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Robot door opening and closing method and robot
The invention discloses a method for opening and closing a door by a robot and the robot, which can be applied to the field of artificial intelligence and can expand the application of the robot in the fields of home service, intelligent logistics and the like, and comprises the following steps: the robot obtains first interaction force between the robot and a target door plate, and inputs the first interaction force into a trained neural network, and obtaining an output first door shaft parameter (representing the door shaft position of the target door plate) and a second door shaft parameter (representing the door shaft orientation of the target door plate), and finally adjusting a second interaction force applied to the target door plate according to the first door shaft parameter and the second door shaft parameter. And when the second interaction force reaches a preset condition, the target door plate moves around the door shaft under the action of the second interaction force. The detected interaction force between the robot (such as a mechanical arm) and the door is converted into the door spindle parameter through the neural network, the interaction force is adjusted based on the door spindle parameter, it is guaranteed that the interaction force in the non-door-opening direction in the door opening/closing process is smaller than the threshold value (such as zero), and door plate damage is avoided.
本申请公开了一种机器人开关门的方法及机器人，可应用于人工智能领域，可扩展机器人在家庭服务、智慧物流等领域的应用，包括：机器人获取其与目标门板之间的第一交互力，并将第一交互力输入训练后的神经网络，得到输出的第一门轴参数(表征目标门板的门轴位置)和第二门轴参数(表征目标门板的门轴朝向)，最后根据第一门轴参数及第二门轴参数调整向目标门板施加的第二交互力。在第二交互力达到预设条件时，目标门板就会在第二交互力的作用下绕门轴移动。本申请利用神经网络将检测到的机器人(如，机械臂)与门的交互力转化为门轴参数，并基于门轴参数调整交互力，保证了开/关门过程中非门打开方向上的交互力小于阈值(如为零)，避免门板损坏。
Robot door opening and closing method and robot
The invention discloses a method for opening and closing a door by a robot and the robot, which can be applied to the field of artificial intelligence and can expand the application of the robot in the fields of home service, intelligent logistics and the like, and comprises the following steps: the robot obtains first interaction force between the robot and a target door plate, and inputs the first interaction force into a trained neural network, and obtaining an output first door shaft parameter (representing the door shaft position of the target door plate) and a second door shaft parameter (representing the door shaft orientation of the target door plate), and finally adjusting a second interaction force applied to the target door plate according to the first door shaft parameter and the second door shaft parameter. And when the second interaction force reaches a preset condition, the target door plate moves around the door shaft under the action of the second interaction force. The detected interaction force between the robot (such as a mechanical arm) and the door is converted into the door spindle parameter through the neural network, the interaction force is adjusted based on the door spindle parameter, it is guaranteed that the interaction force in the non-door-opening direction in the door opening/closing process is smaller than the threshold value (such as zero), and door plate damage is avoided.
本申请公开了一种机器人开关门的方法及机器人，可应用于人工智能领域，可扩展机器人在家庭服务、智慧物流等领域的应用，包括：机器人获取其与目标门板之间的第一交互力，并将第一交互力输入训练后的神经网络，得到输出的第一门轴参数(表征目标门板的门轴位置)和第二门轴参数(表征目标门板的门轴朝向)，最后根据第一门轴参数及第二门轴参数调整向目标门板施加的第二交互力。在第二交互力达到预设条件时，目标门板就会在第二交互力的作用下绕门轴移动。本申请利用神经网络将检测到的机器人(如，机械臂)与门的交互力转化为门轴参数，并基于门轴参数调整交互力，保证了开/关门过程中非门打开方向上的交互力小于阈值(如为零)，避免门板损坏。
Robot door opening and closing method and robot
一种机器人开关门的方法及机器人
SUN WENTAO (author) / WANG MINHANG (author) / GUO DASHUN (author) / WANG YUE (author) / HE YANONG (author)
2024-01-16
Patent
Electronic Resource
Chinese
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