CN113942015A - Cutting tool activity space limiting method and device and terminal equipment - Google Patents
Cutting tool activity space limiting method and device and terminal equipment Download PDFInfo
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- CN113942015A CN113942015A CN202111390795.8A CN202111390795A CN113942015A CN 113942015 A CN113942015 A CN 113942015A CN 202111390795 A CN202111390795 A CN 202111390795A CN 113942015 A CN113942015 A CN 113942015A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 238
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000000694 effects Effects 0.000 title abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 35
- 230000009466 transformation Effects 0.000 claims description 35
- 230000001276 controlling effect Effects 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 210000000629 knee joint Anatomy 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 239000003550 marker Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000001459 lithography Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The application discloses a method and a device for limiting the activity space of a cutting tool and terminal equipment, wherein the method comprises the following steps: acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target from a three-dimensional virtual image comprising a virtual cutting tool; binding the virtual cutting target with the actual cutting target so that the virtual cutting target moves along with the movement of the actual cutting target; binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is arranged at the tail end of the mechanical arm; when an actual cutting tool is used for cutting an actual cutting target, the mechanical arm is controlled according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface, so that the actual cutting tool moves in the safe moving range. The cutting tool has the advantages that the limitation on the moving space of the cutting tool is realized, the cutting tool moves in a safe moving range, the cutting error is reduced, and the cutting precision is improved.
Description
Technical Field
The invention relates to the technical field of cutting tool control, in particular to a method and a device for limiting the moving space of a cutting tool and terminal equipment.
Background
With the rapid development of the robot arm technology, the robot arm is widely used in an automated factory and a medical operation, and when an object is cut by using the robot arm mounted with a cutting tool, information such as a cutting path is generally obtained in advance, so that the robot arm can execute and cut a task according to the cutting path obtained in advance.
However, in the case where the cutting process is complicated and the cutting strategy needs to be dynamically updated in real time (for example, in some surgical scenes, the cutting depth and the cutting direction need to be adjusted by a doctor in real time according to experience), accurate information such as the cutting path cannot be obtained in advance.
Therefore, for the occasions that the cutting process is complex and the cutting strategy needs to be dynamically updated in real time, the prior art cannot ensure the orderly execution of the cutting tasks, the cutting precision is poor, and the failure rate of the cutting tasks is high.
Disclosure of Invention
In view of the above problems, the present application provides a method and an apparatus for limiting a movement space of a cutting tool, and a terminal device, so as to improve cutting accuracy.
In a first aspect, an embodiment of the present application provides a method for limiting a movement space of a cutting tool, where the method includes:
acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target from a three-dimensional virtual image comprising a virtual cutting tool;
binding the virtual cutting target with an actual cutting target such that the virtual cutting target moves with movement of the actual cutting target;
binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is installed at the tail end of a mechanical arm;
and when the actual cutting tool is used for cutting the actual cutting target, controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface so as to enable the actual cutting tool to move in a safe moving range.
The method for limiting the moving space of the cutting tool according to the embodiment of the application, the obtaining of the virtual cutting target and the virtual protection curved surface corresponding to the virtual cutting target, includes:
acquiring a plurality of target images, wherein each target image comprises an actual cutting target and a protection boundary corresponding to the actual cutting target;
in the three-dimensional virtual image, generating the virtual cutting target according to the actual cutting target in the target images, and generating a virtual protection curved surface corresponding to the virtual cutting target according to the protection boundaries in the target images.
The method for limiting the activity space of the cutting tool according to the embodiment of the application, wherein the step of binding the virtual cutting target with the actual cutting target comprises the following steps:
acquiring a plurality of image target coordinates of a plurality of target mark points on the virtual cutting target under an image coordinate system of the three-dimensional virtual image;
acquiring a plurality of NDI target coordinates of the target marking points in an NDI coordinate system of NDI equipment;
determining a first transformation matrix between the NDI coordinate system and the image coordinate system using the plurality of image target coordinates and the plurality of NDI target coordinates;
converting a plurality of virtual calibration points on the virtual cutting target and a plurality of actual calibration points on the actual cutting target to the same coordinate system by using the first transformation matrix, wherein the plurality of actual calibration points correspond to the plurality of virtual calibration points one by one;
and regulating and controlling the virtual cutting target in real time so that each virtual calibration point and the corresponding actual calibration point are kept coincident in the same coordinate system.
The method for limiting the activity space of the cutting tool according to the embodiment of the application, wherein the step of binding the virtual cutting tool with the actual cutting tool comprises the following steps:
controlling the mechanical arm to randomly move the tail end to a plurality of spatial positions within the safe moving range;
acquiring NDI calibration coordinates of the tail end calibration point of the tail end in the NDI coordinate system by using the NDI equipment at each spatial position, and acquiring tail end calibration coordinates of the tail end calibration point of the tail end in the tail end coordinate system by using the mechanical arm at each spatial position;
determining a second transformation matrix of the NDI coordinate system and the end coordinate system by using the plurality of NDI calibration coordinates and the plurality of end calibration coordinates;
and determining the virtual pose of the virtual cutting tool in the image coordinate system according to the first transformation matrix, the second transformation matrix and the actual pose of the actual cutting tool in the end coordinate system.
The method for limiting the moving space of the cutting tool according to the embodiment of the application, wherein the step of controlling the mechanical arm according to the real-time pose relationship between the virtual cutting tool and the virtual protection curved surface comprises the following steps:
calculating the real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane in real time;
judging whether the real-time shortest distance is smaller than or equal to a preset distance threshold value;
and when the real-time shortest distance is less than or equal to a preset distance threshold value, controlling the mechanical arm to stop working.
The method for limiting the moving space of the cutting tool according to the embodiment of the present application, where the real-time shortest distance between the cutting plane and the target point on the virtual protection curved surface closest to the cutting plane of the virtual cutting tool is calculated in real time, includes:
determining a real-time virtual tangent plane parallel to the cutting plane of the virtual cutting tool in real time from a plurality of tangent planes of the virtual protection curved surface;
and calculating the distance between the real-time virtual tangent plane and the cutting plane, and taking the distance between the real-time virtual tangent plane and the cutting plane as the real-time shortest distance.
The method for limiting the moving space of the cutting tool according to the embodiment of the present application, where the real-time shortest distance between the cutting plane and the target point on the virtual protection curved surface closest to the cutting plane of the virtual cutting tool is calculated in real time, includes:
determining a target point closest to a cutting plane of the virtual cutting tool in real time from a plurality of tangent points of the virtual protective curved surface;
and calculating the distance between the target point and the cutting plane, and taking the distance between the target point and the cutting plane as the real-time shortest distance.
In a second aspect, an embodiment of the present application further provides a device for limiting a movement space of a cutting tool, where the device includes:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target in a three-dimensional virtual image comprising a virtual cutting tool;
a binding module for binding the virtual cutting target with an actual cutting target so that the virtual cutting target moves along with the movement of the actual cutting target; the virtual cutting tool is bound with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, and the actual cutting tool is installed at the tail end of a mechanical arm;
and the control module is used for controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface when the actual cutting tool is used for cutting the actual cutting target, so that the actual cutting tool moves in a safe moving range.
In a third aspect, an embodiment of the present application further provides a terminal device, which includes a memory and a processor, where the memory stores a computer program, and the computer program, when running on the processor, executes the method for limiting a moving space of a cutting tool according to the embodiment of the present application.
In a fourth aspect, an embodiment of the present application further provides a readable storage medium, which stores a computer program, where the computer program, when executed on a processor, executes the method for limiting a moving space of a cutting tool according to the embodiment of the present application.
The method comprises the steps of obtaining a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target from a three-dimensional virtual image comprising a virtual cutting tool; binding the virtual cutting target with an actual cutting target such that the virtual cutting target moves with movement of the actual cutting target; binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is installed at the tail end of a mechanical arm; and when the actual cutting tool is used for cutting the actual cutting target, controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface so as to enable the actual cutting tool to move in a safe moving range. This application realizes restricting cutting tool's activity space for cutting tool moves about at safe home range, reduces cutting error, improves cutting accuracy.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a method for limiting a movement space of a cutting tool according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a CT image according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating a virtual protective curved surface and a virtual cutting target according to an embodiment of the present application;
fig. 4 is a schematic flowchart illustrating a binding manner between a virtual cutting target and an actual cutting target in a method for limiting a moving space of a cutting tool according to an embodiment of the present application;
fig. 5 is a schematic flowchart illustrating a binding manner between a virtual cutting tool and an actual cutting tool in a method for limiting a motion space of a cutting tool according to an embodiment of the present application;
FIG. 6 shows a visual cutting diagram proposed in the embodiments of the present application;
fig. 7 shows a schematic structural diagram of a device for limiting a movement space of a cutting tool according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention 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 invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
Referring to fig. 1, an embodiment of the present application provides a method for limiting a movement space of a cutting tool, the method comprising the following steps:
step S100, acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target from a three-dimensional virtual image comprising a virtual cutting tool.
It is understood that the virtual cutting tool may be an STL (stereo lithography) model describing only the surface geometry of the three-dimensional object without the properties of colors, texture maps, or other common three-dimensional models, and the virtual cutting tool in the three-dimensional virtual image may be pre-generated by an STL model generation method.
In this embodiment, a plurality of target images including an actual cutting target and a protection boundary corresponding to the actual cutting target may be acquired, the virtual cutting target may be generated according to the actual cutting target in the plurality of target images in a three-dimensional virtual image, and a virtual protection curved surface corresponding to the virtual cutting target may be generated according to the protection boundary in the plurality of target images.
For example, when cutting a knee joint or a knee joint prosthesis, the actual cutting target is the knee joint or the knee joint prosthesis, and the plurality of target images may be CT images including the knee joint or the knee joint prosthesis. A professional is required to delineate the corresponding protective boundary of the knee joint or the knee joint prosthesis on each CT image. In particular, referring to fig. 2, the enclosed area formed by the protection boundary a is a protected area, i.e. an area which cannot be reached by the cutting tool.
It can be understood that, referring to fig. 3, after a plurality of CT images including the knee joint or the knee joint prosthesis are superimposed, a virtual cutting target is generated for the knee joint or the knee joint prosthesis in the plurality of CT images including the knee joint or the knee joint prosthesis, and a virtual protection curved surface corresponding to the virtual cutting target is generated for a protection boundary in the plurality of CT images including the knee joint or the knee joint prosthesis.
Step S200, binding the virtual cutting target with an actual cutting target to enable the virtual cutting target to move along with the movement of the actual cutting target.
In this embodiment, in order to make the virtual cutting target simulate the actual cutting target, the virtual cutting target needs to be overlapped with the actual cutting target, and the virtual cutting target can move along with the movement of the actual cutting target.
In this embodiment, an implementation manner of binding a virtual cutting target and an actual cutting target is provided, for example, please refer to fig. 4, where the binding manner includes the following steps:
step S210, obtaining a plurality of image target coordinates of a plurality of target mark points on the virtual cutting target under the image coordinate system of the three-dimensional virtual image.
For example, taking the virtual cutting target as a femur model, 40 target mark points may be marked near the intercondylar notch and medial and lateral condyles of the virtual cutting target, and a plurality of image target coordinates of the 40 target mark points in an image coordinate system of the three-dimensional virtual image may be determined.
Step S220, acquiring a plurality of NDI target coordinates of the target marker points in an NDI coordinate system of the NDI device.
For example, the positions of the target marker points in the NDI coordinate system may be obtained by using a probe according to the positions indicated by the 40 target marker points in the three-dimensional virtual image, so as to obtain a plurality of corresponding NDI target coordinates.
Step S230, determining a first transformation matrix between the NDI coordinate system and the image coordinate system using the plurality of image target coordinates and the plurality of NDI target coordinates.
Illustratively, a first transformation matrix between the NDI coordinate system and the image coordinate system is calculated using an ICP algorithm according to a plurality of image target coordinates of the 40 target marker points in an image coordinate system of the three-dimensional virtual image and a plurality of NDI target coordinates in the NDI coordinate system.
Step S240, converting the plurality of virtual calibration points on the virtual cutting target and the plurality of actual calibration points on the actual cutting target into the same coordinate system by using the first transformation matrix, where the plurality of actual calibration points correspond to the plurality of virtual calibration points one to one.
The actual cutting target is an actual part to be cut of the patient, and the plurality of actual calibration points on the actual part to be cut of the patient correspond to the plurality of virtual calibration points one to one.
It is to be understood that the first transformation matrix is a transformation matrix from the NDI coordinate system to the image coordinate system, and the inverse of the first transformation matrix is a transformation matrix from the image coordinate system to the NDI coordinate system. And then the plurality of virtual calibration points on the virtual cutting target and the plurality of actual calibration points on the actual cutting target can be converted to the same coordinate system by utilizing the first transformation matrix.
And step S250, regulating and controlling the virtual cutting target in real time so as to enable each virtual calibration point to be coincident with the corresponding actual calibration point in the same coordinate system.
And regulating and controlling the virtual cutting target in real time under the same coordinate system so that each virtual calibration point is kept coincident with the corresponding actual calibration point under the same coordinate system, thereby realizing that the virtual cutting target can simulate the motion condition of the actual cutting target.
For example, the same coordinate system may be an NDI coordinate system, and a patient may lie in a field of view of the NDI device, and the NDI device may be used to acquire a plurality of actual calibration points on an actual cutting target. Namely, after the part to be cut of the patient moves, the virtual cutting target moves along with the part to be cut.
It is to be understood that the same coordinate system may be an image coordinate system, that is, the first transformation matrix may be used to convert the coordinates corresponding to the plurality of actual calibration points in the NDI coordinate system into the image coordinate system, and in the image coordinate system, the virtual cutting target is adjusted to make each virtual calibration point and the corresponding actual calibration point coincide with each other in the image coordinate system.
Step S300, binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is installed at the tail end of a mechanical arm.
For example, referring to fig. 5, the step S300 may include the following steps:
step S310, controlling the mechanical arm to move the tail end to a plurality of spatial positions randomly within the safe moving range.
Illustratively, a tool with a Marker (light reflecting ball) is mounted at the end of the robot arm for capturing the position and attitude of the cutting tool at the end of the robot arm in the NDI frame of the NDI apparatus. The robot arm may be controlled to move the tip to 10 different spatial positions to acquire NDI calibration coordinates of the tip calibration point of the tip in an NDI coordinate system at each spatial position, and to acquire the tip calibration coordinates of the tip calibration point of the tip in the tip coordinate system at each spatial position using the robot arm.
Step S320, acquiring an NDI calibration coordinate of the terminal calibration point of the terminal in the NDI coordinate system at each spatial position by using the NDI apparatus, and acquiring a terminal calibration coordinate of the terminal calibration point of the terminal in the terminal coordinate system at each spatial position by using the robot arm.
Step S330, determining a second transformation matrix of the NDI coordinate system and the end coordinate system by using the plurality of NDI calibration coordinates and the plurality of end calibration coordinates.
It will be appreciated that the second transformation matrix of the NDI coordinate system and the end coordinate system may be determined based on the plurality of NDI calibration coordinates and the plurality of end calibration coordinates using the ICP algorithm.
Wherein if the second transformation matrix is a transformation matrix from the NDI coordinate system to the end coordinate system, the inverse of the second transformation matrix is a transformation matrix from the end coordinate system to the NDI coordinate system. Namely, the data in the terminal coordinate system and the data in the NDI coordinate system can be unified into the same coordinate system by using the second transformation matrix.
Step S340, determining the virtual pose of the virtual cutting tool in the image coordinate system according to the first transformation matrix, the second transformation matrix and the actual pose of the actual cutting tool in the terminal coordinate system.
It can be understood that the first transformation matrix can unify data in the NDI coordinate system and data in the image coordinate system to the same coordinate system, and the second transformation matrix can unify data in the end coordinate system and data in the NDI coordinate system to the same coordinate system, that is, the NDI coordinate system can be used as a transition coordinate system, so that data in the end coordinate system and data in the image coordinate system are unified to the same coordinate system, that is, the virtual cutting tool and the actual cutting tool are bound in the same coordinate system.
And S400, when the actual cutting tool is used for cutting the actual cutting target, controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface so as to enable the actual cutting tool to move in a safe moving range.
The real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane can be calculated in real time; judging whether the real-time shortest distance is smaller than or equal to a preset distance threshold value; and when the real-time shortest distance is less than or equal to a preset distance threshold value, controlling the mechanical arm to stop working, and simultaneously controlling the cutting tool to be powered off so as to achieve the protection purpose.
For example, in this embodiment, an implementation of calculating the real-time shortest distance is to determine, in real time, a real-time virtual tangent plane parallel to the cutting plane of the virtual cutting tool from the multiple tangent planes of the virtual protection curved surface; and calculating the distance between the real-time virtual tangent plane and the cutting plane, and taking the distance between the real-time virtual tangent plane and the cutting plane as the real-time shortest distance.
For example, another implementation manner of calculating the real-time shortest distance in this embodiment is to determine, in real time, a target point closest to the cutting plane of the virtual cutting tool from the plurality of tangent points of the virtual protection curved surface; and calculating the distance between the target point and the cutting plane, and taking the distance between the target point and the cutting plane as the real-time shortest distance.
In the embodiment, a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target are obtained from a three-dimensional virtual image comprising a virtual cutting tool; binding the virtual cutting target with an actual cutting target such that the virtual cutting target moves with movement of the actual cutting target; binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is installed at the tail end of a mechanical arm; and when the actual cutting tool is used for cutting the actual cutting target, controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface so as to enable the actual cutting tool to move in a safe moving range. The cutting tool has the advantages that the limitation on the moving space of the cutting tool is realized, the cutting tool moves in a safe moving range, the cutting error is reduced, and the cutting precision is improved.
Further, referring to fig. 6, in order to provide a visual cutting schematic diagram for a user to remind the user in real time, in this embodiment, a rendering manner is further provided, for example, when a real-time shortest distance between the cutting tool and the cutting plane is greater than a distance threshold, the cutting tool may be blue, the protection boundary at this time may be green, when the real-time shortest distance between the cutting tool and the cutting plane is less than or equal to the distance threshold, the cutting tool may be red, and the protection boundary at this time may be red, so as to remind the user of a cutting condition of the current cutting tool in real time through a color difference.
Example 2
Referring to fig. 7, another embodiment of the present application provides a cutting tool movement space limiting apparatus 10, which includes: an acquisition module 11, a binding module 12 and a control module 13.
The acquisition module 11 is configured to acquire a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target in a three-dimensional virtual image including a virtual cutting tool; a binding module 12, configured to bind the virtual cutting target with an actual cutting target so that the virtual cutting target moves along with the movement of the actual cutting target; the virtual cutting tool is bound with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, and the actual cutting tool is installed at the tail end of a mechanical arm; and the control module 13 is configured to control the mechanical arm according to a real-time pose relationship between the virtual cutting tool and the virtual protection curved surface when the actual cutting tool is used to cut the actual cutting target, so that the actual cutting tool moves within a safe movement range.
Further, the obtaining a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target includes: acquiring a plurality of target images, wherein each target image comprises an actual cutting target and a protection boundary corresponding to the actual cutting target; in the three-dimensional virtual image, generating the virtual cutting target according to the actual cutting target in the target images, and generating a virtual protection curved surface corresponding to the virtual cutting target according to the protection boundaries in the target images.
Further, the binding the virtual cutting target with the actual cutting target includes: acquiring a plurality of image target coordinates of a plurality of target mark points on the virtual cutting target under an image coordinate system of the three-dimensional virtual image; acquiring a plurality of NDI target coordinates of the target marking points in an NDI coordinate system of NDI equipment; determining a first transformation matrix between the NDI coordinate system and the image coordinate system using the plurality of image target coordinates and the plurality of NDI target coordinates; converting a plurality of virtual calibration points on the virtual cutting target and a plurality of actual calibration points on the actual cutting target to the same coordinate system by using the first transformation matrix, wherein the plurality of actual calibration points correspond to the plurality of virtual calibration points one by one; and regulating and controlling the virtual cutting target in real time so that each virtual calibration point and the corresponding actual calibration point are kept coincident in the same coordinate system.
Further, the binding the virtual cutting tool with the actual cutting tool includes: controlling the mechanical arm to randomly move the tail end to a plurality of spatial positions within the safe moving range; acquiring NDI calibration coordinates of the tail end calibration point of the tail end in the NDI coordinate system by using the NDI equipment at each spatial position, and acquiring tail end calibration coordinates of the tail end calibration point of the tail end in the tail end coordinate system by using the mechanical arm at each spatial position; determining a second transformation matrix of the NDI coordinate system and the end coordinate system by using the plurality of NDI calibration coordinates and the plurality of end calibration coordinates; and determining the virtual pose of the virtual cutting tool in the image coordinate system according to the first transformation matrix, the second transformation matrix and the actual pose of the actual cutting tool in the end coordinate system.
Further, the controlling the mechanical arm according to the real-time pose relationship between the virtual cutting tool and the virtual protection curved surface includes: calculating the real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane in real time; judging whether the real-time shortest distance is smaller than or equal to a preset distance threshold value; and when the real-time shortest distance is less than or equal to a preset distance threshold value, controlling the mechanical arm to stop working.
Further, the calculating, in real time, a real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane includes: determining a real-time virtual tangent plane parallel to the cutting plane of the virtual cutting tool in real time from a plurality of tangent planes of the virtual protection curved surface; and calculating the distance between the real-time virtual tangent plane and the cutting plane, and taking the distance between the real-time virtual tangent plane and the cutting plane as the real-time shortest distance.
Further, the calculating, in real time, a real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane includes: determining a target point closest to a cutting plane of the virtual cutting tool in real time from a plurality of tangent points of the virtual protective curved surface; and calculating the distance between the target point and the cutting plane, and taking the distance between the target point and the cutting plane as the real-time shortest distance.
In this embodiment, the cutting tool activity space limiting apparatus 10 is used to execute the cutting tool activity space limiting method according to the foregoing embodiment through the cooperation of the obtaining module 11, the binding module 12 and the control module 13, and the implementation and beneficial effects related to the foregoing embodiment are also applicable in this embodiment, and are not described again here.
Example 3
In a third embodiment of the present application, a terminal device is provided, which includes a memory and a processor, where the memory stores a computer program, and the computer program executes the method for limiting a moving space of a cutting tool according to the above embodiment of the present application when running on the processor.
Example 4
In a fourth embodiment of the present application, a readable storage medium is provided, which stores a computer program, and the computer program, when running on a processor, executes the method for limiting the active space of a cutting tool according to the above-mentioned embodiment of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can 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 various embodiments of the present invention. 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 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, each functional module or unit in each embodiment of the present invention 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 readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (10)
1. A method of limiting cutting tool active space, the method comprising:
acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target from a three-dimensional virtual image comprising a virtual cutting tool;
binding the virtual cutting target with an actual cutting target such that the virtual cutting target moves with movement of the actual cutting target;
binding the virtual cutting tool with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, wherein the actual cutting tool is installed at the tail end of a mechanical arm;
and when the actual cutting tool is used for cutting the actual cutting target, controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface so as to enable the actual cutting tool to move in a safe moving range.
2. The method for limiting the movement space of the cutting tool according to claim 1, wherein the obtaining of the virtual cutting target and the virtual protection curved surface corresponding to the virtual cutting target comprises:
acquiring a plurality of target images, wherein each target image comprises an actual cutting target and a protection boundary corresponding to the actual cutting target;
in the three-dimensional virtual image, generating the virtual cutting target according to the actual cutting target in the target images, and generating a virtual protection curved surface corresponding to the virtual cutting target according to the protection boundaries in the target images.
3. The method of claim 1, wherein the binding the virtual cutting target to an actual cutting target comprises:
acquiring a plurality of image target coordinates of a plurality of target mark points on the virtual cutting target under an image coordinate system of the three-dimensional virtual image;
acquiring a plurality of NDI target coordinates of the target marking points in an NDI coordinate system of NDI equipment;
determining a first transformation matrix between the NDI coordinate system and the image coordinate system using the plurality of image target coordinates and the plurality of NDI target coordinates;
converting a plurality of virtual calibration points on the virtual cutting target and a plurality of actual calibration points on the actual cutting target to the same coordinate system by using the first transformation matrix, wherein the plurality of actual calibration points correspond to the plurality of virtual calibration points one by one;
and regulating and controlling the virtual cutting target in real time so that each virtual calibration point and the corresponding actual calibration point are kept coincident in the same coordinate system.
4. The method of claim 3, wherein the binding the virtual cutting tool to an actual cutting tool comprises:
controlling the mechanical arm to randomly move the tail end to a plurality of spatial positions within the safe moving range;
acquiring NDI calibration coordinates of the tail end calibration point of the tail end in the NDI coordinate system by using the NDI equipment at each spatial position, and acquiring tail end calibration coordinates of the tail end calibration point of the tail end in the tail end coordinate system by using the mechanical arm at each spatial position;
determining a second transformation matrix of the NDI coordinate system and the end coordinate system by using the plurality of NDI calibration coordinates and the plurality of end calibration coordinates;
and determining the virtual pose of the virtual cutting tool in the image coordinate system according to the first transformation matrix, the second transformation matrix and the actual pose of the actual cutting tool in the end coordinate system.
5. The method for limiting the movement space of the cutting tool according to claim 1, wherein the controlling the mechanical arm according to the real-time pose relationship between the virtual cutting tool and the virtual protective curved surface comprises:
calculating the real-time shortest distance between a target point on the virtual protection curved surface, which is closest to the cutting plane of the virtual cutting tool, and the cutting plane in real time;
judging whether the real-time shortest distance is smaller than or equal to a preset distance threshold value;
and when the real-time shortest distance is less than or equal to a preset distance threshold value, controlling the mechanical arm to stop working.
6. The method for limiting the movement space of the cutting tool according to claim 5, wherein the calculating the real-time shortest distance between the cutting plane and the target point on the virtual protection curved surface closest to the cutting plane of the virtual cutting tool in real time comprises:
determining a real-time virtual tangent plane parallel to the cutting plane of the virtual cutting tool in real time from a plurality of tangent planes of the virtual protection curved surface;
and calculating the distance between the real-time virtual tangent plane and the cutting plane, and taking the distance between the real-time virtual tangent plane and the cutting plane as the real-time shortest distance.
7. The method for limiting the movement space of the cutting tool according to claim 5, wherein the calculating the real-time shortest distance between the cutting plane and the target point on the virtual protection curved surface closest to the cutting plane of the virtual cutting tool in real time comprises:
determining a target point closest to a cutting plane of the virtual cutting tool in real time from a plurality of tangent points of the virtual protective curved surface;
and calculating the distance between the target point and the cutting plane, and taking the distance between the target point and the cutting plane as the real-time shortest distance.
8. A cutting tool active space limiting device, the device comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a virtual cutting target and a virtual protection curved surface corresponding to the virtual cutting target in a three-dimensional virtual image comprising a virtual cutting tool;
a binding module for binding the virtual cutting target with an actual cutting target so that the virtual cutting target moves along with the movement of the actual cutting target; the virtual cutting tool is bound with an actual cutting tool so that the virtual cutting tool moves along with the movement of the actual cutting tool, and the actual cutting tool is installed at the tail end of a mechanical arm;
and the control module is used for controlling the mechanical arm according to the real-time pose relation between the virtual cutting tool and the virtual protection curved surface when the actual cutting tool is used for cutting the actual cutting target, so that the actual cutting tool moves in a safe moving range.
9. A terminal device comprising a memory and a processor, the memory storing a computer program which, when run on the processor, performs the cutting tool active space limitation method of any of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the cutting tool active space limitation method of any of claims 1 to 7.
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