CN112618346A - Moxibustion robot motion control method based on multi-sensor perception - Google Patents
Moxibustion robot motion control method based on multi-sensor perception Download PDFInfo
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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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- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
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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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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
- A61H2201/5058—Sensors or detectors
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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
- A61H2201/5058—Sensors or detectors
- A61H2201/5082—Temperature sensors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a moxibustion robot motion control method based on multi-sensor perception, which adopts a joint robot, wherein the joint robot is provided with an execution tail end and a robot controller, and the execution tail end is provided with a temperature sensor and a plurality of distance sensors. The moxibustion head is installed on the execution tail end, the robot controller is used for receiving the numerical values of the distance sensor and the temperature sensor to adjust the position and the posture of the moxibustion head, the position and the posture of the execution tail end are substantially adjusted, a static accurate human body surface curved surface model is established through the movement of a manipulation track, and dynamic real-time position compensation is carried out on error numerical values based on the distance sensor and the temperature sensor, namely, the static modeling and the dynamic real-time compensation act together, so that the moxibustion head can keep a constant distance on the human body surface to move, and the central axis of the moxibustion head is kept to be coincided with the normal line of the human body curved surface.
Description
Technical Field
The invention relates to a motion control method of a moxibustion robot, in particular to a motion control method of a moxibustion robot based on multi-sensor perception.
Background
At present, the research of using the robot to assist doctors to carry out moxibustion treatment is gradually rising, because the body surface of a human body is a curved surface, the distance between moxa sticks and the body surface of the human body and the posture influence the effect of moxibustion, so when moxibustion treatment is carried out, the moxibustion robot needs to adjust the posture and the position constantly according to the change of the curved surface of the body surface of the human body and the change of the temperature of moxibustion treatment acupuncture points, for example, a four-degree-of-freedom moxibustion auxiliary mechanical arm is disclosed in patent No. CN 107791281A, the mechanical arm searches acupuncture points based on a visual method, and the acupuncture point searching range is wide. For example, patent No. CN109620712A discloses a moxibustion robot, which can simulate various manual moxibustion techniques and control the robot to adjust along with the skin temperature of the moxibustion part and the change of the curved surface of the body surface during the movement. For example, patent No. CN 109718092a discloses a moxibustion system and method based on an articulated robot, which integrates a distance sensor, a temperature sensor, a vision sensor and the like, and can control the robot to clamp moxa sticks for moxibustion. During moxibustion, the robot can be adjusted according to the change of the position and the posture of the human body, and the moxibustion effect is ensured. However, although there is a description in the published patent about controlling the robot to make an adjustment according to a change in the position and posture of the human body, a control method thereof is not described in detail.
Disclosure of Invention
The invention aims to provide a moxibustion robot motion control method based on multi-sensor perception, which aims to solve one or more technical problems in the prior art and at least provide a beneficial selection or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
a moxibustion robot motion control method based on multi-sensor perception adopts a joint robot, the joint robot is provided with an execution tail end and a robot controller, the execution tail end is provided with a temperature sensor and a plurality of distance sensors, and the moxibustion robot motion control method specifically comprises the following steps:
the method comprises the following steps: static modeling, namely controlling the execution tail end of the joint robot to execute the motion of any manipulation track above the surface of a human body, simultaneously scanning the surface of the human body by a plurality of distance sensors, measuring the distance value between the execution tail end and the body surface of the human body, and fitting a static curved surface model of the body surface by a robot controller according to the distance value acquired by the distance sensors and generating an active motion track program of the execution tail end;
step two: the moxibustion head is arranged on the execution tail end, and the robot controller controls the execution tail end on the joint robot to move according to the active movement track program;
step three: dynamic real-time compensation, namely measuring the distance value between the execution tail end and the body surface of a human body in real time by a plurality of distance sensors, and calculating the error delta Eh between the measured value and the set moxibustion application height value; the temperature sensor monitors the temperature of acupuncture points on the body surface of a human body in real time, the error delta Et between a measured value and a set moxibustion application temperature value is calculated, and the robot controller adopts a closed-loop control algorithm to fit a follow-up motion track of an execution tail end;
step four: the robot controller fits the active motion track and the follow-up motion track together by adopting a polynomial, and finally forms a superimposed motion track of the execution tail end.
The invention has the beneficial effects that: when the moxibustion head is used, the moxibustion head is arranged on the execution tail end, the robot controller is used for receiving the numerical values of the distance sensor and the temperature sensor to adjust the position and the posture of the moxibustion head, the position and the posture of the execution tail end are substantially adjusted, a static accurate human body surface curved surface model is established through the movement of a manipulation track, and dynamic real-time position compensation is carried out on the error numerical values based on the distance sensor and the temperature sensor, namely, the static modeling and the dynamic real-time compensation act together, so that the moxibustion head can keep a constant distance on the human body surface to move, and the central axis of the moxibustion head and the normal line of the human body curved surface are kept to coincide.
As a further improvement of the above technical solution, in the first step, the execution end of the joint robot circularly executes the trajectory movement of the manipulation a plurality of times.
As a further improvement of the above technical solution, in the first step and the third step, a specific method for measuring the distance value between the tip and the body surface of the human body is performed as follows: the number of the distance sensors is four, the four distance sensors are symmetrically arranged on the same plane of the execution tail end in a cross manner, the four distance sensors comprise a first distance sensor and a third distance sensor which are oppositely arranged, and a second distance sensor and a fourth distance sensor which are oppositely arranged, the first distance sensor, the second distance sensor, the third distance sensor and the fourth distance sensor respectively acquire distance data d1, d2, d3 and d4, a plane formed by the axes of the first distance sensor and the third distance sensor is superposed with a plane located at an angle B of the joint robot, a plane formed by the axes of the second distance sensor and the fourth distance sensor is superposed with a plane located at an angle C of the joint robot, the distance between the first distance sensor and the third distance sensor and the distance between the second distance sensor and the fourth distance sensor are both L, using the trigonometric cotangent formula: the tan θ is (d3-d1)/L, the B angle compensation value θ of the posture of the joint robot can be calculated, the C angle compensation value α of the posture of the joint robot can be calculated by using d2, d4 and L, and the actual height value of the currently executed tip (namely, the distance value between the executed tip and the body surface of the human body) can be obtained by using the values of d1, d2, d3, d4, θ and α and combining the formula derived by a trigonometric function:
H＝(d1+d2+d3+d4)/4)*COS(ATAN(SQRT(TAN(90-θ)*TAN(90-θ)+TAN(90-α)*TAN(90-α)))*π/180)。
as a further improvement of the above technical solution, in the step one, a plurality of sets of actual height values H measured and calculated by a plurality of distance sensors are fitted into a curve by the robot controller, and a spline curve interpolation mode is adopted to continuously perform fitting optimization to obtain a curve model of the human body surface.
As a further improvement of the above technical solution, in the first step, an active motion trajectory of the execution end is generated by means of cubic spline interpolation, and the active motion trajectory is smoothed to obtain a static curved surface model of the body surface of the human body and an active motion program of the joint robot.
As a further improvement of the above technical solution, in step three, the distance sensor subtracts a set distance value Hset from an actual distance value H obtained by measurement and calculation to obtain a distance compensation value Δ Eh, that is, H-Hset ═ Δ Eh; the joint robot controller calculates Δ Eh, θ, α in real time, and performs real-time position compensation according to the values.
As a further improvement of the above technical solution, a torque sensor is installed at the execution end, and the torque sensor is used for monitoring whether the execution end collides with an obstacle.
Drawings
The invention is further described with reference to the accompanying drawings and examples;
FIG. 1 is a schematic view of an articulated robot according to an embodiment of the present invention in use;
FIG. 2 is a schematic view of a plurality of distance sensors according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a plurality of distance values H fitted to a curve in accordance with the present invention;
FIG. 4 is a flow chart of the present invention in building a static surface model;
FIG. 5 is a schematic diagram of the dynamic real-time compensation implementation of the present invention for tip position;
FIG. 6 is a schematic diagram of the distance closed loop control of the present invention;
FIG. 7 is a schematic diagram of attitude angle closed loop control of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 7, the moxibustion robot motion control method based on multi-sensor perception of the invention comprises the following steps:
the moxibustion robot motion control method based on multi-sensor perception of the embodiment adopts an articulated robot 100, and specifically, as shown in fig. 1, the embodiment is a 6-articulated robot. The joint robot 100 is provided with an execution terminal and a robot controller, the execution terminal is provided with a temperature sensor 600 and a plurality of distance sensors, the temperature sensor 600 and the distance sensors are in signal connection with the robot controller, the temperature sensor 600 is used for measuring the temperature of acupuncture points on the body surface of a human body in real time, specifically, the number of the distance sensors is not less than 4, the number of the distance sensors of the embodiment is four, the four distance sensors are symmetrically arranged on the same plane of the execution terminal in a cross manner, the four distance sensors comprise a first distance sensor 200 and a third distance sensor 300 which are oppositely arranged, a second distance sensor 400 and a fourth distance sensor 500 which are oppositely arranged, the distance between the first distance sensor 200 and the third distance sensor 300 and the distance between the second distance sensor 400 and the fourth distance sensor 500 are both L, the temperature sensor 600 is arranged at the center of the execution tail end, and the execution tail end is used for clamping the moxibustion head.
The moxibustion robot motion control method based on multi-sensor perception of the embodiment specifically comprises the following steps:
the method comprises the following steps: static modeling, controlling the execution tail end of the joint robot 100 to execute the motion of any manipulation track above the surface of a human body, simultaneously scanning the surface of the human body by a plurality of distance sensors, measuring the distance value between the execution tail end and the surface of the human body, fitting a static curved surface model of the surface of the human body by a robot controller according to the distance value acquired by the distance sensors and generating an active motion track program of the execution tail end, wherein the execution tail end of the joint robot 100 circularly executes the manipulation track motion for a plurality of times and continuously optimizes the curved surface model;
step two: according to the active motion trajectory program, the robot controller controls the execution tip motion on the articulated robot 100;
step three: dynamic real-time compensation, namely measuring the distance value between the execution tail end and the body surface of a human body in real time by a plurality of distance sensors, and calculating the error delta Eh between the measured value and the set moxibustion application height value; the temperature sensor 600 monitors the temperature of the acupuncture points on the body surface of the human body in real time, and calculates the error delta Et between the measured value and the set moxibustion application temperature value, as shown in FIG. 5, the robot controller adopts a closed-loop control algorithm to fit the follow-up motion track of the execution tail end;
step four: the robot controller fits the active motion track and the follow-up motion track together by adopting a polynomial, finally forms a superimposed motion track of the execution tail end, and ensures the continuity and smoothness of the tracks.
Further, in the first step and the third step, a specific measurement method of the distance value between the tip and the body surface of the human body is performed as follows: the first distance sensor 200, the second distance sensor 400, the third distance sensor 300 and the fourth distance sensor 500 respectively acquire distance data d1, d2, d3 and d4, a plane formed by axes of the first distance sensor 200 and the third distance sensor 300 is overlapped with a plane located at an angle B of the joint robot 100, a plane formed by axes of the second distance sensor 400 and the fourth distance sensor 500 is overlapped with a plane located at an angle C of the joint robot 100, and according to the trigonometric function theorem, the length of two sides in a triangle is required to be known in angle calculation, so when the change angle of the posture angle B plane or the posture angle C of the robot is sensed by a normal line of a curved surface of a human body, the corresponding angle can be calculated by using distance values acquired by a pair of distance sensors. Therefore, a plurality of distance sensors are needed to accurately sense and calculate the change of the angle of the curved surface, and since the central axis of the moxibustion head needs to be kept coincident with the normal of the curved surface of the human body, the posture of the robot 100 needs to be controlled by joints, and a trigonometric cotangent formula is used: the B angle compensation value θ of the attitude of the articulated robot 100 can be calculated by (d3-d1)/L, and the C angle compensation value α of the attitude of the articulated robot 100 can be calculated by using d2, d4 and L in the same manner.
And using the values of d1, d2, d3, d4, theta and alpha, and combining a formula derived by a trigonometric function to obtain an actual height value of the current performing tip (namely, a distance value between the performing tip and the body surface of the human body):
H＝(d1+d2+d3+d4)/4)*COS(ATAN(SQRT(TAN(90-θ)*TAN(90-θ)+TAN(90-α)*TAN(90-α)))*π/180)。
during static modeling in the first step, multiple groups of actual height values H measured and calculated by the multiple distance sensors are fitted into a curve by the robot controller, and a curve model of the human body surface is obtained by continuously fitting and optimizing the height values H in a spline curve interpolation mode.
And generating an active motion track of the execution tail end by adopting a cubic spline curve interpolation mode, and smoothing the active motion track to obtain a static curved surface model of the human body surface and an active motion program of the joint robot 100.
As shown in fig. 6 and 7, in step three, the distance sensor measures and calculates an actual distance value H minus a set distance value Hset to obtain a distance compensation value Δ Eh, i.e., H-Hset ═ Δ Eh; the controller of the articulated robot 100 calculates Δ Eh, θ, α in real time, and performs real-time position compensation according to the values.
And a torque sensor is arranged at the execution tail end and used for monitoring whether the execution tail end collides with an obstacle or not.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (7)
1. A moxibustion robot motion control method based on multi-sensor perception is characterized in that:
the moxibustion robot motion control method adopts a joint robot (100), wherein the joint robot (100) is provided with an execution tail end and a robot controller, the execution tail end is provided with a temperature sensor (600) and a plurality of distance sensors, and the moxibustion robot motion control method specifically comprises the following steps:
the method comprises the following steps: static modeling, wherein the execution tail end of the joint robot (100) is controlled to execute the motion of any manipulation track above the surface of a human body, meanwhile, a plurality of distance sensors scan the surface of the human body, the distance value between the execution tail end and the body surface of the human body is measured, and a robot controller fits a static curved surface model of the body surface according to the distance value collected by the distance sensors and generates an active motion track program of the execution tail end;
step two: the moxibustion head is arranged on the execution tail end, and the robot controller controls the execution tail end on the joint robot (100) to move according to the active movement track program;
step three: dynamic real-time compensation, namely measuring the distance value between the execution tail end and the body surface of a human body in real time by a plurality of distance sensors, and calculating the error delta Eh between the measured value and the set moxibustion application height value; the temperature sensor (600) monitors the temperature of acupuncture points on the body surface of a human body in real time, the error delta Et between the measured value and the set moxibustion application temperature value is calculated, and the robot controller adopts a closed-loop control algorithm to fit a follow-up motion track of the execution tail end;
step four: the robot controller fits the active motion track and the follow-up motion track together by adopting a polynomial, and finally forms a superimposed motion track of the execution tail end.
2. The moxibustion robot motion control method based on multi-sensor perception according to claim 1, characterized in that:
in the first step, the execution end of the joint robot (100) executes a manipulation trajectory movement in a cyclic manner a plurality of times.
3. The moxibustion robot motion control method based on multi-sensor perception according to claim 1, characterized in that:
in the first step and the third step, the specific measurement method for the distance value between the tail end and the body surface of the human body is implemented as follows: the number of the distance sensors is four, the four distance sensors are symmetrically arranged on the same plane of the execution tail end in a cross manner, the four distance sensors comprise a first distance sensor (200) and a third distance sensor (300) which are oppositely arranged, and a second distance sensor (400) and a fourth distance sensor (500) which are oppositely arranged, the first distance sensor (200), the second distance sensor (400), the third distance sensor (300) and the fourth distance sensor (500) respectively acquire distance data d1, d2, d3 and d4, a plane formed by the axes of the first distance sensor (200) and the third distance sensor (300) is superposed with a plane located by the B angle of the joint robot (100), wherein a plane formed by the axes of the second distance sensor (400) and the fourth distance sensor (500) is superposed with a plane located by the C angle of the joint robot (100), the distance between the first distance sensor (200) and the third distance sensor (300) and the distance between the second distance sensor (400) and the fourth distance sensor (500) are both L, and a trigonometric cotangent formula is used: the tan theta is (d3-d1)/L, a B angle compensation value theta of the posture of the joint robot (100) can be calculated, a C angle compensation value alpha of the posture of the joint robot (100) can be calculated by using d2, d4 and L in the same way, and an actual height value of the current execution tail end (namely, a distance value between the execution tail end and the body surface of the human body) can be obtained by combining a formula derived by a trigonometric function by using values of d1, d2, d3, d4, theta and alpha):
H＝(d1+d2+d3+d4)/4)*COS(ATAN(SQRT(TAN(90-θ)*TAN(90-θ)+TAN(90-α)*TAN(90-α)))*π/180)。
4. the moxibustion robot motion control method based on multi-sensor perception according to claim 3, characterized in that:
in the first step, multiple groups of actual height values H are measured and calculated by multiple distance sensors, the robot controller fits the multiple groups of height values H into a curve, and a spline curve interpolation mode is adopted to continuously fit and optimize, so that a curve model of the human body surface is obtained.
5. The moxibustion robot motion control method based on multi-sensor perception according to claim 4, characterized in that:
in the first step, an active motion track of the execution tail end is generated by adopting a cubic spline curve interpolation mode, and the active motion track is subjected to smoothing processing to obtain a static curved surface model of the human body surface and an active motion program of the joint robot (100).
6. The moxibustion robot motion control method based on multi-sensor perception according to claim 3, characterized in that:
in the third step, the distance sensor subtracts the set distance value Hset from the actual distance value H obtained by measurement and calculation to obtain a distance compensation value delta Eh, namely H-Hset equals delta Eh; the controller of the articulated robot (100) calculates Δ Eh, θ, α in real time, and performs real-time position compensation based on the calculated values.
7. The moxibustion robot motion control method based on multi-sensor perception according to claim 1, characterized in that:
and a torque sensor is arranged at the execution tail end and used for monitoring whether the execution tail end collides with an obstacle or not.
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Denomination of invention: A motion control method of moxibustion robot based on multi-sensor perception Effective date of registration: 20221226 Granted publication date: 20220520 Pledgee: Foshan Branch of Dah Sing Bank (China) Co.,Ltd. Pledgor: Foshan guanwan Intelligent Technology Co.,Ltd. Registration number: Y2022980029017 |
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