CN108582087B - Method and device for executing operation by mechanical arm and moxibustion device - Google Patents
Method and device for executing operation by mechanical arm and moxibustion device Download PDFInfo
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- CN108582087B CN108582087B CN201810349343.7A CN201810349343A CN108582087B CN 108582087 B CN108582087 B CN 108582087B CN 201810349343 A CN201810349343 A CN 201810349343A CN 108582087 B CN108582087 B CN 108582087B
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/06—Devices for heating or cooling such points within cell-life limits
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The application relates to a method and a device for executing operation by a mechanical arm, a computer device, a storage medium and a moxibustion device. The method comprises the following steps: the method comprises the steps of obtaining teaching information corresponding to an object to be processed, determining position information of a part to be processed according to the teaching information, receiving operation parameters, determining an operation mode of the part to be processed according to the operation parameters and the position information of the part to be processed, determining an operation flow of a mechanical arm, obtaining parameter information of a tool head on the mechanical arm, and performing operation processing according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
Description
Technical Field
The application relates to the technical field of physiotherapy equipment, in particular to a method and a device for executing operation by a mechanical arm, computer equipment, a storage medium and a moxibustion device.
Background
Along with the improvement of living standard of people, the use of physiotherapy equipment is more and more popularized, and the automation, the intellectuality of physiotherapy equipment are a big trend. With the development of artificial intelligence and mechanical arm technology, in the traditional physiotherapy field, a physiotherapy mode of using a mechanical arm to execute operation appears. In a conventional method for executing a job by using a robot arm, a specific mark needs to be attached to the surface of a part to be processed, and the robot arm is guided to execute the job by recognizing the mark through machine vision. The method is to put a special mark on a part to be processed, and when the operation is executed, the mark can shield the part to be processed, thereby affecting the operation effect.
Disclosure of Invention
In view of the above, it is desirable to provide a method, an apparatus, a computer device, a storage medium, and a moxibustion device for performing a work by a robot arm, which can achieve a good work effect.
A method of a robotic arm performing a task, comprising:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
In one embodiment, acquiring teaching information corresponding to the object to be processed, and determining the position information of the part to be processed according to the teaching information includes:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
and determining teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information.
In one embodiment, the moving according to the object to be processed and the teaching instruction, and the generating the moving path of the robot arm includes:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through a mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
In one embodiment, determining the operation flow of the mechanical arm according to the position information of the part to be processed and the operation parameters comprises:
determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
determining the operation mode of the part to be processed according to the position information, the operation temperature range and the operation time of the part to be processed;
and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
In one embodiment, acquiring the parameter information of the tool head on the mechanical arm comprises:
acquiring temperature parameter information of a tool head;
and adjusting the temperature of the tool head according to the preset temperature condition and the temperature parameter information of the tool head.
In one embodiment, the obtaining the parameter information of the tool head on the robot further comprises:
acquiring pose parameter information of the tool head;
and adjusting the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
An apparatus for a robot to perform work, comprising:
the positioning module is used for acquiring teaching information corresponding to the object to be processed and determining the position information of the part to be processed according to the teaching information;
the receiving module is used for receiving operation parameters, and the operation parameters are used for determining the operation mode of the part to be processed;
the processing module is used for determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
the acquisition module is used for acquiring parameter information of a tool head on the mechanical arm;
and the operation module is used for performing operation processing according to the operation flow and the parameter information of the mechanical arm.
A moxibustion device comprising: the mechanical arm is connected with the central processing unit, and the data storage unit is connected with the central processing unit;
the mechanical arm is used for executing moxibustion operation, the data memory is used for storing computer programs, and the central processing unit realizes the following steps when executing the computer programs in the data memory:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm. 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:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
According to the method, the device, the computer equipment and the storage medium for executing the operation by the mechanical arm, the teaching information corresponding to the object to be processed is obtained, the position information of the part to be processed is determined through the teaching information, the operation parameter is received, the operation flow of the mechanical arm is determined according to the position information and the operation parameter of the part to be processed, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, and the operation processing is carried out according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating a method for a robotic arm to perform a task in one embodiment;
FIG. 2 is a flowchart illustrating a method for a robot to perform a task according to another embodiment;
FIG. 3 is a flowchart illustrating a method for a robot to perform a task according to another embodiment;
FIG. 4 is a schematic diagram of an embodiment of an apparatus for performing tasks by a robotic arm;
FIG. 5 is a schematic diagram of an apparatus for performing tasks by a robot according to another embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment;
fig. 7 is a schematic structural view of a moxibustion 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.
In one embodiment, as shown in fig. 1, there is provided a method of a robot performing a task, comprising the steps of:
s102: and acquiring teaching information corresponding to the object to be processed, and determining the position information of the part to be processed according to the teaching information.
The object to be processed refers to an object needing to be subjected to task processing, and the teaching refers to enabling the mechanical arm to execute corresponding actions in a manual teaching mode. The teaching information refers to data information which is recorded by the mechanical arm after manual teaching and is related to corresponding actions. The portion to be processed refers to an area to be subjected to work processing. If the object to be processed is subjected to operation processing for the first time, manually teaching is firstly needed to obtain teaching information, and then the position information of the part to be processed is determined according to the teaching information; if the object to be processed does not perform the job processing for the first time, teaching information generated after the previous teaching can be directly acquired, and the position information of the part to be processed can be directly determined.
S104: and receiving operation parameters, wherein the operation parameters are used for determining the operation mode of the part to be processed.
The job parameters refer to job parameters required for performing job processing, specifically include a job temperature range, a job time, and the like, and are used for limiting the time and conditions of job processing. After the position information of the part to be processed is determined, the mechanical arm prompts a user to input operation parameters corresponding to the part to be processed according to the part to be processed, wherein the operation parameters comprise an operation temperature range and operation time of the part to be processed, and after the operation parameters are received, the mechanical arm determines an operation mode of the part to be processed according to the operation parameters.
S106: and determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed.
The position information of the part to be processed refers to the spatial position information of the part to be processed, and the spatial position information comprises horizontal position information and height position information. The operation flow refers to the operation process of the mechanical arm, including the operation sequence of each part to be processed and the operation mode of each part to be processed. After determining the position information and the operation parameters of the part to be processed, the mechanical arm determines the operation sequence and the operation mode of the part to be processed according to the position information and the operation parameters of the part to be processed.
S108: and acquiring parameter information of a tool head on the mechanical arm.
The tool head on the mechanical arm refers to a part in the mechanical arm, which is responsible for executing operation, and the parameter information of the tool head comprises the real-time temperature and the real-time pose of the tool head. In the whole process of the operation processing, the numerical value of the parameter information on the tool head is changed, and the state of the tool head during operation can be known and adjusted by acquiring the parameter information of the tool head on the mechanical arm in real time.
S110: and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
The mechanical arm carries out operation processing according to the operation sequence of each part to be processed set on the operation flow, and sets a corresponding operation mode according to the operation parameters of each part to be processed, wherein common operation modes comprise 2 minutes of operation execution, 30-50 ℃ of operation temperature range and the like. The mechanical arm can acquire parameter information on the tool head in real time while performing operation processing, and the tool head is adjusted according to the parameter information on the tool head during operation, wherein the adjustment is performed according to operation conditions preset in the mechanical arm, common operation conditions comprise that the temperature range of the operation is 30-50 ℃, when the temperature of the tool head on the mechanical arm exceeds the range, the operation is suspended, and the operation is continued after the tool head is cooled to the temperature range of the operation.
According to the method for executing the operation by the mechanical arm, teaching information corresponding to an object to be processed is obtained, the position information of the part to be processed is determined through the teaching information, operation parameters are received, the operation flow of the mechanical arm is determined according to the position information and the operation parameters of the part to be processed, meanwhile, the parameter information of a tool head on the mechanical arm is obtained, and operation processing is carried out according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
In one embodiment, as shown in fig. 2, S102 includes:
s202: receiving a teaching instruction;
s204: moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
s206: and determining teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information.
The teaching button is arranged on the mechanical arm, when teaching is needed, a user can press the teaching button arranged on the mechanical arm, and the mechanical arm can receive a teaching instruction at the moment. And after the movement is finished, a teaching button arranged on the mechanical arm is pressed again to prompt that the teaching of the mechanical arm is finished. During the moving process, the mechanical arm records the moving path for subsequent use. The movement path of the robot arm refers to a path along which the robot arm moves from the initial position to the part to be processed, and the teaching information, that is, the movement path information of the robot arm and the position information of the part to be processed can be determined based on the movement path of the robot arm.
In one embodiment, as shown in fig. 3, S204 includes:
s302: moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
s304: acquiring second spatial position information of the part to be processed through a mechanical arm;
s306: and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
The mechanical arm moves according to the object to be processed and the teaching instruction, when the mechanical arm moves to the part to be processed corresponding to the object to be processed, the mechanical arm records first space position information of a part to be processed corresponding to the object to be processed, while recording the first spatial position information, the mechanical arm acquires and records second spatial position information of the part to be processed corresponding to the first spatial position information, the second spatial position information corresponds to the mechanical arm, for example, a positioning module is arranged in the mechanical arm, when the mechanical arm records the first spatial position information, the positioning module positions the part to be processed, and generating second spatial position information according to the positioning result, and determining the position information of the part to be processed by the mechanical arm according to the first spatial position information and the second spatial position information to generate a moving path of the mechanical arm. The positioning module can be a positioning module for determining second spatial position information according to laser three-line positioning.
In one embodiment, as shown in fig. 2, S106 includes:
s208: determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
s210: determining the operation mode of the part to be processed according to the position information, the operation temperature range and the operation time of the part to be processed;
s212: and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
The operation parameters are operation parameters set according to operation needs of the part to be processed, the operation parameters relate to an operation temperature range and operation time, and the received operation parameters are generally used as the operation parameters of the part to be processed. The operation mode comprises position information of the part to be processed, an operation temperature range and operation time. If the operation temperature range is set to 30-50 degrees, the robot arm needs to operate within the temperature range when performing the operation on the part to be processed, and if the operation time is set to 2 minutes, the robot arm needs to perform the operation on the part to be processed for 2 minutes when performing the operation. The operation flow refers to that the mechanical arm executes operation on each part to be processed according to a certain operation sequence, and in the process, the operation temperature range and the operation time corresponding to each part to be processed are recorded in the operation flow.
In one embodiment, as shown in fig. 2, S108 includes:
s214: acquiring temperature parameter information of a tool head;
s216: and adjusting the temperature of the tool head according to the preset temperature condition and the temperature parameter information of the tool head.
Before and during the operation, the mechanical arm can acquire the temperature parameter information of the tool head in real time and monitor the safety of the part to be processed. Specifically, the manner of acquiring the temperature parameter information of the tool head may be to arrange a temperature sensor in the tool head of the robot arm, mount the matrix temperature sensor on the front section of the tool head, and measure the real-time temperature of the to-be-processed part conveniently within a coverage range of 30-120 degrees. The preset temperature condition can be an operation temperature range, the acquired temperature parameter information of the tool head is compared with the preset temperature condition, when the temperature parameter information exceeds the operation temperature range, the manipulator can adjust the temperature of the tool head, the adjusting mode can be that the tool head is indicated to leave the current position through a mechanical arm, and when the tool head is cooled to the operation temperature range, the tool head is moved to a part to be processed to perform operation processing.
In one embodiment, as shown in fig. 2, S108 further includes:
s218: acquiring pose parameter information of the tool head;
s220: and adjusting the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
Before and during the operation, the mechanical arm can acquire the pose parameter information of the tool head in real time to monitor the safety of the part to be processed. The pose parameter information of the tool head comprises distance parameter information of the tool head and the part to be processed and position parameter information of the object to be processed. Specifically, the manner of obtaining the distance parameter information between the tool head and the to-be-processed portion may be to set a distance sensor in the tool head of the robot arm, where the distance sensor is installed at the front section of the tool head, so as to conveniently measure the real-time distance between the tool head and the to-be-processed portion. The mode of acquiring the position parameter information of the object to be processed can be that a machine vision module is arranged in a tool head of the mechanical arm, and the object to be processed is monitored in real time through the machine vision module.
The preset pose condition comprises an operation distance range and a movable range of an object to be processed, the obtained pose parameter information of the tool head is compared with the preset pose condition, when the distance parameter information exceeds the operation distance range, the manipulator can adjust the distance between the tool head and the part to be processed, and the adjustment mode can be that the manipulator indicates the tool head to be lifted for a certain distance and then continues to perform operation processing. When the position parameter information of the object to be processed exceeds the movable range of the object to be processed, the mechanical arm can move to a safe position, and the safety of the object to be processed is ensured. The working distance range is greater than or equal to 1.5 cm, namely when the distance between the tool head and the part to be processed is less than 1.5 cm, the mechanical arm indicates that the tool head is lifted for a certain distance, and the lifting distance can be 1 cm.
It should be understood that although the various steps in the flow diagrams of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order 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. 1-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided an apparatus for a robot to perform a work, including: a location module 402, a receiving module 404, a processing module 406, an obtaining module 408, and an operation module 410, wherein:
a positioning module 402, configured to obtain teaching information corresponding to an object to be processed, and determine position information of a part to be processed according to the teaching information;
a receiving module 404, configured to receive a working parameter, where the working parameter is used to determine a working mode of a to-be-processed portion;
the processing module 406 is configured to determine a work flow of the robot arm according to the position information and the work parameters of the to-be-processed portion;
an obtaining module 408, configured to obtain parameter information of a tool head on the robot arm;
and the operation module 410 is used for performing operation processing according to the operation flow and the parameter information of the mechanical arm.
The device for executing the operation by the mechanical arm acquires teaching information corresponding to an object to be processed, determines position information of a part to be processed through the teaching information, receives operation parameters, determines an operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed, acquires parameter information of a tool head on the mechanical arm, and processes the operation according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
In one embodiment, as shown in FIG. 5, the positioning module 402 comprises:
a command receiving module 502, configured to receive a teaching command;
the recording module 504 is configured to move according to the object to be processed and the teaching instruction, and generate a movement path of the robot arm;
and an information determining module 506, configured to determine teaching information according to the moving path of the robot arm, and determine position information of the to-be-processed part according to the teaching information.
In one embodiment, as shown in fig. 5, the recording module 504 includes:
a first position information obtaining module 508, configured to move according to the object to be processed and the teaching instruction, and obtain first spatial position information of a to-be-processed portion of the object to be processed;
a second position information obtaining module 510, configured to obtain second spatial position information of the to-be-processed portion through the robot arm;
and a path generating module 512, configured to generate a moving path of the robot arm according to the first spatial position information and the second spatial position information.
In one embodiment, as shown in FIG. 5, the processing module 406 includes:
an operation parameter determining module 514, configured to determine an operation temperature range and an operation time of the to-be-processed portion according to the operation parameter;
an operation mode determining module 516, configured to determine an operation mode of the to-be-processed portion according to the position information of the to-be-processed portion, the operation temperature range, and the operation time;
the work flow determination module 518 determines the work flow of the robot arm according to the work mode of each part to be processed.
In one embodiment, as shown in fig. 5, the obtaining module 408 includes:
a first obtaining module 520, configured to obtain temperature parameter information of the tool head;
the first adjusting module 522 is configured to adjust the temperature of the tool bit according to a preset temperature condition and temperature parameter information of the tool bit.
In one embodiment, as shown in fig. 5, the obtaining module 308 further includes:
a second obtaining module 524, configured to obtain pose parameter information of the tool head;
and a second adjusting module 526, configured to adjust the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
For specific limitations of the device for the robot arm to perform the task, reference may be made to the above limitations of the method for the robot arm to perform the task, and details thereof are not repeated here. All or part of each module in the device for executing the operation by the mechanical arm can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer 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 terminal, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, a display screen, and an input device 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 device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method for a robot to perform a task. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 6 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, as shown in fig. 7, there is provided a moxibustion device including: the robot comprises a mechanical arm 702, a data memory 704 and a central processor 706, wherein the mechanical arm 702 is connected with the central processor 706, and the data memory 704 is connected with the central processor 706;
the robot arm 702 is used for executing moxibustion work, the data storage 704 is used for storing computer programs, and the central processing unit 706 realizes the following steps when executing the computer programs in the data storage 704:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
The moxibustion device enables the central processing unit to execute the steps of the method for realizing the operation execution of the mechanical arm when executing the computer program in the data storage unit, the position information of the part to be processed is determined through teaching, then the operation mode is carried out, the situation that a special label is placed on the part to be processed is avoided, when the operation is carried out, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change situation of the parameter information on the tool head, and good operation effect can be achieved.
In one embodiment, the central processing unit, when executing the computer program in the data storage, further performs the steps of:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
and determining teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information.
In one embodiment, the central processing unit, when executing the computer program in the data storage, further performs the steps of:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through a mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
In one embodiment, the central processing unit, when executing the computer program in the data storage, further performs the steps of:
determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
determining the operation mode of the part to be processed according to the position information, the operation temperature range and the operation time of the part to be processed;
and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
In one embodiment, the central processing unit, when executing the computer program in the data storage, further performs the steps of:
acquiring temperature parameter information of a tool head;
and adjusting the temperature of the tool head according to the preset temperature condition and the temperature parameter information of the tool head.
In one embodiment, the central processing unit, when executing the computer program in the data storage, further performs the steps of:
acquiring pose parameter information of the tool head;
and adjusting the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
The computer equipment for executing the operation by the mechanical arm acquires teaching information corresponding to an object to be processed, determines position information of a part to be processed through the teaching information, receives operation parameters, determines an operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed, acquires parameter information of a tool head on the mechanical arm, and processes the operation according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
and determining teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through a mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
determining the operation mode of the part to be processed according to the position information, the operation temperature range and the operation time of the part to be processed;
and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring temperature parameter information of a tool head;
and adjusting the temperature of the tool head according to the preset temperature condition and the temperature parameter information of the tool head.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring pose parameter information of the tool head;
and adjusting the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of a part to be processed;
determining the operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed;
acquiring parameter information of a tool head on a mechanical arm;
and performing operation processing according to the operation flow and the parameter information of the mechanical arm.
In one embodiment, the computer program when executed by the processor further performs the steps of:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
and determining teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information.
In one embodiment, the computer program when executed by the processor further performs the steps of:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through a mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
determining the operation mode of the part to be processed according to the position information, the operation temperature range and the operation time of the part to be processed;
and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring temperature parameter information of a tool head;
and adjusting the temperature of the tool head according to the preset temperature condition and the temperature parameter information of the tool head.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring pose parameter information of the tool head;
and adjusting the pose of the tool head according to the preset pose condition and the pose parameter information of the tool head.
The storage medium for the mechanical arm to execute the operation acquires teaching information corresponding to an object to be processed, determines position information of a part to be processed through the teaching information, receives operation parameters, determines an operation flow of the mechanical arm according to the position information and the operation parameters of the part to be processed, acquires parameter information of a tool head on the mechanical arm, and processes the operation according to the operation flow and the parameter information of the mechanical arm. The mode of determining the position information of the part to be processed through teaching and then performing operation avoids placing a special label on the part to be processed, when the operation is performed, the part to be processed cannot be shielded, meanwhile, the parameter information of the tool head on the mechanical arm is obtained, the operation is adjusted in real time according to the change condition of the parameter information on the tool head, and a good operation effect can be achieved.
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 may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
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 (10)
1. A method of a robotic arm performing a task, the method comprising:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information, wherein the position information comprises horizontal position information and height position information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of the part to be processed;
determining the operation flow of the mechanical arm according to the position information of the part to be processed and the operation parameters;
acquiring parameter information of a tool head on the mechanical arm;
performing operation processing according to the operation flow of the mechanical arm and the parameter information;
the acquiring teaching information corresponding to the object to be processed and determining the position information of the part to be processed according to the teaching information comprises:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
determining the teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information;
the moving according to the object to be processed and the teaching instruction and the generating of the moving path of the mechanical arm include:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through the mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
2. The method of claim 1,
the moving according to the object to be processed and the teaching instruction and acquiring first spatial position information of a part to be processed of the object to be processed comprises: and moving according to the object to be processed and the teaching instruction, and recording first spatial position information of the part to be processed corresponding to the object to be processed when the mechanical arm moves to the part to be processed corresponding to the object to be processed.
3. The method according to claim 1, wherein the acquiring, by the robot arm, second spatial position information of the part to be processed comprises:
and positioning the part to be processed through the mechanical arm, and generating second spatial position information according to a positioning result.
4. The method according to claim 1, wherein the determining the operation flow of the robot arm according to the position information of the part to be processed and the operation parameters comprises:
determining the operation temperature range and the operation time of the part to be processed according to the operation parameters;
determining the operation mode of the part to be processed according to the position information of the part to be processed, the operation temperature range and the operation time;
and determining the operation flow of the mechanical arm according to the operation mode of each part to be processed.
5. The method of claim 1, wherein the obtaining parameter information of the tool head on the robotic arm comprises:
acquiring temperature parameter information of the tool head;
and adjusting the temperature of the tool head according to a preset temperature condition and the temperature parameter information of the tool head.
6. The method of claim 1, wherein the obtaining parameter information of the tool head on the robotic arm further comprises:
acquiring pose parameter information of the tool head;
and adjusting the pose of the tool head according to preset pose conditions and pose parameter information of the tool head.
7. An apparatus for performing work by a robot arm, the apparatus comprising:
the positioning module is used for acquiring teaching information corresponding to an object to be processed and determining the position information of a part to be processed according to the teaching information, wherein the position information comprises horizontal position information and height position information;
the receiving module is used for receiving operation parameters, and the operation parameters are used for determining the operation mode of the part to be processed;
the processing module is used for determining the operation flow of the mechanical arm according to the position information of the part to be processed and the operation parameters;
the acquisition module is used for acquiring parameter information of a tool head on the mechanical arm;
the operation module is used for performing operation processing according to the operation flow of the mechanical arm and the parameter information;
the positioning module includes:
the instruction receiving module is used for receiving teaching instructions;
the recording module is used for moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
the information determining module is used for determining teaching information according to the moving path of the mechanical arm and determining the position information of the part to be processed according to the teaching information;
the recording module includes:
the first position information acquisition module is used for moving according to the object to be processed and the teaching instruction to acquire first spatial position information of the part to be processed of the object to be processed;
the second position information acquisition module is used for acquiring second spatial position information of the part to be processed through the mechanical arm;
and the path generating module is used for generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
8. A moxibustion device, characterized in that the device comprises: the robot arm is connected with the central processing unit, and the data storage unit is connected with the central processing unit;
the mechanical arm is used for executing moxibustion operation, the data memory is used for storing computer programs, and the central processing unit realizes the following steps when executing the computer programs in the data memory:
acquiring teaching information corresponding to an object to be processed, and determining position information of a part to be processed according to the teaching information, wherein the position information comprises horizontal position information and height position information;
receiving operation parameters, wherein the operation parameters are used for determining the operation mode of the part to be processed;
determining the operation flow of the mechanical arm according to the position information of the part to be processed and the operation parameters;
acquiring parameter information of a tool head on the mechanical arm;
performing operation processing according to the operation flow of the mechanical arm and the parameter information;
the acquiring teaching information corresponding to the object to be processed and determining the position information of the part to be processed according to the teaching information comprises:
receiving a teaching instruction;
moving according to the object to be processed and the teaching instruction to generate a moving path of the mechanical arm;
determining the teaching information according to the moving path of the mechanical arm, and determining the position information of the part to be processed according to the teaching information;
the moving according to the object to be processed and the teaching instruction and the generating of the moving path of the mechanical arm include:
moving according to the object to be processed and the teaching instruction to acquire first spatial position information of a part to be processed of the object to be processed;
acquiring second spatial position information of the part to be processed through the mechanical arm;
and generating a moving path of the mechanical arm according to the first spatial position information and the second spatial position information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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| CN201810349343.7A CN108582087B (en) | 2018-04-18 | 2018-04-18 | Method and device for executing operation by mechanical arm and moxibustion device |
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| CN109431794A (en) * | 2018-11-09 | 2019-03-08 | 康伟付 | Moxibustion instrument control system and its control method |
| JP2021154439A (en) * | 2020-03-27 | 2021-10-07 | セイコーエプソン株式会社 | Teaching method |
| CN112621749A (en) * | 2020-12-04 | 2021-04-09 | 上海钧控机器人有限公司 | Method for acquiring and reproducing moxibustion manipulation track |
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Effective date of registration: 20201126 Address after: Room 1001, unit 3, building 1, No. 145, Mingzhu North Road, Xiangzhou District, Zhuhai City, Guangdong Province Patentee after: Zhimei Kangmin (Zhuhai) Health Technology Co., Ltd Address before: 519000 A 2, two floor, No. 10 Futian Road, Xiangzhou District, Zhuhai, Guangdong. Patentee before: ZHUHAI WANNAOTE HEALTH TECHNOLOGY Co.,Ltd. |