CN113146623B - Robot position control method and device based on cloud computing - Google Patents

Robot position control method and device based on cloud computing Download PDF

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CN113146623B
CN113146623B CN202110307701.XA CN202110307701A CN113146623B CN 113146623 B CN113146623 B CN 113146623B CN 202110307701 A CN202110307701 A CN 202110307701A CN 113146623 B CN113146623 B CN 113146623B
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CN113146623A (en
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赵欢
李祥飞
刘�东
丁汉
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Huazhong University of Science and Technology
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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • 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
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems

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Abstract

The invention provides a robot position control method and device based on cloud computing. The method comprises the following steps: acquiring a current image of the periphery of the robot; sending the current image to a cloud server; acquiring a robot servo signal in a cloud server according to a current image; and carrying out position control on the robot by adopting the robot servo signal. According to the robot position control method and device based on cloud computing, the current image of the periphery of the robot is sent to the cloud server to obtain the robot servo signal, then the robot servo signal is adopted to control the position of the robot, the servo control law is computed at the cloud server, the response bandwidth of a controller is improved, image data with large information quantity can be rapidly processed, and the position of the robot can be accurately regulated and controlled.

Description

Robot position control method and device based on cloud computing
Technical Field
The embodiment of the invention relates to the technical field of robot control, in particular to a robot position control method and device based on cloud computing.
Background
The robot vision servo technology relates to the processes of image signal acquisition and transmission, servo controller calculation, servo signal transmission and the like. The process in which the most impact on the visual servo real-time is the servo controller calculation process. Because the image signal data volume is huge, the calculation capacity of a computer is often required to be higher in the processing process, and the control on the position of the robot is often delayed due to the excessive image data calculation volume, so that the control precision of the position of the robot is influenced. Therefore, it is an urgent technical problem in the art to develop a method and apparatus for controlling a position of a robot based on cloud computing, which can effectively overcome the above-mentioned drawbacks in the related art.
Disclosure of Invention
In order to solve the above problems in the prior art, embodiments of the present invention provide a robot position control method and device based on cloud computing.
In a first aspect, an embodiment of the present invention provides a robot position control method based on cloud computing, including: acquiring a current image of the periphery of the robot; sending the current image to a cloud server; acquiring a robot servo signal in a cloud server according to a current image; and carrying out position control on the robot by adopting the robot servo signal.
On the basis of the content of the above method embodiment, the method for controlling the position of the robot based on cloud computing according to the embodiment of the present invention, where the method for acquiring the servo signal of the robot in the cloud server according to the current image includes: acquiring smooth histogram features of a current image; calculating cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; and acquiring a derivative of the cosine similarity to the terminal pose of the robot, calculating the joint speed and the angular speed of the terminal of the robot according to the derivative, and converting the joint angular speed into a robot servo signal.
On the basis of the content of the above method embodiment, the method for controlling the position of the robot based on cloud computing provided in the embodiment of the present invention, where the obtaining of the smooth histogram feature of the current image, includes:
Figure BDA0002988530100000011
Figure BDA0002988530100000012
Figure BDA0002988530100000021
wherein h (i) is the ith smooth histogram feature of the current image; n is a radical ofxAll pixel numbers of the current image are taken; n is a radical ofcThe number of intervals of the smooth histogram; i (x) is the intensity of the pixel; x is the xth pixel;
Figure BDA0002988530100000022
intermediate pixel intensity; phi is an intermediate function; t is an independent variable.
On the basis of the content of the above method embodiment, the method for controlling a robot position based on cloud computing provided in the embodiment of the present invention includes that calculating a cosine similarity between a smooth histogram feature of a current image and a histogram feature of a desired image includes:
Figure BDA0002988530100000023
wherein s is the cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; h is*(i) The ith smoothed histogram feature for the desired image.
On the basis of the content of the embodiment of the method, the method for controlling the position of the robot based on cloud computing, provided by the embodiment of the invention, for acquiring the derivative of the cosine similarity to the terminal pose of the robot comprises the following steps:
Figure BDA0002988530100000024
Figure BDA0002988530100000025
Figure BDA0002988530100000026
Figure BDA0002988530100000027
Figure BDA0002988530100000028
Figure BDA0002988530100000029
wherein L iscosThe derivative of the cosine similarity to the terminal pose of the robot is obtained; h (j) is the jth smooth histogram feature of the current image; h is*(j) A jth smoothed histogram feature for the desired image; a is the length of a smooth histogram of the current image; a. the*A smoothed histogram length for the desired image;
Figure BDA00029885301000000210
a Jacobian matrix for the current image; r is the terminal pose of the robot;
Figure BDA00029885301000000211
and
Figure BDA00029885301000000212
gradients of pixel intensity values along the x and y directions, respectively; z is the depth of the smooth histogram feature; l isxIs a first intermediate variable; l isyIs the second intermediate variable.
On the basis of the content of the above method embodiment, the method for controlling a robot position based on cloud computing according to an embodiment of the present invention includes:
Vc＝-λLcos +(s-1)
wherein, VcIs the joint velocity of the robot tip; λ is the servo gain.
On the basis of the content of the above method embodiment, the method for controlling a position of a robot based on cloud computing according to an embodiment of the present invention includes:
q＝J+Vc
wherein q is the joint angular velocity of the tail end of the robot; j. the design is a square+Is the inverse of the Jacobian matrix of the robot.
In a second aspect, an embodiment of the present invention provides a robot position control apparatus based on cloud computing, including:
the first main module is used for acquiring a current image of the periphery of the robot; the second main module is used for sending the current image to the cloud server; the third main module is used for acquiring a robot servo signal in the cloud server according to the current image; and the fourth main module is used for controlling the position of the robot by adopting the robot servo signal.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the cloud computing-based robot position control method provided by any of the various implementations of the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the cloud computing-based robot position control method provided in any one of the various implementations of the first aspect.
According to the robot position control method and device based on cloud computing provided by the embodiment of the invention, the current image around the robot is sent to the cloud server to obtain the robot servo signal, then the robot servo signal is adopted to carry out position control on the robot, the servo control law is computed at the cloud server, the response bandwidth of the controller is improved, the image data with huge information amount can be rapidly processed, and the accurate regulation and control of the position of the robot are realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a robot position control method based on cloud computing according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot position control device based on cloud computing according to an embodiment of the present invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a robot position control system based on cloud computing according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
Referring to fig. 4, the robot position control system based on cloud computing includes at least one image acquisition device installed at the end of a robot, and sends an image signal to a sending and receiving device after acquiring the image signal, the sending and receiving device sends the received device to a cloud server, and receives a servo signal from the cloud server and sends the servo signal to the robot, the cloud server is used for processing data to calculate a visual servo control amount, and finally sends a calculation result to the robot through the sending and receiving device to be executed, so that the dependency of the visual servo on strong computing capacity in a landing application process is mainly solved, the deployment cost of a visual servo system is reduced, and the real-time performance of the visual servo system is improved. On this basis, an embodiment of the present invention provides a robot position control method based on cloud computing, and with reference to fig. 1, the method includes: acquiring a current image of the periphery of the robot; sending the current image to a cloud server; acquiring a robot servo signal in a cloud server according to a current image; and carrying out position control on the robot by adopting the robot servo signal.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling a position of a robot based on cloud computing according to an embodiment of the present invention includes: acquiring smooth histogram features of a current image; calculating cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; and acquiring a derivative of the cosine similarity to the terminal pose of the robot, calculating the joint speed and the angular speed of the terminal of the robot according to the derivative, and converting the joint angular speed into a robot servo signal.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling a position of a robot based on cloud computing according to an embodiment of the present invention includes:
Figure BDA0002988530100000051
Figure BDA0002988530100000052
Figure BDA0002988530100000053
wherein h (i) is the ith smooth histogram feature of the current image; n is a radical ofxAll the pixel numbers of the current image; n is a radical ofcThe number of intervals of the smooth histogram; i (x) is the intensity of the pixel; x is the xth pixel;
Figure BDA0002988530100000054
intermediate pixel intensity; phi is an intermediate function; t is an independent variable.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling a position of a robot based on cloud computing provided in the embodiment of the present invention for computing a cosine similarity between a smooth histogram feature of a current image and a histogram feature of a desired image includes:
Figure BDA0002988530100000055
wherein s is the cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; h is*(i) Is the ith smoothed histogram feature of the desired image.
Based on the content of the foregoing method embodiment, as an optional embodiment, the method for controlling a position of a robot based on cloud computing according to the embodiment of the present invention, where the obtaining of the derivative of the cosine similarity to the terminal pose of the robot includes:
Figure BDA0002988530100000056
Figure BDA0002988530100000057
Figure BDA0002988530100000058
Figure BDA0002988530100000059
Figure BDA0002988530100000061
Figure BDA0002988530100000062
wherein L iscosThe derivative of the cosine similarity to the terminal pose of the robot is obtained;h (j) is the jth smooth histogram feature of the current image; h is*(j) A jth smoothed histogram feature for the desired image; a is the length of a smooth histogram of the current image; a. the*A smoothed histogram length for the desired image;
Figure BDA0002988530100000063
a Jacobian matrix for the current image; r is the terminal pose of the robot;
Figure BDA0002988530100000064
and
Figure BDA0002988530100000065
gradients of pixel intensity values along the x and y directions, respectively; z is the depth of the smooth histogram feature; l isxIs a first intermediate variable; l isyIs the second intermediate variable.
Specifically, the derivative of the cosine similarity to the pose of the robot end can be seen in equation (11).
Figure BDA0002988530100000066
When the smoothed histogram length is defined as shown in expressions (6) and (7), expression (12) can be obtained as follows.
Figure BDA0002988530100000067
Then, the formula (5) can be obtained from the formula (12).
Based on the content of the foregoing method embodiment, as an alternative embodiment, the method for controlling a position of a robot based on cloud computing according to an embodiment of the present invention, where the calculating a joint velocity of a robot end according to a derivative includes:
Vc＝-λLcos +(s-1) (13)
wherein, VcJoint velocity at the end of the robot; λ is the servo gain.
Based on the content of the foregoing method embodiment, as an alternative embodiment, the method for controlling a position of a robot based on cloud computing according to an embodiment of the present invention, where the calculating an angular velocity of a joint at a distal end of the robot according to a derivative includes:
q＝J+Vc (14)
wherein q is the joint angular velocity of the tail end of the robot; j. the design is a square+Is the inverse of the Jacobian matrix of the robot.
According to the robot position control method based on cloud computing provided by the embodiment of the invention, the current image of the periphery of the robot is sent to the cloud server to obtain the robot servo signal, then the robot servo signal is adopted to carry out position control on the robot, the servo control law is computed at the cloud server, the response bandwidth of the controller is improved, the image data with large information amount can be rapidly processed, and the accurate regulation and control of the position of the robot are realized.
It should be noted that the image capturing device is not limited to use of an industrial camera, the transmitting and receiving device is not limited to use of a computer, and the cloud server is not limited to use of a high-performance server in a wide area network, and may also use a highly configured computing device in a local area network.
The basis for implementing the various embodiments of the present invention is a programmed process performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on this reality, on the basis of the embodiments described above, embodiments of the present invention provide a cloud-computing-based robot position control apparatus for executing the cloud-computing-based robot position control method in the above-described method embodiments. Referring to fig. 2, the apparatus includes:
the first main module is used for acquiring a current image of the periphery of the robot; the second main module is used for sending the current image to the cloud server; the third main module is used for acquiring a robot servo signal in the cloud server according to the current image; and the fourth main module is used for controlling the position of the robot by adopting the robot servo signal.
According to the robot position control device based on cloud computing provided by the embodiment of the invention, the plurality of modules in the figure 2 are adopted, the robot servo signals are obtained by sending the current images around the robot to the cloud server, then the robot servo signals are adopted to control the position of the robot, the servo control law is computed at the cloud server, the response bandwidth of the controller is improved, the image data with huge information amount can be rapidly processed, and the accurate regulation and control of the position of the robot are realized.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: the first sub-module is used for acquiring robot servo signals in the cloud server according to the current image, and comprises: acquiring smooth histogram features of a current image; calculating cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; and acquiring a derivative of the cosine similarity to the terminal pose of the robot, calculating the joint speed and the angular speed of the terminal of the robot according to the derivative, and converting the joint angular speed into a robot servo signal.
Based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: a second sub-module, configured to implement the obtaining of the smooth histogram feature of the current image, including:
Figure BDA0002988530100000081
Figure BDA0002988530100000082
Figure BDA0002988530100000083
wherein h (i) is the ith smooth histogram feature of the current image; n is a radical ofxAll the pixel numbers of the current image; n is a radical ofcThe number of intervals of the smooth histogram; i (x) is the intensity of the pixel; x is the xth pixel;
Figure BDA0002988530100000084
intermediate pixel intensity; phi is an intermediate function; t is an independent variable.
Based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: a third sub-module, configured to implement the calculating of cosine similarity between the smoothed histogram feature of the current image and the histogram feature of the expected image, including:
Figure BDA0002988530100000085
wherein s is the cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; h is*(i) Is the ith smoothed histogram feature of the desired image.
Based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: a fourth sub-module, configured to implement the obtaining of the derivative of the cosine similarity to the pose of the robot end, including:
Figure BDA0002988530100000086
Figure BDA0002988530100000087
Figure BDA0002988530100000088
Figure BDA0002988530100000089
Figure BDA0002988530100000091
Figure BDA0002988530100000092
wherein L iscosThe derivative of the cosine similarity to the terminal pose of the robot is obtained; h (j) is the jth smooth histogram feature of the current image; h is*(j) A jth smoothed histogram feature for the desired image; a is the length of a smooth histogram of the current image; a. the*A smoothed histogram length for the desired image;
Figure BDA0002988530100000093
a Jacobian matrix for the current image; r is the terminal pose of the robot;
Figure BDA0002988530100000094
and
Figure BDA0002988530100000095
are respectively likeA gradient of the voxel intensity values along the x and y directions; z is the depth of the smooth histogram feature; l isxIs a first intermediate variable; l isyIs the second intermediate variable.
Based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: a fifth submodule for implementing said calculating a joint velocity of the robot tip from the derivative, comprising:
Vc＝-λLcos +(s-1)
wherein, VcIs the joint velocity of the robot tip; λ is the servo gain.
Based on the content of the foregoing device embodiment, as an optional embodiment, the cloud computing-based robot position control device provided in the embodiment of the present invention further includes: a sixth submodule, configured to implement the calculating of the joint angular velocity of the robot tip from the derivative, comprising:
q＝J+Vc
wherein q is the joint angular velocity of the tail end of the robot; j. the design is a square+Is the inverse of the Jacobian matrix of the robot.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.
In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (6)

1. A robot position control method based on cloud computing is characterized by comprising the following steps: acquiring a current image of the periphery of the robot; sending the current image to a cloud server; acquiring a robot servo signal in a cloud server according to a current image; adopting the robot servo signal to control the position of the robot; the acquiring of the robot servo signal in the cloud server according to the current image includes: acquiring smooth histogram features of a current image; calculating cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image; acquiring a derivative of the cosine similarity to the terminal pose of the robot, calculating the joint speed and the angular speed of the terminal of the robot according to the derivative, and converting the joint angular speed into a robot servo signal;
the calculating of the joint velocity of the robot tip from the derivative includes:
Figure 915005DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 300987DEST_PATH_IMAGE002
is the joint velocity of the robot tip;
Figure 815145DEST_PATH_IMAGE003
in order to obtain the servo gain, the servo gain is set,
Figure 679196DEST_PATH_IMAGE004
the derivative of the cosine similarity to the terminal pose of the robot is obtained, and s is the cosine similarity between the smooth histogram feature of the current image and the histogram feature of the expected image;
the calculating of the joint angular velocity of the robot tip from the derivative includes:
Figure 227989DEST_PATH_IMAGE005
wherein q is the joint angular velocity of the tail end of the robot;
Figure 519293DEST_PATH_IMAGE006
a pseudo-inverse matrix of a Jacobian matrix of the robot;
the acquiring of the derivative of the cosine similarity to the terminal pose of the robot includes:
Figure 520747DEST_PATH_IMAGE007
Figure 454068DEST_PATH_IMAGE008
Figure 857367DEST_PATH_IMAGE009
Figure 818108DEST_PATH_IMAGE010
Figure 306858DEST_PATH_IMAGE011
Figure 778291DEST_PATH_IMAGE012
wherein the content of the first and second substances,
Figure 36097DEST_PATH_IMAGE013
the derivative of the cosine similarity to the terminal pose of the robot is obtained;
Figure 934782DEST_PATH_IMAGE014
a jth smooth histogram feature for the current image;
Figure 910829DEST_PATH_IMAGE015
a jth smoothed histogram feature for the desired image; a is the smoothing of the current imageA histogram length;
Figure 654794DEST_PATH_IMAGE016
a smoothed histogram length for the desired image;
Figure 32685DEST_PATH_IMAGE017
a Jacobian matrix for the current image; r is the terminal pose of the robot;
Figure 102273DEST_PATH_IMAGE018
and
Figure 300036DEST_PATH_IMAGE019
gradients of pixel intensity values along the x and y directions, respectively; z is the depth of the smooth histogram feature;
Figure 113271DEST_PATH_IMAGE020
is a first intermediate variable;
Figure 345669DEST_PATH_IMAGE021
is a second intermediate variable;
Figure 84693DEST_PATH_IMAGE022
for the total number of pixels of the current image,
Figure 769752DEST_PATH_IMAGE023
an ith smooth histogram feature for the current image;
Figure 121099DEST_PATH_IMAGE024
is the ith smoothed histogram feature of the desired image.
2. The method according to claim 1, wherein the obtaining of the smooth histogram feature of the current image comprises:
Figure 208004DEST_PATH_IMAGE025
Figure 884973DEST_PATH_IMAGE026
Figure 57328DEST_PATH_IMAGE027
wherein the content of the first and second substances,
Figure 212366DEST_PATH_IMAGE028
the number of intervals of the smooth histogram;
Figure 153777DEST_PATH_IMAGE029
is the intensity of the pixel; x is the xth pixel;
Figure 1647DEST_PATH_IMAGE030
intermediate pixel intensity;
Figure 661299DEST_PATH_IMAGE031
is an intermediate function; t is an independent variable.
3. The method of claim 2, wherein the calculating a cosine similarity between the smoothed histogram feature of the current image and the histogram feature of the desired image comprises:
Figure 354448DEST_PATH_IMAGE032
where s is the cosine similarity between the smoothed histogram feature of the current image and the histogram feature of the desired image.
4. A cloud computing based robotic position control apparatus for implementing the method of any of claims 1-3, comprising: the first main module is used for acquiring a current image of the periphery of the robot; the second main module is used for sending the current image to the cloud server; the third main module is used for acquiring a robot servo signal in the cloud server according to the current image; and the fourth main module is used for controlling the position of the robot by adopting the robot servo signal.
5. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,
the processor, the memory and the communication interface are in communication with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 3.
6. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 3.
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