CN116439788A - Method, device, equipment and storage medium for controlling movement of end tool - Google Patents
Method, device, equipment and storage medium for controlling movement of end tool Download PDFInfo
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- CN116439788A CN116439788A CN202310416430.0A CN202310416430A CN116439788A CN 116439788 A CN116439788 A CN 116439788A CN 202310416430 A CN202310416430 A CN 202310416430A CN 116439788 A CN116439788 A CN 116439788A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000007704 transition Effects 0.000 claims abstract description 116
- 238000013016 damping Methods 0.000 claims abstract description 47
- 230000008569 process Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 210000003127 knee Anatomy 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013150 knee replacement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
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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
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
- A61B17/320092—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
- A61B2017/320093—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw additional movable means performing cutting operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present disclosure relates to a position control method, apparatus, device, and storage medium for an end tool. When the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, the damping coefficient and the resistance are determined, and the end tool is prevented from continuing to move towards the preset movement zone boundary based on the resistance, so that the end tool is ensured to move in the preset movement zone boundary all the time, the problem of frequent power failure does not occur when the end tool moves near the preset movement zone boundary, but the end tool can not continue to move or move along the direction far away from the preset movement zone boundary, and the smooth operation and efficiency of the operation are improved.
Description
Technical Field
The present disclosure relates to the field of robot motion control, and in particular, to a method, apparatus, device, and storage medium for motion control of an end tool.
Background
When the robot is used for joint replacement surgery, the safety requirement on the robot is extremely high, and the end tool of the robot is required to always keep moving within the boundary of a specific preset movement area. For example, in total knee replacement surgery, the robotic end tool is required to remain in motion within the cutting area throughout the time the tibia is cut to ensure the accuracy and safety of the total knee replacement surgery.
In order to control the end tool to always move within a certain preset movement zone boundary, it is necessary to control the position of the end tool in real time. In the prior art, when the end tool is detected to exceed the preset movement area boundary, the end tool is powered off, the end tool is controlled to return to the preset movement area boundary after being manually controlled, and then the end tool is powered on, so that the operation is controlled to be continued. However, when the end tool is located at the boundary of the preset movement area, the condition of power on and power off frequently occurs, which brings inconvenience to the operation of the user and reduces the smoothness and efficiency of the operation.
Disclosure of Invention
In order to solve the above technical problems, the present disclosure provides a position control method, apparatus, device and storage medium for an end tool.
In a first aspect, the present disclosure provides a method of controlling a position of an end tool, the method comprising:
when the end tool of the target robot is subjected to motion control according to the planning position of the current period, predicting whether the end tool moves in a preset transition zone along the direction pointing to the boundary of a preset motion zone, wherein the preset transition zone is a zone surrounded by the transition zone boundary of the end tool to the boundary of the preset motion zone;
Determining a damping coefficient of the end tool in the current period if the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the preset movement zone boundary;
determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period;
and controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
In a second aspect, the present disclosure provides a position control device for an end tool, the device comprising:
the prediction module is used for predicting whether the end tool moves in a preset transition zone along the direction pointing to the boundary of a preset movement zone when the end tool of the target robot is in motion control according to the planning position of the current period, wherein the preset transition zone is a zone surrounded by the transition zone boundary of the end tool to the boundary of the preset movement zone;
A first determining module, configured to determine a damping coefficient of the end tool in a current period if the end tool moves in the preset transition zone along a direction pointing to the preset movement zone boundary, where the damping coefficient is used to determine a resistance of the end tool, and the resistance is used to block the end tool from moving in the preset transition zone along the direction pointing to the preset movement zone boundary;
the second determining module is used for determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period;
and the control module is used for controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
In a third aspect, embodiments of the present disclosure further provide an electronic device, including:
one or more processors;
storage means for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method provided by the first aspect.
In a fourth aspect, embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method provided by the first aspect.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
when the end tool of the target robot is controlled to move according to the planned position of the current period, predicting whether the end tool moves in a preset transition zone along a direction pointing to the boundary of a preset movement zone, wherein the preset transition zone is a zone surrounded by the boundary of the transition zone of the end tool to the boundary of the preset movement zone; if the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone, determining a damping coefficient of the end tool in the current period, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the boundary of the preset movement zone; determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period; and controlling the end tool to move within the boundary of the preset movement area in the current period according to the actual position of the end tool in the current period. Therefore, when the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, the damping coefficient and the resistance are determined, and the end tool is prevented from continuing to move towards the preset movement zone boundary based on the resistance, so that the end tool is ensured to move in the preset movement zone boundary all the time, and thus, when the end tool moves nearby the preset movement zone boundary, the problem of frequent power failure does not occur, but the end tool can not continue to move, or can move along the direction far from the preset movement zone boundary, and the smoothness and the efficiency of operation are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a flowchart of a method for controlling a position of an end tool according to an embodiment of the disclosure;
FIG. 2 is a schematic illustration of a boundary of a cutting region in total knee surgery provided in an embodiment of the present disclosure;
FIG. 3 is a schematic view of the movement state of an end tool according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of another method for controlling the position of an end tool according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of the movement state of another end tool according to an embodiment of the present disclosure
FIG. 6 is a schematic structural view of a position control device for an end tool according to an embodiment of the present disclosure;
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
In order to avoid the problem of frequent power failure when the end tool moves toward the boundary of the movement area, the position control method of the end tool according to the embodiments of the present disclosure is described below with reference to fig. 1 to 5. In the embodiment of the present disclosure, the position control method of the end tool may be performed by an electronic device. The electronic device may include devices with communication functions, such as a tablet computer, a desktop computer, a notebook computer, and the like, and may also include devices simulated by a virtual machine or a simulator.
Fig. 1 is a schematic flow chart of a position control method of an end tool according to an embodiment of the disclosure.
As shown in fig. 1, the position control method of the end tool may include the following steps.
S110, when the end tool of the target robot is controlled to move according to the planning position of the current period, predicting whether the end tool moves along the direction pointing to the boundary of the preset movement area in the preset transition area, wherein the preset transition area is an area surrounded by the boundary of the transition area of the end tool to the boundary of the preset movement area.
In this embodiment, when the target robot is used for performing an operation, the controller of the target robot needs to control the end tool to move within the preset movement region boundary all the time, in order to avoid a speed mutation of the target robot during the movement process, a preset transition region is set in a certain region within the preset movement region boundary, so as to ensure that the end tool keeps moving stably when approaching the preset movement region boundary. Further, when the end tool of the target robot is controlled to move according to the planned position of the current period, whether the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone is predicted, so that the end tool is controlled to move in a proper mode.
Specifically, the controller of the target robot may define at least one target point in advance, and when performing motion control on the end tool of the target robot according to the planned position of the current period, obtain the planned distance of each target point in the current period, select the minimum planned distance as the planned distance of the end tool in the current period, and simultaneously obtain the actual distance of each target point in the previous period, select the minimum actual distance as the actual distance of the end tool in the previous period, and simultaneously obtain the width of the preset transition zone, and predict whether the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset motion zone based on the planned distance of the end tool in the current period, the actual distance of the end tool in the previous period, and the width of the preset transition zone.
Wherein the target robot is a surgical robot, and the end tool may be a dressing or a grinding head. For example, in joint replacement surgery (e.g., total knee surgery), a pre-planned cutting region boundary is obtained as a preset motion region boundary, and the end tool is controlled to always move within the cutting region boundary, so as to achieve precise cutting of the tibia.
The target point refers to a positioning reference point of the end tool in the motion process. Specifically, the target point may include a control point and a monitoring point, the control point is the origin of the coordinate system of the end tool, the monitoring point is a point which is not allowed to exceed the boundary of the movement area, the monitoring point may be the vertex of the end tool, the number may be multiple, and the control point may only be one. Specifically, the planned position of the control point in the current cycle is specifically the planned position of the end tool in the current cycle.
Wherein the transition zone boundary refers to the inner boundary of the transition zone, and the preset motion zone boundary refers to the outer boundary of the transition zone and is a critical curve that allows the end tool to move.
To facilitate an understanding of the motion zone boundaries, fig. 2 shows a schematic view of the cutting zone boundaries in a total knee surgery. As shown in fig. 2, in performing a total knee surgery using a surgical robot, it is necessary to control the end tool 210 to always move within the cutting region boundary 220 in order to achieve precise cutting.
To facilitate understanding of the target point on the end tool, fig. 3 shows a schematic diagram of the state of motion of the end tool. As shown in fig. 3, the control point is the midpoint of the uppermost Fang Bianchang of the end tool 310 and the monitoring point includes two vertices of the uppermost side of the end tool 310.
And S120, if the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone, determining the damping coefficient of the end tool in the current period, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the boundary of the preset movement zone.
In this embodiment, optionally, determining a damping coefficient of the end tool in the current period includes: acquiring the width of a preset transition zone and the planning distance of an end tool in the current period; and calculating a damping coefficient based on the planned distance and the width of the preset transition zone.
The planning distance is the minimum value of the distance between at least one target point on the end tool and the boundary of the preset movement area when the end tool is subjected to planning movement, and the planning distance is recorded as L.
The width of the preset transition zone refers to the distance from the boundary of the transition zone to the boundary of the preset motion zone, and the width of the preset transition zone is denoted as D.
Specifically, the planned distance is compared with the width of a preset transition zone, the damping coefficient of the end tool in the current period is obtained, and the damping coefficient is recorded as C. Then, the damping coefficient c=l/D.
Further, based on the damping coefficient and the movement speed of the end tool, a resistance of the end tool is determined as a counter force that resists continued movement of the end tool within the preset transition zone in a direction toward the preset movement zone boundary, such that the end tool is inhibited from moving beyond the preset movement zone boundary under the action of the resistance until the end tool has a maximum resistance when reaching the preset movement zone boundary.
S130, determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period.
In this embodiment, the controller of the target robot determines a first displacement vector of the end tool planned in the current period based on the actual position of the end tool in the previous period and the planned position of the end tool in the current period, multiplies the displacement vector by a damping coefficient, determines a second displacement vector actually corresponding to the end tool in the current period, and the second displacement vector is specifically a vector formed by the actual position of the end tool in the current period and the planned position of the end tool in the current period, and determines the actual position of the end tool in the current period according to the second displacement vector and the planned position of the end tool in the current period.
With continued reference to fig. 3, the actual position of the end tool in the previous cycle refers to the position of the control point on the end tool that actually corresponds to the previous cycle, and this actual position is denoted as P1. The planned position of the end tool in the current cycle refers to the planned position of the control point on the end tool in the current cycle, and the planned position is denoted as P2. The first displacement vector is denoted as P1P2, the second displacement vector P1P2 '=p1p2×c, and the actual position of the end tool in the current cycle is denoted as P2'.
And S140, controlling the end tool to move in the boundary of the preset movement area in the current period according to the actual position of the end tool in the current period.
In this embodiment, the controller of the target robot determines the actual position of the end tool in the current period, and may control the end tool to move in the preset movement area boundary in the current period based on the actual position of the end tool in the current period, so that the end tool is ensured to move in the preset movement area boundary all the time in the actual movement process.
When the end tool of the target robot is controlled to move according to the planned position of the current period, predicting whether the end tool moves in a preset transition zone along a direction pointing to the boundary of a preset movement zone, wherein the preset transition zone is a zone surrounded by the boundary of the transition zone of the end tool to the boundary of the preset movement zone; if the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone, determining a damping coefficient of the end tool in the current period, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the boundary of the preset movement zone; determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period; and controlling the end tool to move within the boundary of the preset movement area in the current period according to the actual position of the end tool in the current period. Therefore, when the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, the damping coefficient and the resistance are determined, and the end tool is prevented from continuing to move towards the preset movement zone boundary based on the resistance, so that the end tool is ensured to move in the preset movement zone boundary all the time, and thus, when the end tool moves nearby the preset movement zone boundary, the problem of frequent power failure does not occur, but the end tool can not continue to move, or can move along the direction far from the preset movement zone boundary, and the smoothness and the efficiency of operation are improved.
In other cases, the method further comprises:
if the end tool does not enter the preset transition zone to move, or the end tool moves in the preset transition zone in a direction away from the boundary of the preset movement zone, taking the planned position of the end tool in the current period as the actual position of the end tool in the current period.
It will be appreciated that if the end tool does not enter the preset transition zone, or if the end tool moves in the preset transition zone in a direction away from the boundary of the preset movement zone, no resistance is generated to the end tool, the planned position of the end tool in the current period is directly used as the actual position of the end tool in the current period, and the end tool is controlled to normally move outside the preset transition zone, or the end tool is controlled to move in the preset transition zone in a direction away from the boundary of the preset movement zone.
In another embodiment of the present disclosure, whether the end tool moves within the preset movement area boundary is predicted, when the end tool is predicted to move within the preset movement area boundary, the actual position of the end tool in the current period is determined in different manners, and when the end tool is predicted to move outside the preset movement area boundary, the actual position of the end tool in the current period is also determined in different manners.
Fig. 4 is a flow chart illustrating a position control method of another end tool according to an embodiment of the present disclosure.
As shown in fig. 4, the position control method of the end tool may include the following steps.
S410, when the end tool of the target robot is controlled to move according to the planned position of the current period, whether the end tool moves in the preset movement area boundary is predicted based on the planned distance of the end tool in the current period.
It will be appreciated that the planning distance L is non-negative when the target point is inside the preset motion zone boundary, and conversely negative when the target point is outside the preset motion zone boundary. Therefore, it is determined whether the planned distance is greater than 0, if the planned distance is greater than or equal to 0, it is determined that the end tool moves within the preset movement region boundary, and S420 is performed, and if the planned distance is less than 0, it is determined that the end tool moves outside the preset movement region boundary, and S470 is performed.
S420, predicting whether the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone based on the actual distance of the end tool in the last period, the width of the preset transition zone and the planned distance.
Specifically, if it is predicted that the end tool moves in the direction pointing to the boundary of the preset movement region within the preset transition region, S430 is performed, and if the end tool does not enter the preset transition region to move, or if the end tool moves in the direction away from the boundary of the preset movement region within the preset transition region, S460 is performed.
In an embodiment of the present disclosure, optionally, S420 specifically includes: if the planning distance is greater than or equal to the width of the preset transition zone, predicting that the end tool does not enter the preset transition zone for movement; if the planned distance is greater than or equal to the actual distance, predicting that the end tool moves in a preset transition zone along a direction away from the boundary of the preset movement zone; if the planned distance is smaller than the actual distance and the planned distance is smaller than the width of the transition zone, the movement of the end tool in the preset transition zone along the direction pointing to the boundary of the preset movement zone is predicted.
Wherein the actual distance is the minimum value of the distance between at least one target point on the end tool and the boundary of the preset motion area in the last period, and the actual distance is recorded as L0.
It can be appreciated that if the planned distance L > = the width D of the preset transition zone, it is determined that the end tool does not enter the preset transition zone for movement; if the planning distance L > =the actual distance L0, determining that the end tool moves in a direction away from the boundary of the preset movement region in the preset transition region; if the planned distance L < the width D of the preset transition zone and the planned distance L < the actual distance L0, the end tool is moved within the preset transition zone in a direction pointing to the boundary of the preset movement zone.
S430, determining a damping coefficient of the end tool in the current period, wherein the damping coefficient is used for determining resistance of the end tool, and the resistance is used for preventing the end tool from moving in a direction pointing to the boundary of the preset movement region in the preset transition region.
S440, determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period.
S450, controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
Wherein, S430-S450 are similar to S120-S140, and are not described herein.
S460, taking the planning position of the end tool in the current period as the actual position of the end tool in the current period.
Therefore, when the end tool moves in the boundary of the preset movement area, the actual position of the end tool in the current period can be determined in different modes, so that the actual position of the end tool in the current period can be accurately determined in different scenes.
S470, carrying out rollback processing on the target point on the end tool within the preset rollback times.
It will be appreciated that if the planned distance is less than 0, it is determined that the end tool is moving outside the preset movement area boundary, that is, the end tool has a target point outside the preset movement area boundary, which indicates that the planned distance in the current period is not suitable, and the target point on the end tool needs to be retracted into the preset movement area boundary so as to control the end tool not to move beyond the preset movement area boundary.
In this embodiment, optionally, S470 specifically includes: starting from the first rollback times, rolling back a target point corresponding to the current rollback distance to the boundary along the direction close to the preset motion boundary in the current rollback times according to the current rollback distance corresponding to the current rollback times, wherein the current rollback distance is a planning distance; and repeatedly executing the process until the target point is subjected to the preset rollback processing of the rollback times, and stopping continuing to perform the preset rollback processing of the rollback times on the target point.
Specifically, the looping step of S470 may specifically include:
s1, taking a planning distance corresponding to an end tool as a current backspacing distance in a current period;
s2, along the direction approaching the preset motion boundary and according to the current backspacing distance corresponding to the current backspacing number, the target point corresponding to the current backspacing distance is backspacing to the boundary, and the next backspacing distance corresponding to the next backspacing number is determined. The next backspacing distance is the minimum value of the distance between at least one target point on the end tool and the boundary of the preset motion area at the next backspacing number.
S3, backing the target point corresponding to the next backing distance onto the boundary along the direction approaching the preset motion boundary according to the next backing distance corresponding to the next backing times;
S4, judging whether the preset rollback times of rollback processing are carried out on the target point. If yes, returning to execute S2-S3, otherwise, executing S5.
S5, stopping carrying out rollback processing of the preset rollback times on the target point.
S480, judging whether the target point is retracted to the boundary of the preset motion area within the preset retraction times.
Specifically, if the target point is retracted to the preset motion area boundary within the preset retraction times, S490 is executed, otherwise S491 is executed.
S490, acquiring a rollback position corresponding to the last rollback times of the target point, taking the rollback position as an actual position of the end tool in the current period, and controlling the end tool to move in a preset movement area boundary according to the actual position of the end tool in the current period.
In this embodiment, the retraction position of the target point corresponding to the last retraction frequency may be denoted as P3, and the retraction position P3 is used as the actual position of the end tool in the current period, so as to iteratively determine the actual position of the end tool in the current period through the retraction operation, thereby moving the end tool outside the planned preset motion area boundary to the preset motion area boundary, and further controlling the end tool to move in the preset motion area boundary all the time according to the actual position of the end tool in the current period.
S491, taking the actual position of the target point in the previous period as the actual position of the end tool in the current period, and controlling the end tool to move in the boundary of the preset movement area according to the actual position of the end tool in the current period.
It can be understood that if the end tool is not retracted to the preset motion area boundary within the preset retraction times, it is indicated that the planned position of the end tool in the current period is located outside the preset motion area boundary, and if the end tool is controlled to move according to the planned position in the current period, the end tool will move outside the preset motion area boundary, so that in order to avoid the end tool moving outside the preset motion area boundary, the actual position of the target point in the previous period is directly taken as the actual position of the end tool in the current period, and the end tool is controlled to always move within the preset motion area boundary according to the actual position of the end tool in the current period.
To facilitate an understanding of the retraction process, fig. 5 shows a schematic view of the state of motion of another end tool. As shown in fig. 5, according to the planned distance P1 of the end tool in the current period, the end tool is estimated to move outside the preset movement area boundary according to the planned distance, that is, the planned position of the end tool in the current period is located outside the preset movement area boundary, the target point on the end tool needs to be retracted within the preset retraction times, the actual position P2' of the end tool in the current period is determined, and then the end tool is controlled to move within the preset movement area boundary according to the actual position of the end tool in the current period. In other cases, if the target point does not fall back to the preset motion boundary within the preset rollback times, taking the actual position P1 of the target point in the previous period as the actual position of the end tool in the current period, and controlling the end tool to move within the preset motion area boundary according to the actual position of the end tool in the current period.
Therefore, when the end tool moves outside the boundary of the preset movement area, the target point on the end tool is retreated within the preset retreating times, so that the end tool is ensured to move in the boundary of the preset movement area all the time, and finally the safety and the accuracy of the operation process are improved.
The embodiment of the present disclosure further provides a position control device of an end tool for implementing the position control method of an end tool described above, and is described below with reference to fig. 6. In an embodiment of the present disclosure, the position control device of the end tool may be an electronic device. The electronic device may include devices with communication functions, such as a tablet computer, a desktop computer, a notebook computer, and the like, and may also include devices simulated by a virtual machine or a simulator.
Fig. 6 is a schematic structural view of a position control device of an end tool according to an embodiment of the present disclosure.
As shown in fig. 6, the position control device 600 of the end tool may include:
a prediction module 610, configured to predict, when performing motion control on an end tool of a target robot according to a planned position of a current cycle, whether the end tool moves in a preset transition zone along a direction pointing to a preset motion zone boundary, where the preset transition zone is a zone surrounded by a transition zone boundary of the end tool to the preset motion zone boundary;
A first determining module 620, configured to determine a damping coefficient of the end tool in a current period if the end tool moves in a direction pointing to a boundary of the preset movement region in the preset transition region, where the damping coefficient is used to determine a resistance of the end tool, and the resistance is used to block the end tool from moving in the direction pointing to the boundary of the preset movement region in the preset transition region;
a second determining module 630, configured to determine an actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period, and the planned position of the end tool in the current period;
and the control module 640 is used for controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
When the end tool of the target robot is controlled to move according to the planned position of the current period, predicting whether the end tool moves in a preset transition zone along a direction pointing to the boundary of a preset movement zone, wherein the preset transition zone is a zone surrounded by the boundary of the transition zone of the end tool to the boundary of the preset movement zone; if the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone, determining a damping coefficient of the end tool in the current period, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the boundary of the preset movement zone; determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period; and controlling the end tool to move within the boundary of the preset movement area in the current period according to the actual position of the end tool in the current period. Therefore, when the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, the damping coefficient and the resistance are determined, and the end tool is prevented from continuing to move towards the preset movement zone boundary based on the resistance, so that the end tool is ensured to move in the preset movement zone boundary all the time, and thus, when the end tool moves nearby the preset movement zone boundary, the problem of frequent power failure does not occur, but the end tool can not continue to move, or can move along the direction far from the preset movement zone boundary, and the smoothness and the efficiency of operation are improved.
In some embodiments of the present disclosure, the first determining module 620 includes:
the terminal tool comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the width of a preset transition zone and the planning distance of the terminal tool in the current period, wherein the planning distance is the minimum value of the distance between at least one target point on the terminal tool and the boundary of the preset movement zone when the terminal tool is subjected to planning movement;
and the calculating unit is used for calculating the damping coefficient based on the planning distance and the width of the preset transition zone.
In some embodiments of the present disclosure, the apparatus further comprises:
and the third determining module is used for taking the planned position of the end tool in the current period as the actual position of the end tool in the current period if the end tool does not enter the preset transition zone to move or the end tool moves in the preset transition zone along the direction away from the boundary of the preset movement zone.
In some embodiments of the present disclosure, the prediction module 610 includes:
a first prediction unit, configured to predict whether the end tool moves within the preset movement region boundary based on a planned distance of the end tool in a current period;
And the second prediction unit is used for predicting whether the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary based on the actual distance of the end tool in the last period, the width of the preset transition zone and the planning distance if the end tool moves in the preset movement zone boundary.
In some embodiments of the present disclosure, the second prediction unit is specifically configured to predict that the end tool does not enter the preset transition zone for movement if the planned distance is greater than or equal to the width of the preset transition zone;
if the planned distance is greater than or equal to the actual distance, predicting that the end tool moves in the preset transition zone along a direction away from the boundary of the preset movement zone;
and if the planned distance is smaller than the actual distance and the planned distance is smaller than the width of the transition zone, predicting that the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone.
In some embodiments of the present disclosure, the prediction module 610 further includes:
the rollback unit is used for performing rollback processing on the target point on the end tool within a preset rollback frequency if the end tool moves outside the boundary of the preset movement area;
The judging unit is used for judging whether the target point is retracted to the boundary of the preset motion area within the preset retraction times;
the first control unit is configured to acquire a retraction position of the target point corresponding to a last retraction time if the target point is retracted onto the preset motion boundary within the preset retraction time, take the retraction position as an actual position of the end tool in the current period, and control the end tool to move within the preset motion area boundary according to the actual position of the end tool in the current period;
and the second control unit is used for taking the actual position of the target point in the previous period as the actual position of the end tool in the current period and controlling the end tool to move in the preset movement area boundary according to the actual position of the end tool in the current period if the target point is not retracted to the preset movement boundary within the preset retraction times.
In some embodiments of the present disclosure, the rollback unit is specifically configured to:
starting from the first rollback times, in the current rollback times, along the direction approaching the preset motion boundary and according to the current rollback distance corresponding to the current rollback times, returning the target point corresponding to the current rollback distance to the boundary, wherein the current rollback distance is the planning distance;
And repeatedly executing the process until the preset rollback times of the rollback processing is carried out on the target point, and stopping continuing the preset rollback times of the rollback processing on the target point.
It should be noted that, the position control device 600 of the end tool shown in fig. 6 may perform the steps in the method embodiments shown in fig. 1 to 5, and implement the processes and effects in the method embodiments shown in fig. 1 to 5, which are not described herein.
Fig. 7 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure. The electronic device may be a controller of the target robot mentioned in the above embodiments.
As shown in fig. 7, the electronic device may include a processor 701 and a memory 702 storing computer program instructions.
In particular, the processor 701 described above may include a Central Processing Unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.
Memory 702 may include mass storage for information or instructions. By way of example, and not limitation, memory 702 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of these. The memory 702 may include removable or non-removable (or fixed) media, where appropriate. The memory 702 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 702 is a non-volatile solid state memory. In a particular embodiment, the Memory 702 includes Read-Only Memory (ROM). The ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (Electrical Programmable ROM, EPROM), electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), electrically rewritable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.
The processor 701 reads and executes the computer program instructions stored in the memory 702 to perform the steps of the position control method of the end tool provided by the embodiments of the present disclosure.
In one example, the electronic device may also include a transceiver 703 and a bus 704. As shown in fig. 7, the processor 701, the memory 702, and the transceiver 703 are connected by a bus 704 and communicate with each other.
Bus 704 includes hardware, software, or both. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics BUS, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) BUS, a Front Side BUS (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industrial Standard Architecture, ISA) BUS, an InfiniBand interconnect, a Low Pin Count (LPC) BUS, a memory BUS, a micro channel architecture (Micro Channel Architecture, MCa) BUS, a peripheral control interconnect (Peripheral Component Interconnect, PCI) BUS, a PCI-Express (PCI-X) BUS, a serial advanced technology attachment (Serial Advanced Technology Attachment, SATA) BUS, a video electronics standards association local (Video Electronics Standards Association Local Bus, VLB) BUS, or other suitable BUS, or a combination of two or more of these. Bus 704 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.
The following are embodiments of a computer-readable storage medium provided in the embodiments of the present disclosure, which belong to the same inventive concept as the position control method of the end tool of the above embodiments, and reference may be made to the embodiments of the position control method of the end tool for details that are not described in detail in the embodiments of the computer-readable storage medium.
The present embodiment provides a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform a method of position control of an end tool, the method comprising:
when the end tool of the target robot is subjected to motion control according to the planning position of the current period, predicting whether the end tool moves in a preset transition zone along the direction pointing to the boundary of a preset motion zone, wherein the preset transition zone is a zone surrounded by the transition zone boundary of the end tool to the boundary of the preset motion zone;
determining a damping coefficient of the end tool in the current period if the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the preset movement zone boundary;
Determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period;
and controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present disclosure is not limited to the above method operations, but may also perform the related operations in the end tool position control method provided in any embodiment of the present disclosure.
From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by means of software and necessary general purpose hardware, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present disclosure may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., and include several instructions for causing a computer cloud platform (which may be a personal computer, a server, or a network cloud platform, etc.) to execute the position control method of the end tool provided in the various embodiments of the present disclosure.
Note that the above is only a preferred embodiment of the present disclosure and the technical principle applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.
Claims (10)
1. A method of controlling movement of an end tool, comprising:
when the end tool of the target robot is subjected to motion control according to the planning position of the current period, predicting whether the end tool moves in a preset transition zone along the direction pointing to the boundary of a preset motion zone, wherein the preset transition zone is a zone surrounded by the transition zone boundary of the end tool to the boundary of the preset motion zone;
determining a damping coefficient of the end tool in the current period if the end tool moves in the preset transition zone along the direction pointing to the preset movement zone boundary, wherein the damping coefficient is used for determining the resistance of the end tool, and the resistance is used for preventing the end tool from moving in the preset transition zone along the direction pointing to the preset movement zone boundary;
Determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period;
and controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
2. The method of claim 1, wherein the determining a damping coefficient of the end tool at a current cycle comprises:
acquiring the width of a preset transition zone and the planning distance of the end tool in the current period, wherein the planning distance is the minimum value of the distance between at least one target point on the end tool and the boundary of the preset movement zone when the end tool is subjected to planning movement;
and calculating the damping coefficient based on the planned distance and the width of the preset transition zone.
3. The method as recited in claim 1, further comprising:
and if the end tool does not enter the preset transition zone to move, or the end tool moves in the preset transition zone along the direction away from the boundary of the preset movement zone, taking the planned position of the end tool in the current period as the actual position of the end tool in the current period.
4. A method according to any one of claims 1 to 3, wherein predicting whether the end tool is moving within a predetermined transition zone in a direction towards a predetermined movement zone boundary comprises:
predicting whether the end tool moves within the preset movement area boundary based on the planned distance of the end tool in the current period;
if the end tool moves within the preset movement region boundary, predicting whether the end tool moves within the preset transition region along a direction pointing to the preset movement region boundary based on the actual distance of the end tool in the previous period, the width of the preset transition region and the planned distance.
5. The method of claim 4, wherein predicting whether the end tool is moving within a preset transition zone in a direction toward a preset motion zone boundary based on an actual distance of the end tool over a previous cycle, a width of the preset transition zone, and the planned distance comprises:
if the planned distance is greater than or equal to the width of the preset transition zone, predicting that the end tool does not enter the preset transition zone for movement;
If the planned distance is greater than or equal to the actual distance, predicting that the end tool moves in the preset transition zone along a direction away from the boundary of the preset movement zone;
and if the planned distance is smaller than the actual distance and the planned distance is smaller than the width of the transition zone, predicting that the end tool moves in the preset transition zone along the direction pointing to the boundary of the preset movement zone.
6. The method as recited in claim 4, further comprising:
if the end tool moves outside the boundary of the preset movement area, carrying out rollback processing on the target point on the end tool within the preset rollback times;
judging whether the target point is retracted to the boundary of the preset motion area within the preset retraction times;
if the target point is retracted to the preset motion boundary within the preset retraction times, acquiring a retraction position of the target point corresponding to the last retraction times, taking the retraction position as an actual position of the end tool in the current period, and controlling the end tool to move in the preset motion area boundary according to the actual position of the end tool in the current period;
And if the target point does not fall back to the preset motion boundary within the preset rollback times, taking the actual position of the target point in the previous period as the actual position of the end tool in the current period, and controlling the end tool to move in the preset motion area boundary according to the actual position of the end tool in the current period.
7. The method of claim 6, wherein the rollback processing the target point on the end tool within a preset number of rollbacks comprises:
starting from the first rollback times, in the current rollback times, along the direction approaching the preset motion boundary and according to the current rollback distance corresponding to the current rollback times, returning the target point corresponding to the current rollback distance to the boundary, wherein the current rollback distance is the planning distance;
and repeatedly executing the process until the preset rollback times of the rollback processing is carried out on the target point, and stopping continuing the preset rollback times of the rollback processing on the target point.
8. A motion control device for an end tool, comprising:
The prediction module is used for predicting whether the end tool moves in a preset transition zone along the direction pointing to the boundary of a preset movement zone when the end tool of the target robot is in motion control according to the planning position of the current period, wherein the preset transition zone is a zone surrounded by the transition zone boundary of the end tool to the boundary of the preset movement zone;
a first determining module, configured to determine a damping coefficient of the end tool in a current period if the end tool moves in the preset transition zone along a direction pointing to the preset movement zone boundary, where the damping coefficient is used to determine a resistance of the end tool, and the resistance is used to block the end tool from moving in the preset transition zone along the direction pointing to the preset movement zone boundary;
the second determining module is used for determining the actual position of the end tool in the current period based on the damping coefficient, the actual position of the end tool in the previous period and the planned position of the end tool in the current period;
and the control module is used for controlling the end tool to move in the preset movement area boundary in the current period according to the actual position of the end tool in the current period.
9. An electronic device, comprising:
a processor;
a memory for storing executable instructions;
wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any of the preceding claims 1-7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the storage medium stores a computer program, which, when executed by a processor, causes the processor to implement the method of any of the preceding claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117109435A (en) * | 2023-08-21 | 2023-11-24 | 北京纳通医用机器人科技有限公司 | Robot alignment method, device, equipment and storage medium |
| CN117301044A (en) * | 2023-08-31 | 2023-12-29 | 北京纳通医用机器人科技有限公司 | Method, device, equipment and storage medium for controlling movement of end tool |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117109435A (en) * | 2023-08-21 | 2023-11-24 | 北京纳通医用机器人科技有限公司 | Robot alignment method, device, equipment and storage medium |
| CN117301044A (en) * | 2023-08-31 | 2023-12-29 | 北京纳通医用机器人科技有限公司 | Method, device, equipment and storage medium for controlling movement of end tool |
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