CN114404045A - Robot chassis with pose sensing function and automatic adjusting method thereof - Google Patents
Robot chassis with pose sensing function and automatic adjusting method thereof Download PDFInfo
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- CN114404045A CN114404045A CN202210179573.XA CN202210179573A CN114404045A CN 114404045 A CN114404045 A CN 114404045A CN 202210179573 A CN202210179573 A CN 202210179573A CN 114404045 A CN114404045 A CN 114404045A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000003550 marker Substances 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000009191 jumping Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 206010020649 Hyperkeratosis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 210000001258 synovial membrane Anatomy 0.000 description 1
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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
Abstract
The invention discloses a robot chassis with a pose sensing function and an automatic adjusting method thereof, and the robot chassis comprises a base, a control system, four universal wheels and four electric telescopic rods, wherein the four universal wheels are respectively connected to four corners of the base; a gyroscope and a visual sensor are arranged on the base. The invention has simple and reliable structure, can lock and move at any time, can quickly and accurately adjust the level, and can accurately determine the pose of the robot in the operating room.
Description
Technical Field
The invention relates to the technical field of minimally invasive surgery robots, in particular to a robot chassis with a pose sensing function and an automatic adjusting method thereof.
Background
Compared with the traditional manual operation, the robot-assisted operation has the characteristics of high precision, high efficiency, few operation complications and the like, in the operation process, the operation robot replaces a doctor to complete various operation operations beside an operating table, and at the moment, the operation robot needs to be stably supported on the ground of the operating room so as to ensure the accuracy of the action of the mechanical arm. After the operation is finished, the surgical robot needs to be quickly evacuated from the operation position, so that space is provided for the subsequent operation of doctors. Therefore, the equipment is required to have the function of locking the ground, and the locking operation has the advantages of simplicity, rapidness and safety. The existing ground locking device has the defects of complex structure, labor-consuming operation, low reliability and the like. In order to meet the requirement of modern minimally invasive surgery, the ground locking device of the surgical robot has the characteristics of simple and convenient operation and reliable work. In addition, the flexible control technology enables the robot to be closer to the hand operation effect of doctors, and the safety of the surgical robot is greatly improved. To realize a higher accuracy force interaction function, a high accuracy gravity compensation is required, and the base can be adjusted to a higher levelness when the robot locks the ground.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot chassis with a pose sensing function and an automatic adjusting method thereof.
The invention can be realized by the following technical scheme:
a robot chassis with a pose sensing function comprises a base, a control system, four universal wheels and four electric telescopic rods, wherein the four universal wheels are connected to four corners of the base respectively; and the base is provided with a gyroscope and a visual sensor.
Furthermore, the four electric telescopic rods penetrate through the base and then respectively penetrate through supporting positioning sleeves in clearance fit with the outer diameters of the four electric telescopic rods, and then foot pads are installed on the four electric telescopic rods, and the supporting positioning sleeves are fixed on the base; the four electric telescopic rods are respectively and correspondingly positioned at the inner sides of the four universal wheels.
Furthermore, the vision sensor is one or more combinations of a camera, an infrared camera and a laser sensor, the vision sensor is positioned on the bottom surface of the base, and the camera which is positioned on the back surface of the base and faces the ground is positioned on the signal acquisition surface.
Further, electric telescopic handle's motor is step motor, control system is including the closed loop step motor driver that is used for driving step motor, position sensor is for installing at step motor terminal rotary encoder, or install shell department, measures electric telescopic handle displacement's linear displacement sensor.
The invention also provides a robot chassis automatic adjusting method with a pose sensing function, which comprises height adjustment and horizontal adjustment, and the target height and the target levelness of the robot are automatically adjusted by adjusting the telescopic amount of the four electric telescopic rods.
Further, the height adjustment comprises the steps of:
1) each electric telescopic rod extends downwards, when the electric telescopic rods touch the ground, the current of the motor is increased, and when the current exceeds a certain threshold value, the motor stops;
2) waiting for all the electric telescopic rods to stop, and taking the current position as a reference position;
3) and the electric telescopic rods move downwards for the same distance relative to the respective reference positions at the same time, and the robot is lifted by the corresponding distance integrally.
Further, the level adjustment comprises the steps of:
1) the gyroscope acquires the inclination angle error of the base in real time, and the control system converts the inclination angle error into the position error of each electric telescopic rod according to the relative position relation between the gyroscope and each electric telescopic rod;
2) the control system resolves the position error of each electric telescopic rod into the position adjustment quantity of each electric telescopic rod through a control algorithm;
3) detecting whether the position adjustment quantity of each electric telescopic rod exceeds a movement limit, if not, sending the position adjustment quantity to a driver of a motor in each electric telescopic rod, driving the motor by the driver to adjust the position, if so, simultaneously moving all the electric telescopic rods to the opposite direction of the limit for a same distance, and then jumping to the step 1;
4) after the electric telescopic rod moves, the posture of the base is correspondingly changed, the inclination angle error collected by the gyroscope is also changed, and the processes of the steps 1-4 are continuously circulated until the integral levelness of the robot meets the requirement.
Further, if the robot cannot adjust to the target level for a long time, the system reports an error and requires the user to re-input the target level or adjust the position of the current robot from the items.
The invention also provides a robot chassis pose sensing method realized by the robot chassis, which can acquire the relative pose of the robot relative to the operating room and comprises the following steps:
1) installing a marker on the ground of the operating room;
2) extracting the characteristic points or positioning points of the ground markers of the operating room in the two pictures shot by the binocular camera through a characteristic point extraction algorithm;
3) matching the characteristic points, and performing characteristic point matching filtering by using an RANSAC algorithm;
4) solving the spatial positions of a plurality of feature points or positioning points relative to a camera coordinate system by utilizing a triangulation positioning algorithm;
5) because the ground marker is designed in advance, the relative spatial position relation between each characteristic point or positioning point is known, and then the relative pose of the marker relative to the camera coordinate system can be converted based on the result obtained in the step 3;
6) and then, based on the relative pose of the camera and the robot which is calibrated in advance, the relative pose of the robot relative to the ground marker is calculated, and further the relative pose of the robot relative to the operating room is calculated.
Further, the algorithm in the step 2) comprises a threshold segmentation method, a template matching method, a Harris algorithm, a SIFT algorithm, a SUFT algorithm or an A-KAZE algorithm.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the structure is simple and reliable, the bearing capacity is strong, and the lock can be locked and moved at any time;
2. the level can be quickly and accurately adjusted, and the high-precision gravity compensation of the robot is facilitated, so that a high-precision force interaction function is realized;
3. the pose of the robot in the operating room can be accurately determined, and the robot is convenient to position in an operation or avoid collision with other medical instruments.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the bottom structure of the base of the present invention;
FIG. 3 is a schematic representation of a tag.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification.
As shown in fig. 1 and 2, a robot chassis with a pose sensing function comprises a base 1, a control system, four universal wheels 2 and four electric telescopic rods 3, wherein the four universal wheels 2 are respectively connected to four corners of the base, each electric telescopic rod 3 comprises a motor, a lead screw, a travel switch, a telescopic rod, a shell, a position sensor and a reduction gear set, the position sensor can measure the extending displacement of the telescopic rod, and foot pads are arranged at the bottoms of the telescopic rods after the four electric telescopic rods 3 respectively penetrate through the base; the base 1 is provided with a gyroscope and a vision sensor 6. The top of each of the four electric telescopic rods is provided with a U-shaped supporting plate 5, and the bottom of each U-shaped supporting plate 5 is fixed on the base 1.
The four electric telescopic rods 3 respectively penetrate through the supporting and positioning sleeves 8 which are in clearance fit with the outer diameters of the electric telescopic rods after penetrating through the base 1, and then the foot pads 4 are installed, wherein the supporting and positioning sleeves 8 are fixed on the base 1; the four electric telescopic rods 3 are respectively and correspondingly positioned at the inner sides of the four universal wheels 2.
Wherein, vision sensor 6 is one or more combinations of camera, infrared camera, laser sensor, and vision sensor is located the base bottom surface, and signal acquisition face is towards ground.
Further, electric telescopic handle's motor is step motor, control system is including the closed loop step motor driver that is used for driving step motor, position sensor is for installing at step motor terminal rotary encoder, or install shell department, measures electric telescopic handle displacement's linear displacement sensor.
Wherein, the step motor telescopic link passes through a supporting position sleeve 8 that matches respectively after base 1 and installs callus on the sole 4, should support position sleeve 8 to fix on the base. The supporting and positioning sleeve 8 is used for bearing main lateral force, and the bending deformation of the supporting rod caused by the lateral force of the robot is avoided.
Wherein, four electric telescopic rod 3 correspond respectively to be located the inboard of four universal wheels 2.
The automatic adjusting method realized by the robot chassis with the pose sensing function comprises height adjustment and horizontal adjustment, and the target height and the target levelness of the robot are automatically adjusted by adjusting the telescopic amount of the four electric telescopic rods.
Wherein the level adjustment comprises the steps of:
1) each electric telescopic rod 3 extends downwards, when the electric telescopic rods touch the ground, the current of the stepping motor is increased, and when the current exceeds a certain threshold value, the stepping motor stops;
2) waiting for all the electric telescopic rods 3 to stop (possibly contacting the ground for inconsistent time due to inconsistent ground height), and taking the current position as a reference position;
3) each electric telescopic rod 3 moves downwards for the same distance relative to the respective reference position at the same time, and at the moment, the robot integrally lifts for the corresponding distance.
Wherein the height adjustment comprises the steps of:
1) the gyroscope acquires the inclination angle error of the base in real time, and a control system of the stepping motor converts the inclination angle error into the position error of each electric telescopic rod 3 according to the relative position relation between the gyroscope and each electric telescopic rod;
2) the control system calculates the position error of each electric telescopic rod into the position adjustment quantity of each electric telescopic rod through a certain control algorithm, wherein the control algorithm is one or more combinations of a PID (proportion integration differentiation) control algorithm, a model prediction control algorithm, a synovial membrane control algorithm, a robust control algorithm, a fuzzy control algorithm and a neural network control algorithm;
3) and detecting whether the position adjustment quantity of each electric telescopic rod exceeds the movement limit, if not, sending the position adjustment quantity to a driver of a motor in each electric telescopic rod, and driving the motor by the driver to adjust the position. If the limit is exceeded, all the electric telescopic rods simultaneously move for a same distance in the opposite direction of the limit, and then jump to the step 1;
4) after the electric telescopic rod moves, the posture of the base is correspondingly changed, the inclination angle error collected by the gyroscope is changed, the process of 1-4 is continuously circulated until the integral levelness of the robot meets the requirement, and if the target levelness cannot be adjusted within a long time, the system reports an error and requires a user to input the target levelness again or adjust the current position of the robot.
In order to perform some operations accurately without collision and interference with other surgical instruments, such as a puncture operation, the robot must acquire the accurate pose of the robot in the operating room, at this time, a marker 9 may be installed on the ground of the operating room, as shown in fig. 3, then the marker is identified and positioned by the binocular camera 7 on the environment sensing module, the relative pose information between the robot and the marker is acquired by using the parallax principle, and before the operation, the operating room must be calibrated at high precision to determine the relative pose between medical instruments such as an operating table and imaging equipment (e.g., CT machine, X-ray machine) and ground markers.
Wherein, the binocular camera can adopt infrared sensor, laser range finder or ultrasonic range finder to replace.
Taking a binocular camera or an infrared camera as an example, the pose sensing method specifically comprises the following steps:
1) extracting feature points or positioning points of the ground markers of the operating room in two pictures shot by a binocular camera through a feature point extraction algorithm, wherein the specific algorithm comprises a threshold segmentation method, a template matching method, a Harris algorithm, a SIFT algorithm, a SUFT algorithm, an A-KAZE algorithm and the like;
2) performing feature point matching, and performing feature point matching filtering by using RANSAC algorithm
3) By using triangulation algorithm, the spatial positions of a plurality of feature points or positioning points relative to the camera coordinate system are solved
4) Because the ground marker is designed in advance, the relative spatial position relation between each characteristic point or positioning point of the ground marker is known, and the relative pose of the marker relative to the camera coordinate system can be converted based on the result obtained in the step 3.
5) And then, based on the relative pose of the camera and the robot which is calibrated in advance, the relative pose of the robot relative to the ground marker is calculated, and further the relative pose of the robot relative to the operating room is calculated.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A robot chassis with a pose sensing function is characterized by comprising a base, a control system, four universal wheels and four electric telescopic rods, wherein the four universal wheels are respectively connected to four corners of the base; a gyroscope is arranged on the base.
2. The robot chassis with the pose sensing function according to claim 1, wherein the four electric telescopic rods penetrate through the base and then respectively penetrate through supporting and positioning sleeves in clearance fit with the outer diameters of the electric telescopic rods, and then foot pads are installed on the electric telescopic rods, and the supporting and positioning sleeves are fixed on the base; the four electric telescopic rods are respectively and correspondingly positioned at the inner sides of the four universal wheels.
3. The robot chassis with the pose sensing function according to claim 1, wherein the base is further provided with a vision sensor, the vision sensor is one or more of a camera, an infrared camera and a laser sensor, the vision sensor is located on the bottom surface of the base, and a signal acquisition surface of the vision sensor faces the ground.
4. The robot chassis with the pose sensing function according to claim 1, wherein the motor of the electric telescopic rod is a stepping motor, the control system comprises a closed-loop stepping motor driver for driving the stepping motor, and the position sensor is a rotary encoder mounted at the tail end of the stepping motor or a linear displacement sensor mounted at the housing for measuring the displacement of the electric telescopic rod.
5. The method for automatically adjusting the robot chassis with the pose sensing function according to any one of claims 1 to 4, wherein the method comprises height adjustment and horizontal adjustment, and the target height and the target levelness of the robot are automatically adjusted by adjusting the telescopic amount of the four electric telescopic rods.
6. The method for automatically adjusting the robot chassis by the robot chassis with the pose sensing function according to claim 5, wherein the height adjustment comprises the following steps:
1) each electric telescopic rod extends downwards, when the electric telescopic rods touch the ground, the current of the motor is increased, and when the current exceeds a certain threshold value, the motor stops;
2) waiting for all the electric telescopic rods to stop, and taking the current position as a reference position;
3) and the electric telescopic rods move downwards for the same distance relative to the respective reference positions at the same time, the distance is the target height, and the robot is lifted by the corresponding distance integrally.
7. The method for automatically adjusting the robot chassis by the robot chassis with the pose sensing function according to claim 5, wherein the horizontal adjustment comprises the following steps:
1) the gyroscope acquires the inclination angle error of the base in real time, and the control system converts the inclination angle error into the position error of each electric telescopic rod according to the relative position relation between the gyroscope and each electric telescopic rod;
2) the control system resolves the position error of each electric telescopic rod into the position adjustment quantity of each electric telescopic rod through a control algorithm;
3) detecting whether the position adjustment quantity of each electric telescopic rod exceeds a movement limit, if not, sending the position adjustment quantity to a driver of a motor in each electric telescopic rod, driving the motor by the driver to adjust the position, if so, simultaneously moving all the electric telescopic rods to the opposite direction of the limit for a same distance, and then jumping to the step 1;
4) after the electric telescopic rod moves, the posture of the base is correspondingly changed, the inclination angle error collected by the gyroscope is also changed, and the processes of the steps 1-4 are continuously circulated until the integral levelness of the robot meets the requirement.
8. The method for automatically adjusting the robot chassis by the robot chassis with the pose sensing function according to claim 7, wherein if the robot cannot be adjusted to the target levelness for a long time in the horizontal adjustment process, the system reports an error and requires a user to input the target levelness again or adjust the current position of the robot.
9. The method for automatically adjusting the robot chassis by the robot chassis with the pose sensing function according to claim 5, wherein the relative pose of the robot relative to the operating room can be obtained, and the method specifically comprises the following steps:
1) installing a marker on the ground of the operating room;
2) extracting the characteristic points or positioning points of the ground markers of the operating room in the two pictures shot by the binocular camera through a characteristic point extraction algorithm;
3) matching the characteristic points, and performing characteristic point matching filtering by using an RANSAC algorithm;
4) solving the spatial positions of a plurality of feature points or positioning points relative to a camera coordinate system by utilizing a triangulation positioning algorithm;
5) because the ground marker is designed in advance, the relative spatial position relation between each characteristic point or positioning point is known, and then the relative pose of the marker relative to the camera coordinate system can be converted based on the result obtained in the step 3;
6) and then, based on the relative pose of the camera and the robot which is calibrated in advance, the relative pose of the robot relative to the ground marker is calculated, and further the relative pose of the robot relative to the operating room is calculated.
10. The method for automatically adjusting the robot chassis by the robot chassis with the pose sensing function according to claim 9, wherein the algorithm in the step 2) comprises a threshold segmentation method, a template matching method, a Harris algorithm, a SIFT algorithm, a SUFT algorithm or an a-KAZE algorithm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115182530A (en) * | 2022-07-05 | 2022-10-14 | 中国一冶集团有限公司 | A installation device for special-shaped structure decorates aluminum plate |
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