CN113907830B - Polishing control method and device, electronic equipment and storage medium - Google Patents
Polishing control method and device, electronic equipment and storage medium Download PDFInfo
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
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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
- 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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Abstract
The application provides a polishing control method, a polishing control 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, obtaining a first coordinate system transformation matrix, carrying out coordinate system registration on the robot and an image pickup device, obtaining a second coordinate system transformation matrix, determining a target axis gesture matrix under the coordinate system of the robot according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset coordinate matrix of the robot and a gesture matrix under the preset coordinate system of the image pickup device, and finally determining Euler angles under the coordinate system of the mechanical arm by utilizing the target axis gesture matrix under the coordinate system of the robot, and controlling polishing directions and polishing depths of the mechanical arm according to the Euler angles. The method has the advantage of reducing the workload of the operator.
Description
Technical Field
The application relates to the technical field of control, in particular to a polishing control method, a polishing control device, electronic equipment and a storage medium.
Background
At present, in the hip joint polishing operation process, an operator knows the condition of a patient through a CT (computed tomography) film, and only the operation experience of the operator is used for judging the polishing angle and the polishing depth in the operation, so that uncertainty is brought to an operation result.
The existing operation robot on the market registers patient affected parts through patient CT (computed tomography) sheets, and the operation staff polishes along the direction set by the mechanical arm after the registration is completed or polishes according to the path and the range set by the mechanical arm, so that the workload of the operation staff is large.
In conclusion, the problem of large workload of operators exists in the prior art.
Disclosure of Invention
The invention aims to provide a polishing control method, a polishing control device, electronic equipment and a storage medium, so as to solve the problem of large workload of surgical personnel in the prior art.
In order to solve the above problems, in one aspect, an embodiment of the present application provides a polishing control method, which is 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:
carrying out coordinate system registration on the robot and the mechanical arm, and obtaining a first coordinate system transformation matrix;
carrying out coordinate system registration on the robot and the camera device, and obtaining a second coordinate system transformation matrix;
determining a target axis posture matrix under a robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset robot coordinate matrix and a preset camera device posture matrix under the coordinate system;
and determining an Euler angle of the mechanical arm in the coordinate system by utilizing the target axis gesture matrix of the robot in the coordinate system, and controlling the mechanical arm to polish according to the Euler angle.
Optionally, after the step of controlling the mechanical arm polishing according to the euler angle, the method further includes:
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 shaft and a second vector formed by the preset position and the current position;
determining a projection length of the second vector onto the first vector;
determining a threshold distance according to the projection length;
and when the distance information is larger than the threshold distance, determining that the mechanical arm exceeds a boundary area.
Optionally, the step of determining the threshold distance according to the projection length includes:
when the projection length is larger than a first preset value, determining the threshold distance as a first threshold distance;
when the projection length is smaller than the first preset value and larger than the second preset value, determining the threshold distance as 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.
Optionally, the robot includes a scanner, the scanner includes a first reflecting sphere, a second reflecting sphere, a third reflecting sphere, and a fourth reflecting sphere, and the step of registering the robot with the mechanical arm in a coordinate system and acquiring a first coordinate system transformation matrix includes:
registering the coordinate matrix determined by the first reflecting ball with the coordinate matrix determined by the second reflecting ball, and obtaining a first coordinate system transformation matrix;
registering the coordinate matrix determined by the third reflecting ball with the coordinate matrix determined by the fourth reflecting ball, and obtaining a second coordinate system transformation matrix.
Optionally, the target axis pose matrix under the robot coordinate system satisfies the formula:
R R ＝R C *R N2P -1 *R PN *R RN -1 *R N2R -1
wherein R is R Representing a target axis pose matrix in a robot coordinate system, R N2P -1 An inverse matrix representing a second coordinate system transformation matrix, R PN Indicating the determination of the third reflective ballCoordinate matrix, R RN -1 An inverse matrix representing the coordinate matrix determined by the first reflective sphere, R N2R -1 Representing the inverse of the first coordinate system transformation matrix.
In a second aspect, an embodiment of the present application further provides a polishing control device, is applied to the robot of polishing system, polishing system still includes arm and camera device, polishing control device includes:
the registration unit is used for carrying out coordinate system registration on the robot and the mechanical arm and obtaining a first coordinate system transformation matrix;
the registration unit is also used for carrying out coordinate system registration on the robot and the camera device and obtaining a second coordinate system transformation matrix;
a matrix determining unit, configured to determine a target axis gesture matrix under 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 gesture matrix under a preset camera coordinate system;
and the control unit is used for determining the Euler angle of the mechanical arm in the coordinate system by utilizing the target axis gesture matrix of the robot in the 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 a boundary area according to the coordinates of the preset position and the current position on the target shaft;
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 above-described sanding control method is implemented when the one or more programs are executed by the processor.
In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the polishing control method described above.
Compared with the prior art, the application has the following beneficial effects:
the embodiment of the application provides a polishing control method, a 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 subjected to coordinate system registration at first, a first coordinate system transformation matrix is obtained, the robot and the camera device are subjected to coordinate system registration, a second coordinate system transformation matrix is obtained, then a target shaft posture matrix under the coordinate system of the robot 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 posture matrix under the coordinate system of the camera device, finally an Euler angle under the coordinate system of the mechanical arm is determined by utilizing the target shaft posture matrix under the coordinate system of the robot, and the polishing direction and depth of the mechanical arm are controlled according to the Euler angle. The Euler angle under the mechanical arm coordinate system can be determined by acquiring the gesture matrix, and then the Euler angle controls the work of the mechanical arm, so that the mechanical arm is controlled to polish, the participation of surgical personnel is not needed, and the workload of the surgical personnel is reduced.
In order to make the above 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 needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting in scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic block diagram of an electronic device according to an embodiment of the present application.
Fig. 2 is an exemplary flowchart of a polishing control method according to an embodiment of the present application.
Fig. 3 is another exemplary flowchart of a polishing control method according to an embodiment of the present application.
Fig. 4 is a flowchart illustrating an exemplary substep of S110 in fig. 2 provided in an embodiment of the present application.
Fig. 5 is a schematic block diagram of a polishing control device according to an embodiment of the present application.
In the figure:
100-an electronic device; a 101-processor; 102-memory; 103-a communication interface; 200-polishing control device; 210-a registration unit; 220-a matrix determination unit; 230-a control unit; 240-a judging unit.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
As described in the background art, in the hip joint polishing operation process, the polishing result is generally affected by experience of the operator, and due to the particularity of the acetabular shape, the operator does not set any polishing direction in a set range during polishing, and the situation that the patient is polished too deeply in some places and not polished in some places of the same patient part may occur, so that the accuracy 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 realizes the polishing effect by using the euler angle by acquiring the euler angle under the coordinates of the mechanical arm, does not need operation by operators, and reduces the workload of the operators.
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, optionally, fig. 1 shows a schematic block diagram of an 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 directly or indirectly electrically connected to each other 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 for storing software programs and modules, such as program instructions or modules corresponding to the polishing control device 200 provided in the embodiments of the present application, and the processor 101 executes the software programs and modules stored in the memory 102, thereby performing various functional applications and data processing, and further performing the steps of the positioning method provided in the embodiments of the present application. The communication interface 103 may be used for communication of signaling or data with other node devices.
The Memory 102 may be, but is not limited to, a random access Memory 102 (Random Access Memory, RAM), a Read Only Memory 102 (ROM), a programmable Read Only Memory 102 (Programmable Read-Only Memory, PROM), an erasable Read Only Memory 102 (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable programmable Read Only Memory 102 (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 101 may be an integrated circuit chip with signal processing capabilities. The processor 101 may be a general purpose processor 101 including a central processor 101 (Central Processing Unit, CPU), a network processor 101 (Network Processor, NP), etc.; but may also be a digital signal processor 101 (Digital Signal Processing, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
It is to be understood that the configuration shown in fig. 1 is merely illustrative, and that electronic device 100 may also 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 polishing control method provided in the present application is exemplified below:
as an implementation, referring to fig. 2, the polishing control method includes:
s102, carrying out coordinate system registration on the robot and the mechanical arm, and obtaining a first coordinate system transformation matrix.
S104, carrying out coordinate system registration on the robot and the image pickup device, and obtaining a second coordinate system transformation matrix.
S106, determining a target axis posture matrix under 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 posture matrix under the camera device coordinate system.
S108, determining Euler angles of the mechanical arm in the coordinate system by utilizing the target axis gesture matrix in the coordinate system of the robot, and controlling the mechanical arm to polish according to the Euler angles.
Generally, the polishing system includes a mechanical arm and an image capturing device, each of which operates based on its own established coordinate system, and therefore, it is necessary to perform registration of the coordinate systems first, that is, determine an association relationship between the two coordinate systems, so that coordinates in one of the coordinate systems can be converted into coordinates in the other coordinate system.
As one implementation, the robot includes a scanner that includes a first reflective sphere, a second reflective sphere, a third reflective sphere, and a fourth reflective sphere, and registration of the coordinate system is achieved using the reflective spheres.
The first reflecting ball is a Robot reflecting ball, the second reflecting ball is a Tool reflecting ball, the third reflecting ball is a Pelvis reflecting ball, and the second reflecting ball is a Probe reflecting ball. On the basis, the steps of registering the coordinate system of the robot and the mechanical arm and obtaining a first coordinate system transformation matrix comprise the following steps:
coordinate matrix R determined according to first reflective ball RN Coordinate matrix RT determined with second reflective sphere TN Registering by a mechanical arm, and acquiring a first coordinate system transformation matrix R N2R 。
S104 includes:
coordinate matrix R determined according to third reflective sphere PN Coordinate matrix RT determined with fourth reflective sphere ON And performing registration, wherein the registration mode is image registration, and acquiring a second coordinate system transformation matrix.
After the registration process is completed, the motion track of the mechanical arm can be set, and as an implementation manner, in S106, the pose matrix of the target shaft under the robot coordinate system satisfies the formula:
R R ＝R C *R N2P -1 *R PN *R RN -1 *R N2R -1
wherein R is R Representing a target axis pose matrix in a robot coordinate system, R C Representing a preset gesture matrix under a coordinate system of the image pickup device; r is R N2P -1 An inverse matrix representing a second coordinate system transformation matrix, R PN Representing the coordinate matrix determined by the third reflective sphere, R RN -1 An inverse matrix representing the coordinate matrix determined by the first reflective sphere, R N2R -1 Inverse matrix representing first coordinate system transformation matrix。
R is as follows C The method is used for planning a gesture matrix of the prosthesis under a coordinate system of an imaging device, wherein the coordinate system of the imaging device is an image coordinate system. The target axis is the AA axis of the acetabulum in the robot coordinate system, and the robot control mechanical arm works based on the axis.
Gesture matrix R of acetabular AA axis under robot coordinate system R Then, the Euler angle E under the mechanical arm coordinate system can be obtained according to the matrix R 。
According to the state matrix, the Euler angle is calculated as the prior art, and can be calculated according to a conversion formula from the matrix to the parameters:
the parameters calculated from the matrix are:
x＝p x
y＝p y
z＝p z
rx＝a tan 2(s(rx)，c(rx))＝a tan 2(-a y /c(ry)，a z /c(ry))
rz＝a tan 2(s(rz)，c(rz))＝a tan 2(-o x /c(ry)，n x /c(ry))
wherein x, y, z, ry, rx, rz is related parameter of Euler angle, and based on the related parameter, the gesture matrix R is obtained R After the mechanical arm is brought into the formula, the Euler angle can be obtained, and then the mechanical arm can be controlled to polish, namely, the polishing direction and the polishing depth of the mechanical arm are controlled through the related parameters of the Euler angle.
Through the implementation mode, when the product is used for performing hip joint polishing operation, after registration of a patient, a mechanical arm and an instrument is completed, the mechanical arm is dragged to the vicinity of an 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, clicking a polishing button, moving the mechanical arm along a preset track within a preset polishing range, starting the bone drill connected to the holder, and after the part to be polished on the track is polished, continuing to move the mechanical arm according to a preset path until polishing is completed.
In addition, in order to avoid excessive polishing caused by movement of the mechanical arm beyond the preset path during polishing, referring to fig. 3, after S108, the method further includes:
s110, 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, if so, executing S112, and if not, controlling the mechanical arm to continue working until polishing is completed.
S112, controlling the mechanical arm to stop working.
In the application, once the mechanical arm moves out of the preset path, the mechanical arm is immediately controlled to stop working, so that polishing accuracy is guaranteed.
As an implementation, 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.
S1103, a projection length of the second vector on the first vector is determined.
S1104, determining a threshold distance according to the projection length.
S1105, when the distance information is greater than the threshold distance, determining that the mechanical arm exceeds the boundary region.
For example, if the preset position on the target 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 expressed according to the formula:
and (5) determining.
And, if the coordinates of any point on the target axis are assumed to be P2 (X2, Y2, Z2), a first vector composed of the preset position and any point on the target axisIs (X2-X0, Y2-Y0, Z2-Z0), the second vector consisting of the preset position and the current position +.>Is (X1-X0, Y1-Y0, Z1-Z0).
Determining the projected length of the second vector onto the first vector may be according to a vector point multiplication formulaAnd cosine formula->And combining to calculate, wherein L represents the projection length of the second vector on the first vector. And then determining a threshold distance according to the projection length, comparing the distance information with the threshold distance, and finally determining 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 the threshold distance as a first threshold distance;
when the projection length is smaller than the first preset value and larger than the second preset value, determining the threshold distance as a second threshold distance;
and when the projection length is smaller than the second preset value, determining the threshold distance as a third threshold distance.
For example, dis may be 3mm maximum when L is greater than 3mm. When L is less than 3mm and greater than 0mm, dis may be 2mm at maximum. Dis may be 1mm maximum when L <0 mm. Of course, in other implementations, the first threshold distance, the second threshold distance, and the third threshold distance may also be partially or completely equal.
Taking L being greater than 3mm as an example, wherein the first threshold distance is 3mm, and when the distance information between the current position and the preset position is greater than 3mm, judging that the mechanical arm exceeds the boundary area, and controlling the mechanical arm to stop working; if the distance information between the current position and the preset position is smaller than 3mm, judging that the mechanical arm does not exceed the boundary area at the moment, and controlling the mechanical arm to continue working.
It can be appreciated that the polishing control method provided by the above embodiment enables polishing of the hip joint without manual operation, and controls the polishing 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, and the polishing control device 200 includes:
the registration unit 210 is configured to perform coordinate system registration on the robot and the mechanical arm, and acquire a first coordinate system transformation matrix.
It is to be understood that the above S102 may be performed by the registration unit 210.
The registration unit 210 is further configured to perform coordinate system registration on the robot and the image capturing device, and obtain a second coordinate system transformation matrix.
It is to be understood that S104 described above may be performed by the registration unit 210.
The matrix determining unit 220 is configured to determine a target axis pose 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 pose matrix in the camera coordinate system.
It is to be understood that S106 described above may be performed by the matrix determining unit 220.
The control unit 230 is configured to determine an euler angle in the robot arm coordinate system by using the target axis gesture 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 S108 described above may be performed by the control unit 230.
Furthermore, the device comprises:
a judging unit 240, configured to determine whether the mechanical arm exceeds the boundary area according to the coordinates of the preset position and the current position on the target axis;
it is understood that the above S110 may be performed by the judging unit 240.
The control unit 230 is further configured to control the mechanical arm to stop working when it is determined that the mechanical arm exceeds the boundary area.
It is understood that S112 described above may be performed by the control unit 230.
In summary, the embodiment of the application provides a polishing control method, a device, an electronic apparatus and a storage medium, where the polishing control method is applied to a robot of a polishing system, the polishing system further includes a robot arm and an image pickup device, the robot and the robot arm are first subjected to coordinate system registration, a first coordinate system transformation matrix is obtained, the robot and the image pickup device are then subjected to coordinate system registration, a second coordinate system transformation matrix is obtained, then a target axis posture 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 posture matrix under the image pickup device coordinate system, finally, an euler angle under the robot arm coordinate system is determined by utilizing the target axis posture matrix under the robot coordinate system, and polishing of the robot arm is controlled according to the euler angle. The Euler angle under the mechanical arm coordinate system can be determined by acquiring the gesture matrix, and then the Euler angle controls the work of the mechanical arm, so that the mechanical arm is controlled to polish, the participation of surgical personnel is not needed, and the workload of the surgical personnel is reduced.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that 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 a single part, or each module may exist alone, or two or more modules may be integrated to form a single 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 may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (7)
1. A method of controlling sanding, characterized by being applied to a robot of a sanding system, the sanding system further comprising a robotic arm and a camera device, the method comprising:
carrying out coordinate system registration on the robot and the mechanical arm, and obtaining a first coordinate system transformation matrix;
carrying out coordinate system registration on the robot and the camera device, and obtaining a second coordinate system transformation matrix;
determining a target axis posture matrix under a robot coordinate system according to the first coordinate system transformation matrix, the second coordinate system transformation matrix, a preset robot coordinate matrix and a preset camera device posture matrix under the coordinate system;
determining an Euler angle of the mechanical arm in the coordinate system by utilizing a target axis gesture matrix of the robot in the coordinate system, and controlling the polishing direction and depth of the mechanical arm according to the Euler angle;
after the step of controlling the polishing direction and depth of the mechanical arm according to the euler angle, the method further includes:
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;
if yes, the mechanical arm is controlled to stop working;
the step of 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 comprises the following steps:
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 shaft and a second vector formed by the preset position and the current position;
determining a projection length of the second vector onto the first vector;
determining a threshold distance according to the projection length;
and when the distance information is larger than the threshold distance, determining that the mechanical arm exceeds a boundary area.
2. The polishing control method as set forth in claim 1, wherein the step of determining a threshold distance from the projection length includes:
when the projection length is larger than a first preset value, determining the threshold distance as a first threshold distance;
when the projection length is smaller than the first preset value and larger than the second preset value, determining the threshold distance as 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.
3. The polishing control method as set forth in claim 1, wherein the robot includes a scanner including a first reflecting sphere, a second reflecting sphere, a third reflecting sphere, and a fourth reflecting sphere, and the steps of registering the robot with the robot arm in a coordinate system and acquiring a first coordinate system transformation matrix include:
registering the coordinate matrix determined by the first reflecting ball with the coordinate matrix determined by the second reflecting ball, and obtaining a first coordinate system transformation matrix;
the step of registering the robot and the camera device in a coordinate system and obtaining a second coordinate system transformation matrix comprises the following steps:
registering the coordinate matrix determined by the third reflecting ball with the coordinate matrix determined by the fourth reflecting ball, and obtaining a second coordinate system transformation matrix.
4. A polishing control method according to claim 3, wherein the target axis attitude matrix in the robot coordinate system satisfies the formula:
R R ＝R C *R N2P -1 *R PN *R RN -1 *R N2R -1
wherein R is R Representing a target axis pose matrix in a robot coordinate system, R C Representing a preset gesture matrix under a coordinate system of the image pickup device; r is R N2P -1 An inverse matrix representing a second coordinate system transformation matrix, R PN Representing the coordinate matrix determined by the third reflective sphere, R RN -1 An inverse matrix representing the coordinate matrix determined by the first reflective sphere, R N2R -1 Representing the inverse of the first coordinate system transformation matrix.
5. A polishing control device, characterized in that is applied to the robot of polishing system, the polishing system still includes arm and camera device, polishing control device includes:
the registration unit is used for carrying out coordinate system registration on the robot and the mechanical arm and obtaining a first coordinate system transformation matrix;
the registration unit is also used for carrying out coordinate system registration on the robot and the camera device and obtaining a second coordinate system transformation matrix;
a matrix determining unit, configured to determine a target axis gesture matrix under 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 gesture matrix under a preset camera coordinate system;
the control unit is used for determining an Euler angle of the mechanical arm in the coordinate system by utilizing the target axis gesture matrix of the robot in the coordinate system, and controlling the polishing direction and depth of the mechanical arm according to the Euler angle;
the apparatus further comprises:
the judging unit is used for 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;
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;
the judging unit is used for determining the 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 shaft and a second vector formed by the preset position and the current position;
determining a projection length of the second vector onto the first vector;
determining a threshold distance according to the projection length;
and when the distance information is larger than the threshold distance, determining that the mechanical arm exceeds a boundary area.
6. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
a sanding control method as defined in any one of claims 1-4, when the one or more programs are executed by the processor.
7. A computer readable storage medium having stored thereon a computer program, which when executed by a processor implements a sanding control method as defined in any one of claims 1-4.
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