CN110575385B - Control method of moxibustion manipulator - Google Patents
Control method of moxibustion manipulator Download PDFInfo
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- CN110575385B CN110575385B CN201910742373.9A CN201910742373A CN110575385B CN 110575385 B CN110575385 B CN 110575385B CN 201910742373 A CN201910742373 A CN 201910742373A CN 110575385 B CN110575385 B CN 110575385B
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- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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- A—HUMAN NECESSITIES
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1656—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
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- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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Abstract
The invention relates to a control method of a moxibustion manipulator, which comprises the following steps: acquiring positioning information and moxibustion manipulation information of a moxibustion manipulator; controlling the moxibustion manipulator to move to a position corresponding to the positioning information based on the positioning information of the moxibustion manipulator; determining motion state information of the moxibustion manipulator based on the moxibustion manipulation information; and controlling the moxibustion manipulator to perform moxibustion based on the motion state information. Compared with the prior art, the automatic positioning device disclosed by the invention has the advantages that the automatic positioning of the moxibustion manipulator is realized, the motion state of the moxibustion manipulator can be automatically controlled, the moxibustion accuracy and speed are improved, and the manual operation is simplified.
Description
Technical Field
The invention relates to the technical field of physical therapy, in particular to a control method of a moxibustion manipulator.
Background
Along with the improvement of living standard of people, the use of physiotherapy equipment is more and more popular. At present, moxibustion manipulator is the important component of physiotherapy equipment, and moxibustion manipulator can accomplish the operation by the substitute, improves physiotherapy efficiency. Therefore, physiotherapy by a moxibustion manipulator is a great trend.
However, because the domestic moxibustion manipulator technology is still in the starting stage, a large amount of manual work is still needed to participate in the physiotherapy process of the moxibustion manipulator, the overall efficiency is not high, and in the moxibustion process, the problem that the automatic control of the moxibustion manipulator is difficult to realize exists.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control method, a control device and control equipment of a moxibustion manipulator.
The embodiment of the invention provides a control method of a moxibustion manipulator, which comprises the following steps: acquiring positioning information and moxibustion manipulation information of a moxibustion manipulator; the positioning information of the moxibustion manipulator comprises three-dimensional coordinate information and rotation angle information of the moxibustion manipulator, and the three-dimensional coordinate information of the moxibustion manipulator is determined according to the acupuncture point position information and the safety distance information; controlling the moxibustion manipulator to move to a position corresponding to the positioning information based on the positioning information of the moxibustion manipulator; determining motion state information of the moxibustion manipulator based on the moxibustion manipulation information; the motion state information comprises that the moxibustion manipulator is static, the moxibustion manipulator moves a preset distance along a normal vector direction, the moxibustion manipulator moves along a circular track, and the moxibustion manipulator moves between positions corresponding to preset position information; and controlling the moxibustion manipulator to perform moxibustion based on the motion state information.
Further, based on the first moxibustion manipulation information, the motion state information of the moxibustion manipulator is determined to be that the moxibustion manipulator is stationary.
Further, when the current static duration information of the moxibustion manipulator is larger than the preset static duration information, determining whether the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information; when the current z-axis coordinate information of the moxibustion manipulator is not equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to adjust to the height corresponding to the z-axis coordinate information in the positioning information; and when the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the static state of the moxibustion manipulator based on the first moxibustion manipulation information again.
Further, based on second moxibustion manipulation information, determining motion state information of the moxibustion manipulator as the preset distance of movement of the moxibustion manipulator along the direction of a normal vector; the normal vector is a plane normal vector corresponding to a flange surface of the moxibustion manipulator, and the direction of the normal vector is a direction far away from moxibustion acupuncture points; when the moxibustion manipulator reaches a position corresponding to the movement of the moxibustion manipulator along the direction of a normal vector by a preset distance, controlling the moxibustion manipulator to move along the direction of the normal vector in the reverse direction; when the current Z-axis coordinate information of the moxibustion manipulator is equal to the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be static; and when the current Z-axis coordinate information of the moxibustion manipulator is smaller than the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be adjusted to a height corresponding to the Z-axis coordinate information in the positioning information and then to be static.
Further, when the current static time length of the moxibustion manipulator is larger than the preset static time length information, controlling the manipulator to determine the motion state information of the moxibustion manipulator as the preset distance of the movement of the moxibustion manipulator along the direction of the normal vector based on the second moxibustion manipulation information; and when the current static time length information of the moxibustion manipulator is not more than the preset static time length information, controlling the moxibustion manipulator to continue to be static.
Further, based on third moxibustion manipulation information, determining motion state information of the moxibustion manipulator as the moxibustion manipulator moving along the circular track; and the circular track is a circular track in a plane corresponding to the flange surface of the moxibustion manipulator by taking the position corresponding to the positioning information as a circle center and the preset radius information as a radius.
Further, radius change information is obtained; the radius change information is radius information newly set by a user; changing the preset radius information into radius change information based on the radius change information; and controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the moxibustion manipulator moves along the circular track based on the third moxibustion manipulation information again.
Further, based on fourth moxibustion manipulation information, determining motion state information of the moxibustion manipulator as the moxibustion manipulator moves between positions corresponding to the preset position information; determining a moxibustion position information array of the moxibustion manipulator based on the preset position information and the preset step number information; the preset position information comprises first preset position information and second preset position information; the preset step information is the step number of the moxibustion manipulator moving between the positions corresponding to the first preset position information and the second preset position information; controlling the moxibustion manipulator to move along a track formed by moxibustion position information in the moxibustion position information array in sequence based on the moxibustion position information array; and when the current step information of the moxibustion manipulator is not less than the preset step information, performing zero-returning processing on the current step information, and controlling the moxibustion manipulator to reversely move along the track formed by the moxibustion position information in sequence.
Further, when the current step number information of the moxibustion manipulator is not less than the preset step number information, the moxibustion manipulator is controlled to determine the motion state information of the moxibustion manipulator as the movement of the moxibustion manipulator between the positions corresponding to the preset position information based on the fourth moxibustion manipulation information again.
Further, acquiring the total moxibustion duration and the dusting interval duration of the moxibustion manipulator; when the total moxibustion duration of the moxibustion manipulator is longer than the preset total moxibustion duration, controlling the moxibustion manipulator to stop moxibustion; and when the dusting interval duration of the moxibustion manipulator is longer than the preset dusting interval duration, controlling the moxibustion manipulator to perform dusting.
Above-mentioned scheme has realized moxibustion manipulator's automatic positioning to can carry out automated control to moxibustion manipulator's motion state, improve the precision and the speed of moxa-moxibustion, simplify manual operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating a control method of a moxibustion manipulator according to an exemplary embodiment of the present invention;
fig. 2 is a plan view illustrating a working space of a moxibustion manipulator according to an exemplary embodiment of the present invention;
fig. 3 is a first flowchart of S103 in the control method of the moxibustion manipulator according to the exemplary embodiment of the present invention;
fig. 4 is a second flowchart illustrating the control method of the moxibustion manipulator of the second embodiment of the present invention at S103;
fig. 5 is a third flowchart illustrating the control method of the moxibustion manipulator of the third embodiment of the present invention at S103;
fig. 6 is a fourth flowchart illustrating the control method of the moxibustion manipulator of the fourth embodiment of the present invention at S103.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Before explaining embodiments of the present invention in detail, some concepts related to the present invention will be explained.
Tool Coordinate System of moxibustion manipulator (Tool Coordinate System): the tool coordinate system is composed of a Tool Center Point (TCP) and a coordinate position, and when the tool coordinate system moves, the Tool Center Point (TCP) moves according to a path and a speed which are strictly specified by a program. The TCP coordinate origin (TCP tool center point) of the system is at the center of the sixth-axis flange surface of the manipulator, and the vertical direction of the sixth-axis flange surface of the manipulator is the z-axis.
The motion mode of the moxibustion manipulator is as follows: comprises (1) attitude motion and (2) linear motion,
(1) Gestural motion (i.e., repositioning motion): moxa-moxibustion manipulator's TCP position is unchangeable, and moxa-moxibustion manipulator is rotatory along the coordinate axis, changes rotation angle, adjustment moxa-moxibustion manipulator gesture.
(2) Linear motion: the posture of the moxibustion manipulator is unchanged, and the TCP moves linearly along the coordinate axis.
In the control logic taking Cartesian coordinates as a reference, if the six-axis moxibustion manipulator can accurately reach a position, the posture motion information and the linear motion information of the moxibustion manipulator need to be defined. The posture movement information comprises rx, ry and rz, wherein rx represents the rotation angle of the moxibustion manipulator along the X coordinate axis, ry represents the rotation angle of the moxibustion manipulator along the y coordinate axis, and rz represents the rotation angle of the moxibustion manipulator along the z coordinate axis. The linear motion information includes x, y, and z, where x represents a distance that the moxibustion manipulator moves linearly along an x coordinate axis, y represents a distance that the moxibustion manipulator moves linearly along a y coordinate axis, and z represents a distance that the moxibustion manipulator moves linearly along a z coordinate axis. Therefore, the six-axis moxibustion robot can be controlled to reach the specified position according to (x, y, z, rx, ry, rz) of the moxibustion robot.
Referring to fig. 1, fig. 1 is a flow chart illustrating a control method of a moxibustion manipulator according to an exemplary embodiment of the present invention. The main execution body of the control method of the moxibustion manipulator in the present embodiment is a moxibustion control device, and the control method of the moxibustion manipulator shown in fig. 1 may include:
and S101, acquiring positioning information and moxibustion manipulation information of the moxibustion manipulator.
The moxibustion control equipment acquires positioning information and moxibustion manipulation information of the moxibustion manipulator. The positioning information of the moxibustion manipulator comprises three-dimensional coordinate information and rotation angle information of the moxibustion manipulator.
Specifically, the acquiring of the positioning information and the moxibustion manipulation information of the moxibustion manipulator comprises the following steps:
firstly, acquiring acupuncture point position information and moxibustion manipulation information. The acupuncture point position information is two-dimensional coordinate information of acupuncture points under a tool coordinate system of the moxibustion manipulator, namely x-axis coordinate information and y-axis coordinate information. Before acquiring the acupoint position information, a group of acupoint position information needs to be acquired. When moxibustion is performed, the control equipment acquires the acupuncture point position information and the corresponding moxibustion manipulation information in sequence according to the arrangement sequence of the acupuncture point position information in the acquired set of acupuncture point position information. The specific operation of collecting the position information of a group of acupuncture points is as follows:
fig. 2 is a top view of a working space of a moxibustion manipulator according to an exemplary embodiment of the present invention. Before the collection, let at first by the moxa-moxibustion person lie on the moxa-moxibustion bed, the moxa-moxibustion person clicks "teaching mode" button on the touch screen, and the manipulator arrives in the picture 2 initial point position P0 overhead, and highly be a fixed height, initial point position P0 that shows in the picture is only one in a plurality of initial point positions, and its specific position does not do the restriction here. At least three laser distance sensors which are arranged in a circumferential mode and have included angles of 120 degrees and face perpendicularly outwards along the flange surface of the sixth axis of the manipulator are arranged on the manipulator tool head, and in the embodiment, the manipulator tool head provided with the three laser distance sensors is selected. The laser distance sensor can be any sensor with both laser emission function and distance measurement function, or the laser sensor can be replaced by an ultrasonic sensor, and a light source is additionally arranged on each ultrasonic sensor. During collection, a moxibustion operator manually adjusts the two-dimensional coordinates of the mechanical hand tool head through the control remote rod. Because laser distance sensor can launch perpendicular orientation by the laser on the moxa-moxibustion person's skin, consequently can form three light spot on by the moxa-moxibustion person's skin surface, the moxa-moxibustion person can make through the control remote lever and treat to gather the centre that acupuncture point is in three light spot, and the two-dimensional coordinate information of present moxa-moxibustion manipulator is promptly treating the two-dimensional coordinate information of gathering the acupuncture point this moment. After the acupoint position information of one to-be-collected acupoint is collected, the moxibustion technician continues to control remote sensing to collect the acupoint position information of the other to-be-collected acupoints according to the mode, and finally a group of acupoint position information is obtained and stored in the control device. In addition, after gathering the two-dimensional coordinate information of present acupuncture point, the moxa-moxibustion teacher goes to select the corresponding moxa-moxibustion technique information of current acupuncture point and the total length of moxa-moxibustion on control panel to together store the corresponding moxa-moxibustion technique information of current acupuncture point and the total length of moxa-moxibustion in moxa-moxibustion control device.
The second step is that: and acquiring three-dimensional coordinate information of the moxibustion manipulator. Firstly, the moxibustion control equipment controls the moxibustion manipulator to move to the acupuncture point corresponding to the acupuncture point position information according to the acquired acupuncture point position information. The moxibustion manipulator is controlled to perform linear motion along the x axis and the y axis and move to the position above the acupuncture points. Then, the moxibustion control device acquires dynamic distance information between the moxibustion manipulator and the acupuncture point corresponding to the acupuncture point position information. The dynamic distance information may be distance information obtained by the moxibustion control device from any distance measuring instrument, and is not limited herein, and the distance measuring instrument is selected as the laser distance sensor in this embodiment. Laser distance sensor sets up on moxibustion manipulator's instrument head, and when moxibustion control device control moxibustion manipulator carried out linear motion along z axial acupuncture point, laser distance sensor measured moxibustion manipulator and the dynamic distance information between the acupuncture point in real time. Finally, the moxibustion control equipment compares the dynamic distance information with the safe distance information. Specifically, the moxibustion control device controls the moxibustion manipulator to downwards detect and move from the upper part of the acupuncture point corresponding to the acupuncture point position information, and when the moxibustion manipulator moves, the moxibustion control device obtains dynamic distance information from the laser distance sensor in real time and compares the dynamic distance information with the determined safe distance information. When the dynamic distance information is larger than the safe distance information, the moxibustion control equipment continuously controls the moxibustion manipulator to move to the acupuncture point corresponding to the acupuncture point position information. When the dynamic distance information is not greater than the safety distance information, the moxibustion control device acquires three-dimensional coordinate information (x, y, z) of the moxibustion manipulator and controls the manipulator to stop moving.
The safety distance information mentioned above may be one of the following: (1) an optimal distance value between the moxibustion manipulator and the acupuncture points; (2) The minimum distance value between the moxibustion manipulator and the acupuncture point which is acceptable by the human body; (3) The present embodiment adopts the minimum distance value of the moxibustion manipulator from the acupuncture point acceptable to the human body as the safety distance information according to the distance value set according to the personal preference of the moxibustion subject, and specifically, obtains the safety distance information as follows: a pair of laser sensors which are horizontally oppositely shot is arranged on a base of the moxibustion manipulator, so that the vertical distance value between the laser sensors which are horizontally oppositely shot and the acupuncture point is the minimum distance value allowed between the end part of the moxibustion stick and the acupuncture point. When the space for transmitting signals in the middle of the laser sensors which are horizontally opposite to each other is shielded, the laser sensors cannot receive the laser signals of the opposite side, and at the moment, the moxibustion control equipment cannot receive the interactive signals sent by the laser sensors. The moxibustion control equipment controls the moxibustion manipulator to do linear motion along the Z-axis to the acupuncture points, and meanwhile receives interaction signals sent by the laser sensors horizontally oppositely projected, so that whether the end part of the moxibustion stick moves to the middle of the laser sensors horizontally oppositely projected along with the manipulator or not can be confirmed, and whether the moxibustion stick still continues to be controlled to move to the acupuncture points or not can be confirmed. When the moxibustion control equipment cannot receive the interactive signals, the end part of the moxibustion stick moves to the middle of the laser sensor of the horizontal correlation along with the manipulator, the minimum distance between the end part of the moxibustion stick and an acupuncture point is reached, the z-axis coordinate information of the current moxibustion manipulator is acquired, and the moxibustion manipulator is controlled to stop moving. The Z-axis coordinate information of the laser sensor which is shot oppositely is subtracted from the Z-axis coordinate of the current moxibustion manipulator, so that the distance between the current moxibustion manipulator and the acupuncture point when the distance between the end part of the moxibustion stick and the acupuncture point is the minimum, namely the safety distance information can be obtained.
The third step: and acquiring the rotation angle information of the moxibustion manipulator. The laser distance sensor emits laser to irradiate the skin to form a light spot, and three-dimensional coordinate information of the light spot is acquired before the rotation angle information of the moxibustion manipulator is acquired. As described in the first step, the laser distance sensors are three circular arrays of 120-degree included angles installed on the tool head of the manipulator, and are oriented to be vertically outward along the flange surface of the sixth axis of the manipulator, so that two-dimensional coordinate information of the three laser distance sensors can be obtained according to two-dimensional coordinate information of the moxibustion manipulator and relative distances between the three laser distance sensors and the moxibustion manipulator (i.e. the moxibustion manipulator tool head), and the two-dimensional coordinate information of the three laser distance sensors is coordinate information of three light spots. Then, the moxibustion control device obtains the vertical distance information between the three light points measured by the three laser distance sensors and the moxibustion manipulator, and subtracts the three vertical distance information from the z-axis coordinate information of the moxibustion manipulator to obtain the z-axis coordinate information of the three light points.
After acquiring the three-dimensional coordinate information of the three light spots, determining a plane equation corresponding to the three light spots, wherein the three-dimensional coordinate information of the three light spots can be expressed as A (x) 1, y 1, z 1 )，B(x 2, y 2, z 2 )，C(x 3, y 3, z 3 ) Let the plane where the three spots A, B and C are located be a (x-x) 1 )+b(y-y 1 )+c(z-z 1 ) =0, wherein the parameters a, b and c can be determined according to the following equation:
a＝(y 2 -y 1 )*(z 3 -z 1 )-(y 3 -y 1 )*(z 2 -z 1 )
b＝(z 2 -z 1 )*(x 3 -x 1 )-(z 3 -z 1 )*(x 2 -x 1 )
c＝(x 2 -x 1 )*(y 3 -y 1 )-(x 3 -x 1 )*(y 2 -y 1 )
the moxibustion control equipment brings the coordinate information of the three light spots A, B and C into the formula to obtain the values of the parameters a, B and C, thereby determining the plane a (x-x) where the three light spots A, B and C are positioned 1 )+b(y-y 1 )+c(z-z 1 )＝0。
Finally, the moxibustion control device determines the rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot. The moxibustion control equipment is based on the plane a (x-x) corresponding to the positioning point 1 )+b(y-y 1 )+c(z-z 1 ) And =0, calculating a normal vector corresponding to the plane, wherein the solving process of the normal vector is as follows:
based on the coordinates A (x) of the light spots 1, y 1, z 1 )，B(x 2, y 2, z 2 )，C(x 3, y 3, z 3 ) To obtain vectors in two planes
will vector
And with
Substituting the value of (A) into a normal vector formula to obtain a normal vector.
The moxibustion control equipment enables the flange face of the sixth axis of the moxibustion manipulator to be perpendicular to the normal vector based on the normal vector and the plane corresponding to the flange face of the moxibustion manipulator, so that the angles (rx, ry and rz) of the moxibustion manipulator, which need to rotate around the x axis, the y axis and the z axis respectively, are determined, and the rotation angle information of the moxibustion manipulator is obtained.
In summary, the moxibustion control device acquires three-dimensional coordinate information (x, y, z) and rotation angle information (rx, ry, rz) of the moxibustion manipulator, that is, positioning information (x, y, z, rx, ry, rz) of the moxibustion manipulator.
And S102, controlling the moxibustion manipulator to move to a position corresponding to the positioning information based on the positioning information of the moxibustion manipulator.
The moxibustion control equipment controls the moxibustion manipulator to move to the position corresponding to the positioning information based on the positioning information (x, y, z, rx, ry, rz) of the moxibustion manipulator.
And S103, determining the motion state information of the moxibustion manipulator based on the moxibustion manipulation information.
After the moxibustion manipulator moves to the position corresponding to the positioning information, the moxibustion control device determines the motion state information of the moxibustion manipulator based on the moxibustion manipulation information. The moxibustion manipulation information is moxibustion manipulation information corresponding to the current acupuncture point selected by a moxibustion therapist on the control panel after the two-dimensional coordinate information of the current acupuncture point is collected, and the moxibustion manipulation information can be one manipulation or a combination of multiple manipulations. In the present embodiment, the moxibustion techniques collectively include 4 and any combination of 4 moxibustion techniques. In addition, the moxibustion manipulation types can be increased according to the needs of users. The motion state information of the moxibustion manipulator is the motion state information corresponding to the moxibustion manipulation information, and the motion state information can be one motion state or the combination of multiple motion states.
Further, in order to determine the motion state information of the moxibustion manipulator more accurately based on the moxibustion technique information, S103 may include S1031a to S1034a, as shown in fig. 3, where S1031a to S1034a are specifically as follows:
s1031a: and determining the motion state information of the moxibustion manipulator as that the moxibustion manipulator is static based on the first moxibustion manipulation information.
The moxibustion control device determines the motion state information of the moxibustion manipulator to be static based on the first moxibustion manipulation information. Wherein the moxibustion manipulator is static, namely the moxibustion manipulator is static at the current position and keeps still.
S1032a: and when the current static time length information of the moxibustion manipulator is larger than the preset static time length information, determining whether the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information.
The moxibustion control device records a start rest time when determining that the movement state information of the moxibustion manipulator is that the moxibustion manipulator is at rest. And then, the moxibustion control equipment calculates the current rest time length of the moxibustion manipulator in real time, wherein the current rest time length is the difference between the current time and the start rest time. When the current static duration information of the moxibustion manipulator is larger than the preset static duration, the moxibustion control equipment determines whether the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information.
Or the moxibustion control device can record the distance information between the moxibustion manipulator and the acupuncture point measured by the laser distance sensor at the moment after controlling the moxibustion manipulator to move to the position corresponding to the positioning information, namely the set distance information. When the current static duration information of the moxibustion manipulator is larger than the preset static duration, the moxibustion control equipment measures the dynamic distance information between the moxibustion manipulator and the acupuncture point in real time according to the laser distance sensor and determines whether the dynamic distance information is equal to the set distance information.
And S1033a, when the current z-axis coordinate information of the moxibustion manipulator is not equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to adjust to the height corresponding to the z-axis coordinate information in the positioning information.
And the moxibustion control equipment controls the moxibustion manipulator to adjust to the height corresponding to the z-axis coordinate information in the positioning information when the current z-axis coordinate information of the moxibustion manipulator is not equal to the z-axis coordinate information in the positioning information.
And the moxibustion control equipment controls the moxibustion manipulator to adjust the height corresponding to the distance information collected by the laser distance sensor when the dynamic distance information is not equal to the set distance information.
S1034a, when the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the static moxibustion manipulator based on the first moxibustion manipulation information again.
And the moxibustion control device controls the moxibustion manipulator to determine the motion state information of the moxibustion manipulator to be static based on the first moxibustion manipulation information again when the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information, and controls the moxibustion manipulator to repeatedly execute S1032 a-S1034 a.
Further, in order to determine the movement state information of the moxibustion manipulator more accurately based on the moxibustion technique information, S103 may include S1031b to S1036b, as shown in fig. 4, where S1031b to S1036b are as follows:
s1031b, based on the second moxibustion manipulation information, determining the motion state information of the moxibustion manipulator as the preset distance of the movement of the moxibustion manipulator along the direction of a normal vector; the normal vector is a plane normal vector corresponding to a flange surface of the moxibustion manipulator, and the direction of the normal vector is a direction far away from moxibustion acupuncture points.
The moxibustion control device determines that the motion state information of the moxibustion manipulator is a preset distance for the moxibustion manipulator to move in the direction of the normal vector based on the second moxibustion manipulation information. The normal vector is a plane normal vector corresponding to a flange surface of the moxibustion manipulator, and the direction of the normal vector is a direction far away from moxibustion acupuncture points. Since the origin of the TCP coordinate of the control system of the moxibustion manipulator in this embodiment is at the center of the sixth flange surface of the moxibustion manipulator, the normal vector is the normal vector of the plane corresponding to the sixth flange surface of the moxibustion manipulator.
And S1032b, when the moxibustion manipulator reaches the position corresponding to the preset distance of the moxibustion manipulator moving along the direction of the normal vector, controlling the moxibustion manipulator to move along the direction of the normal vector in the reverse direction.
And the moxibustion control equipment acquires the current three-dimensional coordinate information of the moxibustion manipulator and calculates the distance between the current three-dimensional coordinate information and the three-dimensional coordinate information in the positioning information of the moxibustion manipulator in real time. For example: the current three-dimensional coordinate information is (x ', y', z '), the three-dimensional coordinate information in the positioning information of the moxibustion manipulator is (x, y, z), and the distance between the current three-dimensional coordinate information and the three-dimensional coordinate information in the positioning information of the moxibustion manipulator is (x', y ', z')
The moxibustion control equipment calculates the value of d in real time, and when the value of d is equal to a preset distance, the moxibustion manipulator is determined to reach the position corresponding to the fact that the moxibustion manipulator moves in the direction of the normal vector by the preset distance, and the moxibustion manipulator is controlled to move in the reverse direction of the normal vector.
S1033b: and when the current Z-axis coordinate information of the moxibustion manipulator is equal to the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be static.
The moxibustion control device controls the moxibustion manipulator to be stationary when the current Z-axis coordinate information of the moxibustion manipulator is equal to the Z-axis coordinate information in the positioning information. That is, the moxibustion control device controls the moxibustion manipulator to be stationary and to be kept still when determining that the moxibustion manipulator moves in the direction opposite to the normal vector to the height corresponding to the z-axis coordinate information in the positioning information.
S1034b, when the current Z-axis coordinate information of the moxibustion manipulator is smaller than the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be adjusted to the height corresponding to the Z-axis coordinate information in the positioning information and then to be static.
And the moxibustion control equipment controls the moxibustion manipulator to be static after being adjusted to the height corresponding to the Z-axis coordinate information in the positioning information when the current Z-axis coordinate information of the moxibustion manipulator is smaller than the Z-axis coordinate information in the positioning information. That is, when it is determined that the movement of the moxibustion manipulator in the direction opposite to the normal vector is smaller than the height corresponding to the z-axis coordinate information in the positioning information, the moxibustion control device controls the moxibustion manipulator to be adjusted to the height corresponding to the z-axis coordinate information in the positioning information and then to be stationary and to be kept still.
S1035b: and when the current static time of the moxibustion manipulator is greater than the preset static time information, controlling the manipulator to determine the motion state information of the moxibustion manipulator as the preset distance of the moxibustion manipulator moving along the direction of the normal vector based on the second moxibustion manipulation information.
And the moxibustion control equipment records the starting rest time when determining that the moxibustion manipulator moves to the height corresponding to the Z-axis coordinate information in the positioning information along the reverse direction of the normal vector direction. And then, the moxibustion control equipment calculates the current rest time length of the moxibustion manipulator in real time, wherein the current rest time length is the difference between the current time and the starting rest time. And when the current stationary time of the moxibustion manipulator is larger than the preset stationary time information, controlling the manipulator to determine the motion state information of the moxibustion manipulator as the preset distance of the moxibustion manipulator moving along the direction of the normal vector based on the second moxibustion manipulation information again, and controlling the moxibustion manipulator to repeatedly execute S1032 b-S1035 b.
S1036b: and when the current static time length information of the moxibustion manipulator is not more than the preset static time length information, controlling the moxibustion manipulator to continue to be static.
And when the current static time length information of the moxibustion manipulator is not more than the preset static time length information, the moxibustion control equipment controls the moxibustion manipulator to continue to be static and keep still.
Further, in order to determine the movement state information of the moxibustion manipulator based on the moxibustion technique information more accurately, S103 may include S1031c to S1034c, as shown in fig. 4, where S1031c to S1034c are specifically as follows:
s1031c, determining the motion state information of the moxibustion manipulator as the moxibustion manipulator moving along the circular track based on the third moxibustion manipulation information; and the circular track is a circular track in a plane corresponding to the flange surface of the moxibustion manipulator by taking the position corresponding to the positioning information as a circle center and the preset radius information as a radius.
The moxibustion control device determines the motion state information of the moxibustion manipulator as the moxibustion manipulator moving along the circular track based on the third moxibustion manipulation information. Since the TCP coordinate origin of the control system of the moxibustion manipulator in this embodiment is located at the center of the sixth flange surface of the moxibustion manipulator, the circular track is a circular track in a plane corresponding to the sixth flange surface of the moxibustion manipulator with the position corresponding to the positioning information as the center of a circle and the preset radius information as the radius.
Specifically, the moxibustion control device may select 4 points on the circular trajectory that the moxibustion robot needs to go through, for example: the moxibustion control device firstly controls the moxibustion manipulator to move to PCircle _ a, the point irradiated on the skin by the laser distance sensor in the moxibustion manipulator is the current acupoint, three-dimensional coordinate information and rotation angle information of the moxibustion manipulator are obtained based on the modes of the second step and the third step in S101, and the current height and rotation angle of the moxibustion manipulator are adjusted, wherein the specific modes are not repeated here. After the adjustment is completed, the moxibustion manipulator is controlled to move to PCircle _ b, PCircle _ c and PCircle _ d in sequence, and the movement along the circular track is completed. It is emphasized that, after moving to a point on the circular trajectory, the height and rotation angle of the moxibustion manipulator are adjusted based on the manner described in the second and third steps in S101, the dynamic distance information between the moxibustion manipulator and the acupoint is ensured to be equal to the safety distance information, and the moxibustion manipulator is aligned to the skin surface through the adjustment of the rotation angle. Compared with a common three-point walking method, the moxibustion manipulator can be controlled to move more accurately.
S1032c, acquiring radius change information; and the radius change information is radius information newly set by a user.
The moxibustion control device acquires the radius change information. And the radius change information is radius information newly set by a user.
And S1033c, changing the preset radius information into radius change information based on the radius change information.
And the moxibustion control equipment changes the preset radius information into the radius change information based on the radius change information. Since the preset radius information is changed, the circular track is also changed correspondingly, and the coordinates of 4 points required to be passed by the corresponding moxibustion manipulator are also changed.
S1034c, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the moxibustion manipulator moving along the circular track based on the third moxibustion manipulation information again.
The moxibustion control device controls the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the moxibustion manipulator moves along the circular trajectory based on the third moxibustion manipulation information again, i.e., controls the moxibustion manipulator to repeatedly perform S1031c to S1034c.
Further, in order to determine the movement state information of the moxibustion manipulator based on the moxibustion technique information more accurately, S103 may include S1031d to S1035d, as shown in fig. 4, where S1031d to S1035d are as follows:
s1031d: determining motion state information of the moxibustion manipulator as the moxibustion manipulator moves between positions corresponding to the preset position information based on fourth moxibustion manipulation information;
the moxibustion control device determines the motion state information of the moxibustion manipulator to be that the moxibustion manipulator moves between the positions corresponding to the preset position information based on the fourth moxibustion manipulation information. In this embodiment, the point that preset positional information corresponds is pointana and pointanb, and at the removal in-process, need constantly according to moxa-moxibustion manipulator's current x axle coordinate information and current y axle coordinate information, adjustment moxa-moxibustion manipulator's z axle coordinate information and rotation angle information. Therefore, the moxibustion control device needs to determine two-dimensional coordinate information in the moving process of the moxibustion manipulator, namely x-axis coordinate information and y-axis coordinate information of the moxibustion manipulator, based on the two-dimensional coordinate information (pointand.x, pointand.y), (pointand.x, pointand.y) of the pointand and the pointand.
S1032d: determining a moxibustion position information array of the moxibustion manipulator based on the preset position information and the preset step number information; the preset position information comprises first preset position information and second preset position information; the preset step number information is the step number of the moxibustion manipulator moving between the positions corresponding to the first preset position information and the second preset position information.
In this embodiment, the point corresponding to the first preset position is pointana, the point corresponding to the second preset position is PointB, the preset step number information is n, and the two-dimensional coordinate offset of each step of the moxibustion manipulator can be found according to the following formula as dx and dy:
then, moxibustion control is carried outAnd the control equipment obtains the moxibustion position information array of the moxibustion manipulator based on the two-dimensional coordinate offsets dx and dy of each step. The moxibustion position information array comprises two-dimensional coordinate information of each step of the moxibustion manipulator, namely the two-dimensional coordinates of all passing points in the process that the moxibustion manipulator moves from PointA to PointB, and the two-dimensional coordinates of all passing points are sequentially arranged according to a passing sequence. The moxibustion position information array can be expressed by { (x) 1 ,y 1 )，(x 2 ,y 2 )，(x 3 ,y 3 )…，(x n ,y n ) Element (x) in the moxibustion position information array n ,y n ) The calculation formula of (c) is as follows:
x n ＝PoinA.x+(n-1)*dx
y n ＝PoinA.y+(n-1)*dy
s1033d: and controlling the moxibustion manipulator to move along the track formed by the moxibustion position information in the moxibustion position information array in sequence based on the moxibustion position information array.
The moxibustion control equipment controls the moxibustion manipulator to move along the track formed by the moxibustion position information in the moxibustion position information array according to the sequence based on the moxibustion position information array. Specifically, the moxibustion control device determines two-dimensional coordinate information of a next point of the moxibustion manipulator based on the moxibustion position information array, controls the moxibustion manipulator to move to a position above a point corresponding to the two-dimensional coordinate information, at the moment, a point irradiated on skin by a laser distance sensor in the moxibustion manipulator is a current acupoint position, finally obtains three-dimensional coordinate information and rotation angle information of the moxibustion manipulator based on the modes of the second step and the third step in S101, adjusts the height and rotation angle of the moxibustion manipulator, and does not repeat the specific mode, and then continues to obtain the two-dimensional coordinate information of the next point in the moxibustion position information array. It is emphasized that, after each movement of the moxibustion manipulator to a point on the trajectory, the height and rotation angle of the moxibustion manipulator are adjusted based on the manner described in the second and third steps in S101, so as to ensure that the dynamic distance information between the moxibustion manipulator and the acupoint is equal to the safety distance information, and the moxibustion manipulator is aligned to the skin surface through the adjustment of the rotation angle.
S1034d: and when the current step information of the moxibustion manipulator is not less than the preset step information, performing zero-returning processing on the current step information, and controlling the moxibustion manipulator to reversely move along the track formed by the moxibustion position information in sequence.
When moxa-moxibustion manipulator's current step information is not less than predetermineeing step information, moxa-moxibustion controlgear has controlled moxa-moxibustion manipulator to remove to the PointB from PointA, this moment, right current step information is zero treatment, controls moxa-moxibustion manipulator again along the orbit reverse movement that moxa-moxibustion positional information formed according to the preface.
S1035d: when the current step number information of the moxibustion manipulator is not less than the preset step number information, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator to be that the moxibustion manipulator moves between the positions corresponding to the preset position information based on the fourth moxibustion manipulation information.
And the moxibustion control equipment controls the moxibustion manipulator to move back to the PointA from the PointB when the current step number information of the moxibustion manipulator is not less than the preset step number information. At this time, the moxibustion control device controls the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the moxibustion manipulator moves between the positions corresponding to the preset position information based on the fourth moxibustion manipulation information again, and controls the moxibustion manipulator to repeatedly execute S1032 d-S1035 d.
And S104, controlling the moxibustion manipulator to perform moxibustion based on the motion state information.
And the moxibustion control equipment controls the moxibustion manipulator to perform moxibustion based on the motion state information.
S105: and acquiring the total moxibustion duration and the dusting interval duration of the moxibustion manipulator.
The moxibustion control equipment controls the moxibustion manipulator to perform moxibustion when determining the motion state information of the moxibustion manipulator and simultaneously records the starting moxibustion time. And then, the moxibustion control equipment calculates the total moxibustion time length and the dusting interval time length of the moxibustion manipulator in real time, wherein the total moxibustion time length and the dusting interval time length are the difference value obtained by subtracting the starting moxibustion time from the current time.
S106: when the moxa-moxibustion total duration of moxa-moxibustion manipulator is greater than the total duration of preset moxa-moxibustion, control moxa-moxibustion manipulator stops the moxa-moxibustion.
And the moxibustion control equipment is used for controlling the moxibustion manipulator to stop moxibustion when the total moxibustion duration of the moxibustion manipulator is greater than the preset total moxibustion duration. Because moxibustion manipulator can circulate and carry out the moxa-moxibustion based on motion state information, therefore, moxibustion control equipment works as when the moxa-moxibustion total duration of moxibustion manipulator is greater than when presetting the moxa-moxibustion total duration, need control moxa-moxibustion machinery to end current circulation, stop the moxa-moxibustion.
S107: and when the dusting interval duration of the moxibustion manipulator is longer than the preset dusting interval duration, controlling the moxibustion manipulator to perform dusting.
And the moxibustion control equipment controls the moxibustion manipulator to perform dusting when the dusting interval duration of the moxibustion manipulator is longer than the preset dusting interval duration. Because the moxibustion manipulator can circularly perform moxibustion based on the motion state information, when the dusting interval duration of the moxibustion manipulator is longer than the preset dusting interval duration, the moxibustion control device needs to control the moxibustion manipulator to finish the current circulation, perform dusting and measure the length of a moxa stick. After dusting is finished, the movement state information of the moxibustion manipulator is determined based on the moxibustion manipulation information.
In addition, in this embodiment, the motion state information may be one motion state or a combination of multiple motion states, or may be other user-defined motion states. When the motion state information is the combination of multiple motion states, the corresponding moxibustion duration needs to be set for each motion state, so that the moxibustion manipulator can be controlled to finish the current cycle, and the manipulator is controlled to perform moxibustion based on the next motion state in the motion state information.
Claims (10)
1. A control method of a moxibustion manipulator is characterized by comprising the following steps:
acquiring positioning information and moxibustion manipulation information of a moxibustion manipulator; the positioning information of the moxibustion manipulator comprises three-dimensional coordinate information of the moxibustion manipulator, and the three-dimensional coordinate information of the moxibustion manipulator is determined according to the acupuncture point position information and the safety distance information;
acquiring three-dimensional coordinate information of a light spot, and determining a plane corresponding to the light spot based on the three-dimensional coordinate information of the light spot; wherein, the light spot is formed by the light source irradiating on the human body in the moxibustion manipulator; the number of the light spots is at least three;
determining rotation angle information of the moxibustion manipulator based on the plane corresponding to the light spot;
controlling the moxibustion manipulator to move to a position corresponding to the positioning information based on the positioning information and the rotation angle information of the moxibustion manipulator;
determining motion state information of the moxibustion manipulator based on the moxibustion manipulation information; the motion state information comprises that the moxibustion manipulator is static, the moxibustion manipulator moves a preset distance along a normal vector direction, the moxibustion manipulator moves along a circular track, and the moxibustion manipulator moves between positions corresponding to preset position information;
and controlling the moxibustion manipulator to move based on the motion state information.
2. The method for controlling a moxibustion manipulator according to claim 1, wherein the determining the movement state information of the moxibustion manipulator based on the moxibustion technique information comprises:
and determining the motion state information of the moxibustion manipulator as that the moxibustion manipulator is static based on the first moxibustion manipulation information.
3. The method of controlling a moxibustion manipulator according to claim 2, wherein the determining the motion state information of the moxibustion manipulator based on the first moxibustion technique information as the moxibustion manipulator is stationary further comprises:
when the current static duration information of the moxibustion manipulator is larger than the preset static duration information, determining whether the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information;
when the current z-axis coordinate information of the moxibustion manipulator is not equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to adjust to the height corresponding to the z-axis coordinate information in the positioning information;
and when the current z-axis coordinate information of the moxibustion manipulator is equal to the z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the static state of the moxibustion manipulator based on the first moxibustion manipulation information again.
4. The method of controlling a moxibustion manipulator according to claim 1, wherein the determining the motion state information of the moxibustion manipulator based on the moxibustion manipulation information comprises:
determining motion state information of the moxibustion manipulator as a preset distance of movement of the moxibustion manipulator along a direction of a normal vector based on second moxibustion manipulation information; the normal vector is a plane normal vector corresponding to a flange surface of the moxibustion manipulator, and the direction of the normal vector is a direction far away from moxibustion acupuncture points;
when the moxibustion manipulator reaches a position corresponding to the movement of the moxibustion manipulator along the direction of a normal vector by a preset distance, controlling the moxibustion manipulator to move along the direction of the normal vector in the reverse direction;
when the current Z-axis coordinate information of the moxibustion manipulator is equal to the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be static;
and when the current Z-axis coordinate information of the moxibustion manipulator is smaller than the Z-axis coordinate information in the positioning information, controlling the moxibustion manipulator to be adjusted to a height corresponding to the Z-axis coordinate information in the positioning information and then to be static.
5. The method of controlling a moxibustion manipulator according to claim 4, wherein when the current Z-axis coordinate information of the moxibustion manipulator is not larger than the Z-axis coordinate information in the positioning information, after controlling the moxibustion manipulator to be stationary, further comprising:
when the current static time of the moxibustion manipulator is larger than the preset static time information, controlling the manipulator to determine the motion state information of the moxibustion manipulator as the preset distance of the moxibustion manipulator moving along the direction of a normal vector based on the second moxibustion manipulation information;
and when the current static time length information of the moxibustion manipulator is not more than the preset static time length information, controlling the moxibustion manipulator to continue to be static.
6. The method of controlling a moxibustion manipulator according to claim 1, wherein the determining the motion state information of the moxibustion manipulator based on the moxibustion manipulation information comprises:
determining motion state information of the moxibustion manipulator as the moxibustion manipulator moves along the circular track based on third moxibustion manipulation information; and the circular track is a circular track in a plane corresponding to the flange surface of the moxibustion manipulator by taking the position corresponding to the positioning information as the center of a circle and taking the preset radius information as the radius.
7. The method of controlling a moxibustion manipulator according to claim 6, wherein the determining the motion state information of the moxibustion manipulator based on the third moxibustion manipulation information is after the moxibustion manipulator moves along the circular trajectory, further comprises:
acquiring radius change information; the radius change information is radius information newly set by a user;
changing the preset radius information into radius change information based on the radius change information;
and controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator as the moxibustion manipulator moves along the circular track based on the third moxibustion manipulation information again.
8. The method of controlling a moxibustion manipulator according to claim 1, wherein the determining the motion state information of the moxibustion manipulator based on the moxibustion manipulation information comprises:
determining motion state information of the moxibustion manipulator as the moxibustion manipulator moves between positions corresponding to the preset position information based on fourth moxibustion manipulation information;
determining a moxibustion position information array of the moxibustion manipulator based on the preset position information and the preset step number information; the preset position information comprises first preset position information and second preset position information; the preset step information is the step number of the moxibustion manipulator moving between the positions corresponding to the first preset position information and the second preset position information;
controlling the moxibustion manipulator to move along a track formed by moxibustion position information in the moxibustion position information array in sequence based on the moxibustion position information array;
and when the current step information of the moxibustion manipulator is not less than the preset step information, performing zero-returning processing on the current step information, and controlling the moxibustion manipulator to reversely move along the track formed by the moxibustion position information in sequence.
9. The method of controlling a moxibustion manipulator according to claim 8, wherein the step number information is reset to zero when the current step number information of the moxibustion manipulator is not less than the preset step number information, and the moxibustion manipulator is controlled to move in a reverse direction along a trajectory formed by the moxibustion position information in sequence, and the method further comprises:
when the current step number information of the moxibustion manipulator is not less than the preset step number information, controlling the moxibustion manipulator to determine the motion state information of the moxibustion manipulator to be that the moxibustion manipulator moves between the positions corresponding to the preset position information based on the fourth moxibustion manipulation information.
10. The method for controlling a moxibustion manipulator according to any one of claims 1-8, further comprising;
acquiring the total moxibustion duration and the dusting interval duration of the moxibustion manipulator;
when the moxibustion total duration of the moxibustion manipulator is greater than the preset moxibustion total duration, controlling the moxibustion manipulator to stop moxibustion;
and when the dusting interval duration of the moxibustion manipulator is longer than the preset dusting interval duration, controlling the moxibustion manipulator to perform dusting.
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