tangential force comprises:
adjusting the moving direction and unit moving step length of the touch sphere on the surface of the object according to the normal force and the tangential force;
obtaining a moving track formed by the coordinates of continuous contact points when the touch sphere moves;
and matching the moving track with a preset object model to obtain the shape information of the object.
7. The method of any of claims 4 to 6, wherein the adjusting the direction and unit step size of movement of the touch sphere on the object surface according to the normal force and the tangential force comprises:
acquiring a preset reference normal force interval;
determining a moving direction of the touch sphere according to an inclusion relation between the normal force and the reference normal force interval, wherein the moving direction is one of a normal force direction and a tangential force direction;
determining a unit movement step length of the touch sphere in the movement direction;
and controlling the touch sphere to contact with the surface of the object and move towards the moving direction according to the unit moving step length.
8. The method of claim 7, wherein determining the direction of movement of the touch sphere based on the inclusion relationship of the normal force to the reference normal force interval comprises:
when the normal force is less than the minimum value of the reference normal force interval, then
Determining the moving direction of the touch sphere as a normal force direction;
the controlling the touch sphere to move in the moving direction according to the unit moving step while contacting with the surface of the object includes:
and controlling the touch sphere to contact with the surface of the object, and moving towards the positive direction of the normal force according to the unit moving step length.
9. The method of claim 7, wherein determining the direction of movement of the touch sphere based on the inclusion relationship of the normal force to the reference normal force interval comprises:
when the normal force is greater than the maximum value of the reference normal force interval, then
Determining the moving direction of the touch sphere as a normal force direction;
the controlling the touch sphere to move in the moving direction according to the unit moving step while contacting with the surface of the object includes:
and controlling the touch sphere to contact with the surface of the object, and moving towards the negative direction of the normal force according to the unit moving step length.
10. The method of claim 7, wherein determining the direction of movement of the touch sphere based on the inclusion relationship of the normal force to the reference normal force interval comprises:
when the normal force is included in the reference normal force interval, then
Determining the moving direction of the touch sphere as a tangential force direction;
the controlling the touch sphere to move in the moving direction according to the unit moving step while contacting with the surface of the object includes:
and controlling the touch sphere to contact with the surface of the object, and moving towards the positive direction of the tangential force according to the unit moving step length.
11. The method of claim 7, wherein determining a unit step size of movement of the touch sphere in the direction of movement comprises:
acquiring a movement scale coefficient for adjusting the unit movement step length of the touch sphere;
and determining the unit movement step length of the touch sphere in the movement direction according to the movement scale factor.
12. The method of claim 11, wherein determining a unit step size of movement of the touch sphere in the direction of movement according to the movement scaling factor when the direction of movement is a normal force direction comprises:
calculating the abscissa increment of the touch sphere according to the normal force;
calculating the ordinate increment of the touch sphere according to the normal force;
and determining the unit movement step length of the touch sphere in the normal force direction according to the movement scale factor, the abscissa increment and the ordinate increment.
13. The method of claim 11, wherein determining a unit step size of movement of the touch sphere in the direction of movement according to the movement scaling factor when the direction of movement is a tangential force direction comprises:
calculating the abscissa increment of the touch sphere according to the tangential force direction;
calculating the ordinate increment of the touch sphere according to the tangential force direction;
and determining the unit movement step length of the touch sphere in the tangential force direction according to the movement scale coefficient, the abscissa increment and the ordinate increment.
14. The method of claim 11, wherein obtaining a movement scaling factor for adjusting the unit movement step of the touch sphere comprises:
acquiring a difference between the normal force and a reference normal force;
determining a movement scaling factor for adjusting a unit movement step size of the touch sphere according to the difference, wherein the movement scaling factor is positively correlated with the difference.
15. The method according to any one of claims 1 to 6, wherein the touch sphere is located at the end of a robot arm, the robot arm further comprising a sensor fixedly connected to the touch sphere for measuring the force and moment applied to the touch sphere in each direction of a predetermined coordinate system when the touch sphere is in contact with the surface of the object.
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| CN112893180A (en) * | 2021-01-20 | 2021-06-04 | 同济大学 | Object touch classification method and system considering friction coefficient abnormal value elimination |
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