Resumen
In the context of automatic charging for electric vehicles, collision localization for the end-effector of robots not only serves as a crucial visual complement but also provides essential foundations for subsequent response design. In this scenario, data-driven collision localization methods are considered an ideal choice. However, due to the typically high demands on the data scale associated with such methods, they may significantly increase the construction cost of models. To mitigate this issue to some extent, in this paper, we propose a novel approach for robot collision localization based on a sparse modular point matrix (SMPM) in the context of automatic charging for electric vehicles. This method, building upon the use of collision point matrix templates, strategically introduces sparsity to the sub-regions of the templates, aiming to reduce the scale of data collection. Additionally, we delve into the exploration of data-driven models adapted to SMPMs. We design a feature extractor that combines a convolutional neural network (CNN) with an echo state network (ESN) to perform adaptive feature extraction on collision vibration signals. Simultaneously, by incorporating a support vector machine (SVM) as a classifier, the model is capable of accurately estimating the specific region in which the collision occurs. The experimental results demonstrate that the proposed collision localization method maintains a collision localization accuracy of 91.27% and a collision localization RMSE of 1.46 mm, despite a 48.15% reduction in data scale.