CN113907830A - Polishing control method and device, electronic equipment and storage medium - Google Patents

Polishing control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113907830A
CN113907830A CN202111192121.7A CN202111192121A CN113907830A CN 113907830 A CN113907830 A CN 113907830A CN 202111192121 A CN202111192121 A CN 202111192121A CN 113907830 A CN113907830 A CN 113907830A
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coordinate system
robot
matrix
mechanical arm
determining
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CN113907830B (en
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黄志俊
钱坤
刘金勇
柏健
吴雨
朱自然
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Lancet Robotics Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • 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
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The application provides a polishing control method and device, electronic equipment and a storage medium, and relates to the technical field of control. Firstly, carrying out coordinate system registration on a robot and a mechanical arm, acquiring a first coordinate system transformation matrix, then carrying out coordinate system registration on the robot and a camera device, acquiring a second coordinate system transformation matrix, then determining a target axis attitude matrix under the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and a preset attitude matrix under the camera device coordinate system, finally determining an Euler angle under the mechanical arm coordinate system by utilizing the target axis attitude matrix under the robot coordinate system, and controlling the grinding direction and the grinding depth of the mechanical arm according to the Euler angle. The application has the advantage of reducing the workload of surgical personnel.

Description

Polishing control method and device, electronic equipment and storage medium
Technical Field
The application relates to the technical field of control, in particular to a polishing control method and device, electronic equipment and a storage medium.
Background
At present, in the process of hip joint polishing operation, an operator knows the condition of a patient through a CT (computed tomography) film, and only through the operation experience of the operator, the polishing angle and depth in the operation are judged, so that uncertainty is brought to the operation result.
The existing surgical robot on the market registers the affected part of a patient through a CT (computed tomography) film of the patient, and after the registration is completed, the surgical personnel polishes along the direction set by the mechanical arm, or polishes according to the path and the range set by the mechanical arm, so that the workload of the surgical personnel is large.
In conclusion, the problem of large workload of operating personnel exists in the prior art.
Disclosure of Invention
The application aims to provide a polishing control method and device, electronic equipment and a storage medium, so as to solve the problem that the workload of an operator is large in the prior art.
In order to solve the above problem, in one aspect, an embodiment of the present application provides a polishing control method applied to a robot of a polishing system, where the polishing system further includes a mechanical arm and a camera device, and the method includes:
registering the coordinate systems of the robot and the mechanical arm, and acquiring a first coordinate system transformation matrix;
registering the coordinate systems of the robot and the camera device, and acquiring a second coordinate system transformation matrix;
determining a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and a preset attitude matrix in the camera device coordinate system;
and determining an Euler angle under the coordinate system of the mechanical arm by using a target axis attitude matrix under the coordinate system of the robot, and controlling the mechanical arm to polish according to the Euler angle.
Optionally, after the step of controlling the mechanical arm to grind according to the euler angle, the method further comprises:
determining whether the mechanical arm exceeds a boundary area according to the coordinates of the preset position and the current position on the target shaft;
and if so, controlling the mechanical arm to stop working.
Optionally, the step of determining whether the mechanical arm exceeds the boundary area according to the coordinates of the preset position and the current position on the target axis includes:
determining distance information between the current position and the preset position;
determining a first vector formed by the preset position and any point on the target axis and a second vector formed by the preset position and the current position;
determining a projection length of the second vector on the first vector;
determining a threshold distance according to the projection length;
determining that the mechanical arm exceeds a boundary area when the distance information is greater than the threshold distance.
Optionally, the step of determining a threshold distance according to the projection length includes:
when the projection length is larger than a first preset value, determining that the threshold distance is a first threshold distance;
when the projection length is smaller than a first preset value and larger than a second preset value, determining that the threshold distance is a second threshold distance;
and when the projection length is smaller than a second preset value, determining that the threshold distance is a third threshold distance.
Optionally, the robot includes a scanner, the scanner includes a first reflective ball, a second reflective ball, a third reflective ball, and a fourth reflective ball, and the step of registering the coordinate system of the robot and the mechanical arm and acquiring the first coordinate system transformation matrix includes:
registering according to the coordinate matrix determined by the first light reflecting ball and the coordinate matrix determined by the second light reflecting ball, and acquiring a first coordinate system transformation matrix;
and registering according to the coordinate matrix determined by the third light reflecting ball and the coordinate matrix determined by the fourth light reflecting ball, and acquiring a second coordinate system transformation matrix.
Optionally, the target axis attitude matrix in the robot coordinate system satisfies the formula:
RR＝RC*RN2P -1*RPN*RRN -1*RN2R -1
wherein R isRRepresenting the attitude matrix of the target axis in the robot coordinate system, RN2P -1Representing the inverse of the transformation matrix of the second coordinate system, RPNRepresenting a coordinate matrix defined by a third reflective sphere, RRN -1Representing the inverse of the coordinate matrix defined by the first reflector ball, RN2R -1An inverse matrix of the first coordinate system transformation matrix is represented.
In a second aspect, an embodiment of the present application further provides a polishing control device, which is applied to a robot of a polishing system, the polishing system further includes a mechanical arm and a camera device, and the polishing control device includes:
the registration unit is used for registering the coordinate systems of the robot and the mechanical arm and acquiring a first coordinate system transformation matrix;
the registration unit is further used for carrying out coordinate system registration on the robot and the camera device and acquiring a second coordinate system transformation matrix;
the matrix determining unit is used for determining a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and an attitude matrix in the preset camera device coordinate system;
and the control unit is used for determining an Euler angle under the mechanical arm coordinate system by utilizing a target axis attitude matrix under the robot coordinate system and controlling the mechanical arm to polish according to the Euler angle.
Optionally, the apparatus further comprises:
the judging unit is used for determining whether the mechanical arm exceeds the boundary area according to the preset position on the target shaft and the coordinates of the current position;
and the control unit is also used for controlling the mechanical arm to stop working when the mechanical arm is determined to exceed the boundary area.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a memory for storing one or more programs; a processor; the one or more programs, when executed by the processor, implement the sanding control method described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the polishing control method.
Compared with the prior art, the method has the following beneficial effects:
the embodiment of the application provides a polishing control method, a polishing control device, electronic equipment and a storage medium, wherein the polishing control method is applied to a robot of a polishing system, the polishing system further comprises a mechanical arm and a camera device, the robot and the mechanical arm are firstly subjected to coordinate system registration, a first coordinate system transformation matrix is obtained, then the robot and the camera device are subjected to coordinate system registration, a second coordinate system transformation matrix is obtained, then a target shaft attitude matrix under the robot coordinate system is determined according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and a preset attitude matrix under the camera device coordinate system, finally an Euler angle under the mechanical arm coordinate system is determined by utilizing the target shaft attitude matrix under the robot coordinate system, and the polishing direction and the polishing depth of the mechanical arm are controlled according to the Euler angle. Because this application can confirm the euler angle under the arm coordinate system through the mode that acquires the gesture matrix to this euler angle control arm's work afterwards, consequently, realized polishing of control arm, need not operating personnel and participated in, reduced operating personnel's work load.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic block diagram of an electronic device according to an embodiment of the present disclosure.
Fig. 2 is an exemplary flowchart of a grinding control method provided in an embodiment of the present application.
Fig. 3 is another exemplary flowchart of a sanding control method according to an embodiment of the present disclosure.
Fig. 4 is a flowchart of an exemplary sub-step of S110 in fig. 2 according to an embodiment of the present disclosure.
Fig. 5 is a schematic block diagram of a sanding control device according to an embodiment of the present disclosure.
In the figure:
100-an electronic device; 101-a processor; 102-a memory; 103-a communication interface; 200-a grinding control device; 210-a registration unit; 220-a matrix determination unit; 230-a control unit; 240-judging unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As described in the background art, currently, in the hip joint grinding operation process, the grinding result is generally influenced by the experience of the operator, due to the particularity of the shape of the acetabulum, any grinding in a set range by the operator in an unspecified direction during grinding may occur in the situation that some parts of the same patient are ground too deeply and some parts are not ground, so that the precision is not high, and the workload of the operator is increased.
In view of this, the embodiment of the application provides a polishing method, which achieves the polishing effect by using the euler angles in a manner of obtaining the euler angles under the mechanical arm coordinates, and reduces the workload of surgical staff without the operation of the surgical staff.
It should be noted that the polishing control method provided in the present application may be applied to an electronic device, such as a robot of a polishing system, and optionally, fig. 1 shows a schematic structural block diagram of the electronic device provided in an embodiment of the present application, where the electronic device 100 includes a memory 102, a processor 101, and a communication interface 103, and the memory 102, the processor 101, and the communication interface 103 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 102 may be used to store software programs and modules, such as program instructions or modules corresponding to the polishing control device 200 provided in the embodiment of the present application, and the processor 101 executes the software programs and modules stored in the memory 102 to execute various functional applications and data processing, thereby executing the steps of the positioning method provided in the embodiment of the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 102 may be, but is not limited to, a Random Access Memory (RAM) 102, a Read Only Memory (ROM) 102, a Programmable Read Only Memory (PROM) 102, an Erasable Read Only Memory (EPROM) 102, an Electrically Erasable Programmable Read Only Memory (EEPROM) 102, and the like.
The processor 101 may be an integrated circuit chip having signal processing capabilities. The Processor 101 may be a general-purpose Processor 101, including a Central Processing Unit (CPU) 101, a Network Processor 101 (NP), and the like; but may also be a Digital Signal processor 101 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that electronic device 100 may include more or fewer components than shown in FIG. 1 or have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The following is an exemplary description of the sanding control method provided in the present application:
as an implementation manner, referring to fig. 2, the polishing control method includes:
and S102, registering the coordinate systems of the robot and the mechanical arm, and acquiring a first coordinate system transformation matrix.
And S104, registering the coordinate systems of the robot and the camera device, and acquiring a second coordinate system transformation matrix.
And S106, determining a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, the preset coordinate matrix of the robot and the preset attitude matrix in the camera device coordinate system.
And S108, determining an Euler angle under the coordinate system of the mechanical arm by using the target axis attitude matrix under the coordinate system of the robot, and controlling the mechanical arm to polish according to the Euler angle.
Generally, the grinding system includes a mechanical arm and a camera device, each device operates based on its own established coordinate system, and therefore, the coordinate systems need to be registered, that is, the association relationship between the two coordinate systems is determined, so that the coordinates in one coordinate system can be converted into the coordinates in the other coordinate system.
As an implementation manner, the robot includes a scanner, the scanner includes a first reflective ball, a second reflective ball, a third reflective ball, and a fourth reflective ball, and the reflective balls are used to realize registration of the coordinate system.
The first light reflecting ball is a Robot light reflecting ball, the second light reflecting ball is a Tool light reflecting ball, the third light reflecting ball is a Pelvis light reflecting ball, and the second light reflecting ball is a Probe light reflecting ball. On the basis, the step of registering the coordinate systems of the robot and the mechanical arm and acquiring the first coordinate system transformation matrix comprises the following steps:
coordinate matrix R determined according to first reflective ballRNCoordinate matrix RT determined by second reflecting ballTNCarrying out registration in a manner of mechanical arm registration and obtaining a first coordinate system transformation matrix RN2R。
S104 comprises the following steps:
coordinate matrix R determined according to third reflective ballPNCoordinates determined with a fourth reflective sphereMatrix RTONAnd carrying out registration, wherein the registration mode is image registration, and acquiring a second coordinate system transformation matrix.
After the registration process is completed, the setting of the motion trajectory of the mechanical arm can be realized, and as an implementation manner, in S106, the target axis attitude matrix in the robot coordinate system satisfies the formula:
RR＝RC*RN2P -1*RPN*RRN -1*RN2R -1
wherein R isRRepresenting the attitude matrix of the target axis in the robot coordinate system, RCRepresenting a preset attitude matrix under a coordinate system of the camera device; rN2P -1Representing the inverse of the transformation matrix of the second coordinate system, RPNRepresenting a coordinate matrix defined by a third reflective sphere, RRN -1Representing the inverse of the coordinate matrix defined by the first reflector ball, RN2R -1An inverse matrix of the first coordinate system transformation matrix is represented.
In addition, R isCThe pose matrix of the prosthesis is planned under a camera coordinate system, wherein the camera coordinate system is an image coordinate system. It should be noted that the target axis in the present application is an AA axis of an acetabulum in a robot coordinate system, and the robot control robot arm works with the axis as a reference.
Obtaining a posture matrix R of an acetabulum AA shaft under a robot coordinate systemRThen, the Euler angle E under the mechanical arm coordinate system can be obtained according to the matrixR。
The euler angle is obtained according to the attitude matrix, which is the prior art, and can be obtained according to a conversion formula from the matrix to the parameters:
Figure BDA0003301587000000101
the parameters found from the matrix are:
x＝px
y＝py
z＝pz
Figure BDA0003301587000000102
rx＝a tan 2(s(rx)，c(rx))＝a tan 2(-ay/c(ry)，az/c(ry))
rz＝a tan 2(s(rz)，c(rz))＝a tan 2(-ox/c(ry)，nx/c(ry))
wherein x, y, z, ry, rx and rz are all relevant parameters of Euler angles, and on the basis, the attitude matrix R is used for solving the problem of the attitude matrix RRAfter the formula is introduced, the Euler angle can be obtained, and the mechanical arm can be controlled to polish, namely, the polishing direction and depth of the mechanical arm are controlled through relevant parameters of the Euler angle.
Through the implementation mode, when the product is used for hip joint polishing operation, after registration of a patient, the mechanical arm and the instrument is completed, the mechanical arm is dragged to the position near the affected part of the patient, a button of a software interface is clicked, and the mechanical arm can be positioned to an accurate angle;
after the mechanical arm is positioned, a polishing button is clicked, the mechanical arm moves along a preset track within a preset polishing range, a bone drill connected to a holder starts to work, and after a part needing polishing on the track is polished, the mechanical arm continues to move according to a preset path until polishing is completed.
In addition, in order to avoid the situation that the mechanical arm moves out of the preset path during the grinding process, which causes excessive grinding and the like, referring to fig. 3, after S108, the method further includes:
and S110, determining whether the mechanical arm exceeds a boundary area according to the preset position on the target shaft and the coordinates of the current position, if so, executing S112, and if not, controlling the mechanical arm to continue working until finishing polishing.
And S112, controlling the mechanical arm to stop working.
In this application promptly, when the condition outside the arm motion of appearing predetermineeing the route, then control mechanical arm stop work immediately to guarantee the accurate nature of polishing.
As an implementation manner, referring to fig. 4, S110 includes:
s1101, determining distance information between the current position and a preset position.
S1102, determining a first vector formed by the preset position and any point on the target axis and a second vector formed by the preset position and the current position.
And S1103, determining the projection length of the second vector on the first vector.
S1104, determining a threshold distance according to the projection length.
And S1105, when the distance information is larger than the threshold distance, determining that the mechanical arm exceeds the boundary area.
For example, if it is assumed that the preset position on the axis is P0(X0, Y0, Z0) and the current position is P1(X1, Y1, Z1), the distance information between the current position and the preset position can be obtained according to the following formula:
Figure BDA0003301587000000111
and (5) determining.
Further, assuming that the coordinates of any point on the target axis is P2(X2, Y2, Z2), the first vector consisting of the preset position and any point on the target axis is a first vector
Figure BDA0003301587000000112
Is (X2-X0, Y2-Y0, Z2-Z0), a second vector composed of the preset position and the current position
Figure BDA0003301587000000113
Is (X1-X0, Y1-Y0, Z1-Z0).
Determining the projection length of the second vector on the first vector may be based on a vector dot product formula
Figure BDA0003301587000000114
And cosine formula
Figure BDA0003301587000000115
And calculating in a combined manner, wherein L represents the projection length of the second vector on the first vector. A threshold distance is then determined from the projection length,and comparing the distance information with a threshold distance to finally determine that the mechanical arm exceeds the boundary area.
As one implementation, S1104 includes:
when the projection length is larger than a first preset value, determining that the threshold distance is a first threshold distance;
when the projection length is smaller than a first preset value and larger than a second preset value, determining that the threshold distance is a second threshold distance;
and when the projection length is smaller than a second preset value, determining the threshold distance as a third threshold distance.
For example, dis can be up to 3mm when L is greater than 3 mm. When L is less than 3mm and more than 0mm, dis can be 2mm at most. Dis can be up to 1mm when L <0 mm. Of course, in some other implementations, the first threshold distance, the second threshold distance, and the third threshold distance may also be partially or completely equal.
Taking L larger than 3mm as an example, the first threshold distance is 3mm at the moment, and when the distance information between the current position and the preset position is larger than 3mm, judging that the mechanical arm exceeds the boundary area at the moment, and controlling the mechanical arm to stop working; and if the distance information between the current position and the preset position is less than 3mm, judging that the mechanical arm does not exceed the boundary area at the moment, and controlling the mechanical arm to continuously work.
It can be understood that the grinding control method provided by the above embodiment enables grinding of the hip joint without human operation and controls the grinding direction and depth.
Based on the above implementation, please refer to fig. 5, the present application further provides a polishing control device 200, which is applied to a robot of a polishing system, the polishing system further includes a mechanical arm and a camera device, the polishing control device 200 includes:
and a registering unit 210, configured to perform coordinate system registration on the robot and the mechanical arm, and acquire a first coordinate system transformation matrix.
It is understood that the above S102 may be performed by the registration unit 210.
The registering unit 210 is further configured to perform coordinate system registration on the robot and the camera, and acquire a second coordinate system transformation matrix.
It is understood that the above S104 may be performed by the registration unit 210.
The matrix determining unit 220 is configured to determine a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot, and a preset attitude matrix in the camera coordinate system.
It is understood that the above S106 may be performed by the matrix determination unit 220.
And the control unit 230 is configured to determine an euler angle in the robot coordinate system by using a target axis attitude matrix in the robot coordinate system, and control the polishing direction and depth of the robot arm according to the euler angle.
It is understood that the above S108 may be performed by the control unit 230.
In addition, the apparatus further comprises:
a determining unit 240, configured to determine whether the mechanical arm exceeds the boundary area according to the preset position on the target axis and the coordinate of the current position;
it is understood that the above S110 may be performed by the judging unit 240.
And the control unit 230 is further used for controlling the mechanical arm to stop working when the mechanical arm is determined to exceed the boundary area.
It is understood that the above S112 may be performed by the control unit 230.
In summary, the embodiment of the present application provides a polishing control method, an apparatus, an electronic device, and a storage medium, where the polishing control method is applied to a robot of a polishing system, and the polishing system further includes a mechanical arm and a camera device, and the polishing control method includes registering a coordinate system of the robot and the mechanical arm, acquiring a first coordinate system transformation matrix, registering a coordinate system of the robot and the camera device, acquiring a second coordinate system transformation matrix, determining a target axis attitude matrix in a robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot, and a preset attitude matrix in a camera device coordinate system, determining an euler angle in the mechanical arm coordinate system by using the target axis attitude matrix in the robot coordinate system, and controlling the polishing mechanical arm according to the euler angle. Because this application can confirm the euler angle under the arm coordinate system through the mode that acquires the gesture matrix to this euler angle control arm's work afterwards, consequently, realized polishing of control arm, need not operating personnel and participated in, reduced operating personnel's work load.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A grinding control method is characterized in that the method is applied to a robot of a grinding system, the grinding system further comprises a mechanical arm and a camera device, and the method comprises the following steps:
registering the coordinate systems of the robot and the mechanical arm, and acquiring a first coordinate system transformation matrix;
registering the coordinate systems of the robot and the camera device, and acquiring a second coordinate system transformation matrix;
determining a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and a preset attitude matrix in the camera device coordinate system;
and determining an Euler angle under the coordinate system of the mechanical arm by using a target axis attitude matrix under the coordinate system of the robot, and controlling the polishing direction and depth of the mechanical arm according to the Euler angle.
2. The dressing control method of claim 1, wherein after said step of controlling the direction and depth of dressing of said robot arm in accordance with said euler angle, said method further comprises:
determining whether the mechanical arm exceeds a boundary area according to the coordinates of the preset position and the current position on the target shaft;
and if so, controlling the mechanical arm to stop working.
3. The dressing control method of claim 2, wherein the step of determining whether the robot arm exceeds the boundary area based on the coordinates of the preset position and the current position on the target axis comprises:
determining distance information between the current position and the preset position;
determining a first vector formed by the preset position and any point on the target axis and a second vector formed by the preset position and the current position;
determining a projection length of the second vector on the first vector;
determining a threshold distance according to the projection length;
determining that the mechanical arm exceeds a boundary area when the distance information is greater than the threshold distance.
4. A sanding control method as defined in claim 3, wherein the step of determining a threshold distance in dependence on the projected length comprises:
when the projection length is larger than a first preset value, determining that the threshold distance is a first threshold distance;
when the projection length is smaller than a first preset value and larger than a second preset value, determining that the threshold distance is a second threshold distance;
and when the projection length is smaller than a second preset value, determining that the threshold distance is a third threshold distance.
5. The lapping control method of claim 1, wherein the robot comprises a scanner comprising a first light reflecting sphere, a second light reflecting sphere, a third light reflecting sphere, and a fourth light reflecting sphere, the step of registering the robot and the robot arm in a coordinate system and obtaining a first coordinate system transformation matrix comprises:
registering according to the coordinate matrix determined by the first light reflecting ball and the coordinate matrix determined by the second light reflecting ball, and acquiring a first coordinate system transformation matrix;
the step of registering the coordinate system of the robot and the camera device and acquiring a second coordinate system transformation matrix comprises the following steps:
and registering according to the coordinate matrix determined by the third light reflecting ball and the coordinate matrix determined by the fourth light reflecting ball, and acquiring a second coordinate system transformation matrix.
6. The sanding control method of claim 5, wherein the target axis pose matrix in the robot coordinate system satisfies the formula:
RR＝RC*RN2P -1*RPN*RRN -1*RN2R -1
wherein R isRRepresenting the attitude matrix of the target axis in the robot coordinate system, RCRepresenting a preset attitude matrix under a coordinate system of the camera device; rN2P -1Representing the inverse of the transformation matrix of the second coordinate system, RPNRepresenting a coordinate matrix defined by a third reflective sphere, RRN -1Representing the inverse of the coordinate matrix defined by the first reflector ball, RN2R -1An inverse matrix of the first coordinate system transformation matrix is represented.
7. The utility model provides a grinding control device which characterized in that is applied to the robot of system of polishing, the system of polishing still includes arm and camera device, grinding control device includes:
the registration unit is used for registering the coordinate systems of the robot and the mechanical arm and acquiring a first coordinate system transformation matrix;
the registration unit is further used for carrying out coordinate system registration on the robot and the camera device and acquiring a second coordinate system transformation matrix;
the matrix determining unit is used for determining a target axis attitude matrix in the robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and an attitude matrix in the preset camera device coordinate system;
and the control unit is used for determining an Euler angle under the robot coordinate system by utilizing a target axis attitude matrix under the robot coordinate system and controlling the polishing direction and depth of the mechanical arm according to the Euler angle.
8. The sanding control device of claim 7, further comprising:
the judging unit is used for determining whether the mechanical arm exceeds the boundary area according to the preset position on the target shaft and the coordinates of the current position;
and the control unit is also used for controlling the mechanical arm to stop working when the mechanical arm is determined to exceed the boundary area.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the sanding control method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the grinding control method according to any one of claims 1-6.
CN202111192121.7A 2021-10-13 2021-10-13 Polishing control method and device, electronic equipment and storage medium Active CN113907830B (en)

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