CN117481719B

CN117481719B - Control method and device of spreader, storage medium and electronic equipment

Info

Publication number: CN117481719B
Application number: CN202410006050.4A
Authority: CN
Inventors: 李文龙
Original assignee: Beijing Yidian Lingdong Technology Co ltd
Current assignee: Beijing Yidian Lingdong Technology Co ltd
Priority date: 2024-01-03
Filing date: 2024-01-03
Publication date: 2024-04-30
Anticipated expiration: 2044-01-03
Also published as: CN117481719A

Abstract

The application discloses a control method and device of a spreader, a storage medium and electronic equipment. The method comprises the following steps: when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value; and controlling the target spreader by the controller according to the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force. The application solves the problem that the control accuracy of the spreader is lower because the weight of the external actuating mechanism of the spreader cannot be determined in the related art.

Description

Control method and device of spreader, storage medium and electronic equipment

Technical Field

The present application relates to the field of control technologies, and in particular, to a control method and apparatus for a spreader, a storage medium, and an electronic device.

Background

In the prior art, the intelligent spreader is used for measuring the data related to the soft tissue stress of the knee joint in real time. However, in the practical application of the intelligent medical instrument, the weight of the end actuating mechanism of the spreader has certain change, but in the prior art, the calibration of the load of the external actuating mechanism cannot be realized, the sensing of the load of the external actuating mechanism is lacking, and the problem of lower accuracy of the control of the spreader exists.

Aiming at the problem that the weight of an external actuating mechanism of the spreader cannot be determined in the related art, so that the control accuracy of the spreader is low, no effective solution is proposed at present.

Disclosure of Invention

The application mainly aims to provide a control method and device of a spreader, a storage medium and electronic equipment, and aims to solve the problem that the accuracy of control of the spreader is low because the weight of an external actuating mechanism of the spreader cannot be determined in the related technology.

In order to achieve the above object, according to one aspect of the present application, there is provided a control method of a spreader. The method comprises the following steps: when the target spreader is in an idle state, the target spreader is controlled by a controller to spread under a first angle value to reach an equilibrium state, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with a target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; and controlling the target spreader by the controller according to the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force.

Further, controlling, by the controller, the target distractor to distract to an equilibrium state at a first angle value includes: determining a plurality of first angle values; for each first angle value, the controller controls the target spreader to spread under the first angle value to reach an equilibrium state at a plurality of current values.

Further, calculating according to the first angle value, the obtaining a target weight value of the external actuator of the target spreader includes: acquiring a first current value when the controller controls the target spreader to spread under the first angle value; and calculating according to the first current value and the first angle value to obtain the target weight value.

Further, calculating according to the first current value and the first angle value, to obtain the target weight value includes: constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; and calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value.

Further, the controller controls the target spreader according to the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force, including: acquiring the preset opening force, and calculating according to the preset opening force to obtain a second current value; and controlling the target spreader by the controller according to the second current value, the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force.

Further, the controller controls the target spreader according to the second current value, the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force, including: controlling the target spreader to spread the target part by the controller according to the second current value; constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; when the target spreader spreads the target part, calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation to obtain a third current value; and updating the third current value to the second current value, and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part by a preset spreading force.

Further, performing estimation calculation on the state of the target spreader through a Kalman filter, and obtaining a target estimated value comprises: acquiring a preset initial estimated value and an initial error covariance; performing estimation calculation on the state of the spreader by the Kalman filter based on the preset initial estimation value and the initial error covariance to obtain a first estimation value; calculating the Kalman gain of the first estimated value to obtain a Kalman gain value; and calculating according to the Kalman gain value and the first estimated value to obtain the target estimated value.

In order to achieve the above object, according to another aspect of the present application, there is provided a control device of an distractor. The device comprises: the first control unit is used for controlling the target spreader to spread to reach an equilibrium state under a first angle value by the controller when the target spreader is in an idle state, wherein the first angle value is an included angle value between the target spreader and a target direction; the first calculation unit is used for calculating according to the first angle value to obtain a target weight value of an external execution mechanism of the target spreader; the second calculation unit is used for carrying out estimation calculation on the state of the target spreader through a Kalman filter under the state that the target spreader is in contact with the target part to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; and the second control unit is used for controlling the target spreader according to the target estimated value and the target weight value through the controller so that the target spreader spreads the target part with a preset spreading force.

Further, the first control unit includes: a determining module for determining a plurality of first angle values; and the first control module is used for controlling the target spreader to spread under the first angle value to reach an equilibrium state through the controller by using a plurality of current values for each first angle value.

Further, the first calculation unit includes: the first acquisition module is used for acquiring a first current value when the controller controls the target spreader to be spread under the first angle value; and the first calculation module is used for calculating according to the first current value and the first angle value to obtain the target weight value.

Further, the computing module includes: the first construction submodule is used for constructing an initial stress balance relation of the target spreader in a state of being in contact with the target part; the processing submodule is used for processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; and the first calculation sub-module is used for calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value.

Further, the second control unit includes: the second acquisition module is used for acquiring the preset opening force and calculating according to the preset opening force to obtain a second current value; and the second control module is used for controlling the target spreader according to the second current value, the target estimated value and the target weight value through the controller so that the target spreader spreads the target part with a preset spreading force.

Further, the second control module includes: the control submodule is used for controlling the target spreader to spread the target part through the controller by the second current value; the second construction submodule is used for constructing an initial stress balance relation of the target spreader in a state of being in contact with the target part; the second calculating sub-module is used for calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation when the target spreader spreads the target part, so as to obtain a third current value; and the updating sub-module is used for updating the third current value to the second current value and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part by a preset spreading force.

Further, the second calculation unit includes: the third acquisition module is used for acquiring a preset initial estimated value and an initial error covariance; the second calculation module is used for carrying out estimation calculation on the state of the spreader according to the preset initial estimation value and the initial error covariance through the Kalman filter to obtain a first estimation value; the third calculation module is used for calculating the Kalman gain of the first estimated value to obtain a Kalman gain value; and the fourth calculation module is used for calculating according to the Kalman gain value and the first estimated value to obtain the target estimated value.

In order to achieve the above object, according to an aspect of the present application, there is provided a computer-readable storage medium storing a program, wherein the program, when run, controls an apparatus in which the storage medium is located to execute the control method of the distractor of any one of the above.

In order to achieve the above object, according to another aspect of the present application, there is also provided an electronic device including one or more processors and a memory for storing a control method for the one or more processors to implement the distractor according to any one of the above.

According to the application, the following steps are adopted: when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; the controller controls the target spreader according to the target estimated value and the target weight value, so that the target spreader spreads the target part with preset spreading force, and the problem that the accuracy of control of the spreader is lower because the weight of an external actuating mechanism of the spreader cannot be determined in the related art is solved. In the scheme, the external actuating mechanism of the target spreader is calibrated under the condition that the target spreader is in an idle state to obtain the target weight value of the external actuating mechanism, then the state of the target spreader is estimated and calculated through the Kalman filter to obtain the optimal estimated value, namely the target estimated value, and finally the target spreader is controlled by utilizing the target estimated value and the target weight value to realize that the target spreader spreads the target part with the preset spreading force, thereby solving the problem that the measuring accuracy is affected due to the interference caused by the change of the weight of the external actuating mechanism of the spreader mechanism, and further achieving the effect of accurately controlling the spreader by accurately evaluating the state of the target spreader through the Kalman filter.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 is a flowchart I of a control method of a spreader provided according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a spreader provided in accordance with an embodiment of the present application;

FIG. 3 is a force diagram of a spreader provided in accordance with an embodiment of the present application;

FIG. 4 is a schematic diagram of a control method of a spreader provided according to an embodiment of the present application;

FIG. 5 is a second flowchart of a control method of a spreader provided according to an embodiment of the present application;

Fig. 6 is a schematic view of a control device for a distractor according to an embodiment of the application;

fig. 7 is a schematic diagram of an electronic device according to an embodiment of the present application.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be noted that, related information (including, but not limited to, user equipment information, user personal information, etc.) and data (including, but not limited to, data for presentation, analyzed data, etc.) related to the present disclosure are information and data authorized by a user or sufficiently authorized by each party. For example, an interface is provided between the system and the relevant user or institution, before acquiring the relevant information, the system needs to send an acquisition request to the user or institution through the interface, and acquire the relevant information after receiving the consent information fed back by the user or institution.

The present application will be described with reference to preferred implementation steps, and fig. 1 is a flowchart of a method for controlling a spreader according to an embodiment of the present application, as shown in fig. 1, and the method includes the following steps:

Step S101, when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction.

Optionally, as shown in fig. 2, the target spreader comprises an external actuator, a motor, an angle sensor, a displacement sensor, a spreader motion mechanism and a metal bellows, and the controller in fig. 2 is used for controlling the spreader to spread, and the external actuator is a portion contacting with the target portion and is used for spreading the target portion. And when the target spreader is in an idle state, the controller controls the target spreader to spread to reach an equilibrium state under the first angle value.

The state in which the target spreader is in the unloaded state means that the target spreader is in a state of not contacting the target site. When the target spreader is controlled to spread by the controller, the spreader is controlled to slowly rise under different angles (namely the first angle value) and the external actuating mechanism at the tail end of the spreader is in a balanced state.

The equilibrium state is a state in which the external actuator is stationary, and the target portion may be an object to be distracted or a knee joint.

Step S102, calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader.

Optionally, calculating according to the first angle value to obtain the target weight value of the external actuator. It should be noted that the target weight value can be obtained by establishing a relational expression of the mass, the inclination angle and the current of the external actuator of the spreader.

Step S103, under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value.

Optionally, in a state that the target spreader is in contact with the target part, acquiring position, speed and acceleration information in the spreading process of the spreader by using a Kalman filter, and based on a prediction process and an observation process, calculating the Kalman filter by using the Kalman filter, state estimation, state observation and state correction. The displacement, velocity and acceleration are used as state variables, while the displacement is used as an observation variable. And (3) carrying the variables into the calculation process of the Kalman filter to obtain the optimal estimated values of the displacement, the speed and the acceleration of the spreader motion mechanism, namely the target estimated values. The state of the target spreader can be accurately estimated through the target estimated value, and the control of the target spreader is realized.

Step S104, the target spreader is controlled by the controller according to the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force.

Optionally, the target spreader is controlled by the controller according to the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force. After the relevant parameters are determined, the motion of the external actuating mechanism at the tail end of the spreader is determined according to the current and the measured angle value, and then the constant force support of the spreader without a force sensor is realized.

In summary, when the target spreader is in the idle state, the external actuator of the target spreader is calibrated to obtain the target weight value of the external actuator, then the state of the target spreader is estimated and calculated through the kalman filter to obtain the optimal estimated value, namely the target estimated value, and finally the target spreader is controlled by using the target estimated value and the target weight value to realize that the target spreader spreads the target part with the preset spreading force, thereby solving the problem that the measuring accuracy is affected due to the interference of the change of the weight of the external actuator of the spreader mechanism, and further achieving the effect of accurately controlling the spreader by accurately evaluating the state of the target spreader through the kalman filter.

Optionally, in the method for controlling a spreader provided by the embodiment of the present application, controlling, by a controller, a target spreader to spread to reach an equilibrium state under a first angle value includes: determining a plurality of first angle values; for each first angle value, the controller controls the target spreader to spread under the first angle value to reach an equilibrium state through a plurality of current values.

In an alternative embodiment, calculating based on the first angle value, the target weight value of the external actuator of the target distractor includes: acquiring a first current value when the controller controls the target spreader to spread under a first angle value; and calculating according to the first current value and the first angle value to obtain a target weight value.

Optionally, determining a plurality of first angle values, controlling the target spreader to spread under each first angle value by the controller to reach an equilibrium state by a plurality of current values, acquiring the first current value when the target spreader is controlled to spread under the first angle value by the controller, and calculating according to the first current value and the first angle value to obtain the target weight value. The target spreader is controlled to spread under different angles and different currents, so that the calibration error can be effectively reduced, and the accuracy of calculating the target important value is improved.

In order to improve accuracy of calculating a target weight value of an external actuator, in the control method of a spreader provided by the embodiment of the present application, calculating according to a first current value and a first angle value, to obtain the target weight value includes: constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; and calculating according to the first angle value, the first current value and the target stress balance relation to obtain a target weight value.

Optionally, as shown in fig. 3, regarding the output of the motor, the mass of the mechanism, the metal bellows and the soft tissue stress of the knee joint as a system, the initial stress balance relation of the target distractor in the state of contacting with the target part is constructed by using the distractor knee joint as the movement direction, for example, the initial stress balance relation is shown in formula (1):

（1）

Wherein, Applying a normal force to the distractor for knee joint soft tissue; /(I)Representing the force output by the motor, which is positively correlated to the current, where i represents the current,/>Representing a scaling factor; /(I)Is the mass of the motion mechanism in the spreader; The mass of the external load of the spreader actuator (namely the target mass value); k is the elastic coefficient of the metal corrugated pipe in the spreader, and in a certain range, the metal corrugated pipe can be equivalently regarded as a spring, and a force opposite to the spreading is generated along with the gradual increase of the spreading; x is the distance of the spreader in motion and stretching, namely the displacement value, and can be measured by a displacement sensor of the motor; f is the friction force applied to the spreader in the moving process; /(I) The included angle (namely the first angle value) between the spreader and the gravity direction is measured by an angle sensor; /(I)For acceleration,/>For the speed,/>Is the damping coefficient.

The relation between the mass of the external actuating mechanism at the end of the spreader and the current and the angle can be obtained through the deformation of the initial stress balance formula:

（2）

When the end execution load of the spreader is calibrated, the end execution load is in a balanced state and is not in contact with the knee joint, and is in a non-external load state, the movement speed acceleration and the external load of the end execution load are both 0, the spreader movement mechanism adopts a linear bearing as a low friction force, the friction force is ignored, and the relation can be simplified as follows:

（3）

The output current i can be measured through the upper computer, and the included angle between the spreader and the gravity direction can be obtained through the measurement of the angle sensor . The measured current i and the included angle/>The weight value of the external actuating mechanism at the tail end of the spreader can be obtained by being brought in。

Through multiple lifting movements at different angles, the spreader slowly lifts at different angles and realizes that the external actuating mechanism is in a balanced state, and the current i and the included angle are used for controlling the external actuating mechanism to be in a balanced stateAnd spreader external actuator/>The weight value of the external actuating mechanism of the spreader can be accurately calculated by the relational expression of (a).

In order to achieve constant force support of a target spreader, in the control method of the spreader provided by the embodiment of the application, the target spreader is controlled by a controller according to a target estimated value and a target weight value, so that the target spreader spreads a target part with a preset spreading force, and the method comprises the following steps: acquiring a preset opening force, and calculating according to the preset opening force to obtain a second current value; and controlling the target spreader by the controller according to the second current value, the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force.

Optionally, a preset distraction force is specified, i.e., how much force the target distractor needs to distract the target site. It should be noted that, the target spreader controlled by the above-mentioned control method is a spreader without a force sensor, so after the preset spreading force is clarified, the preset spreading force needs to be converted into the second current value, and then the controller controls the target spreader according to the second current value, the target estimated value and the target weight value, so that the target spreader spreads the target portion with the preset spreading force.

In an alternative embodiment, the control of the target spreader according to the second current value, the target estimated value and the target weight value by the controller, so that the target spreader spreads the target portion with a preset spreading force comprises: the controller controls the target spreader to spread the target part by the second current value; constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; when the target spreader spreads the target part, calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation to obtain a third current value; and updating the third current value to a second current value, and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part with a preset spreading force.

Optionally, the controller controls the target spreader to spread the target part with the second current value, and calculates the output current of the controller at the next moment according to the initial stress balance relation, the target estimated value and the target weight value of the target spreader in a state of contacting with the target part when the target spreader spreads the target part, so as to obtain the third current value. And then updating the third current value to a second current value, and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part with a preset spreading force.

In an alternative embodiment, the constant force control of the spreader can be realized by adopting a schematic diagram as shown in fig. 4, the preset spreading force is input into the controller, the controller outputs a current to control the motor, the tail end movement mechanism of the spreader is controlled by the motor to drive the external actuating mechanism to spread the target part, the current included angle value of the spreader and the gravity direction is obtained by the angle sensor, the current displacement value of the spreader is obtained by the displacement sensor, and the like, then the estimated displacement, the estimated acceleration and the estimated speed value of the spreader at the next moment are estimated by the kalman filter, the output current of the controller at the next moment is calculated according to the estimated data, and the spreader is controlled according to the output current of the controller at the next moment, so that the constant force spreading of the spreader is realized.

Through the steps, the accurate control of the spreader under the condition of different external execution mechanisms at different angles is realized, and the accuracy of controlling the spreader is improved.

In order to improve accuracy of Kalman filter estimation, in the control method of the spreader provided by the embodiment of the application, performing estimation calculation on the state of a target spreader through the Kalman filter to obtain a target estimated value comprises the following steps: acquiring a preset initial estimated value and an initial error covariance; carrying out estimation calculation on the state of the standard spreader by a Kalman filter based on a preset initial estimation value and an initial error covariance to obtain a first estimation value; calculating the Kalman gain of the first estimated value to obtain a Kalman gain value; and calculating according to the Kalman gain value and the first estimated value to obtain a target estimated value.

In an alternative embodiment, a preset initial estimate and an initial error covariance are obtained, for example, an initial state estimate: ; initial estimation error covariance: /(I) . In the state prediction stage, a state transition matrix/>, is utilizedAnd control input vector/>The state of the current moment is predicted, and meanwhile, the estimation error covariance matrix is also estimated. Predicted state estimation:，/> is a state transition matrix,/> To control the input matrix,/>To control the input vector; estimated error covariance matrix: /(I)，/>Is process noise.

In the state observation stage, an observation matrix is utilizedMapping the predicted state estimate into measurement space while calculating Kalman gain/>. Calculation of Kalman gain: /(I)。

Using kalman gainActual measurement/>And fusing the state estimation with the predicted state estimation to obtain updated state estimation and an updated estimation error covariance matrix. Updated state estimation: /(I); Updated estimation error covariance matrix: /(I)。

Finally, in the state correction stage, the final state estimation value is obtained(I.e., the target estimate described above) and an estimation error covariance matrix/>. The displacement, velocity and acceleration are used as state variables, while the displacement is used as an observation variable. By bringing these variables into the calculation process of the Kalman filter, the optimal estimated values of the displacement, the speed and the acceleration of the spreader can be obtained, thereby realizing accurate estimation of the system state.

In an alternative embodiment, the accurate control of the spreader can be achieved through a flowchart as shown in fig. 5, step 1, the spreader is fixed at an angle with the ground, the inclination angle data collected by the angle sensor at this time is recorded by the controller.

Step 2, the external actuating mechanism at the tail end of the spreader slowly rises for a distance through the controller, the spreader slowly rises under different angles and realizes that the external actuating mechanism at the tail end of the spreader is in a balanced state, and the controller calculates the weight value of the external actuating mechanism at the tail end of the spreader through the relation between the current i, the included angle theta and the external actuating mechanism m ₂ at the tail end of the spreader.

And step 3, obtaining the displacement, the speed and the acceleration of the spreader at the previous moment, and calculating through a Kalman filter to obtain the optimal estimated values of the displacement, the speed and the acceleration.

And 4, realizing constant force expansion control on the spreader according to the optimal estimated values of the weight value, displacement, speed and acceleration of the external actuating mechanism at the end of the spreader and the set expansion force.

According to the control method of the spreader, when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; the controller controls the target spreader according to the target estimated value and the target weight value, so that the target spreader spreads the target part with preset spreading force, and the problem that the accuracy of control of the spreader is lower because the weight of an external actuating mechanism of the spreader cannot be determined in the related art is solved. In the scheme, the external actuating mechanism of the target spreader is calibrated under the condition that the target spreader is in an idle state to obtain the target weight value of the external actuating mechanism, then the state of the target spreader is estimated and calculated through the Kalman filter to obtain the optimal estimated value, namely the target estimated value, and finally the target spreader is controlled by utilizing the target estimated value and the target weight value to realize that the target spreader spreads the target part with the preset spreading force, thereby solving the problem that the measuring accuracy is affected due to the interference caused by the change of the weight of the external actuating mechanism of the spreader mechanism, and further achieving the effect of accurately controlling the spreader by accurately evaluating the state of the target spreader through the Kalman filter.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a control device of the spreader, and the control device of the spreader can be used for executing the control method for the spreader provided by the embodiment of the application. The following describes a control device of a spreader provided by an embodiment of the present application.

Fig. 6 is a schematic view of a control device of a spreader according to an embodiment of the application. As shown in fig. 6, the apparatus includes: a first control unit 601, a first calculation unit 602, a second calculation unit 603 and a second control unit 604.

The first control unit 601 is configured to control, by using the controller, the target spreader to spread to reach an equilibrium state under a first angle value when the target spreader is in an idle state, where the first angle value is an angle value between the target spreader and a target direction;

A first calculating unit 602, configured to calculate according to the first angle value, to obtain a target weight value of an external actuator of the target spreader;

The second calculating unit 603 is configured to perform estimation calculation on the state of the target spreader through a kalman filter in a state that the target spreader is in contact with the target portion, so as to obtain a target estimated value, where the target estimated value at least includes a first displacement value;

The second control unit 604 is configured to control, by using the controller, the target spreader according to the target estimated value and the target weight value, so that the target spreader spreads the target portion with a preset spreading force.

According to the control device for the spreader, provided by the embodiment of the application, under the condition that the target spreader is in an empty state, the first control unit 601 controls the target spreader to spread under a first angle value to reach an equilibrium state, wherein the first angle value is the included angle value between the target spreader and the target direction; the first calculating unit 602 calculates according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; the second calculating unit 603 performs estimation calculation on the state of the target spreader through a kalman filter under the state that the target spreader is in contact with the target part to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; the second control unit 604 controls the target spreader according to the target estimated value and the target weight value by the controller, so that the target spreader spreads the target part with a preset spreading force, and the problem that the accuracy of controlling the spreader is lower because the weight of an external actuating mechanism of the spreader cannot be determined in the related art is solved. In the scheme, the external actuating mechanism of the target spreader is calibrated under the condition that the target spreader is in an idle state to obtain the target weight value of the external actuating mechanism, then the state of the target spreader is estimated and calculated through the Kalman filter to obtain the optimal estimated value, namely the target estimated value, and finally the target spreader is controlled by utilizing the target estimated value and the target weight value to realize that the target spreader spreads the target part with the preset spreading force, thereby solving the problem that the measuring accuracy is affected due to the interference caused by the change of the weight of the external actuating mechanism of the spreader mechanism, and further achieving the effect of accurately controlling the spreader by accurately evaluating the state of the target spreader through the Kalman filter.

Optionally, in the control device for a spreader provided in the embodiment of the present application, the first control unit includes: a determining module for determining a plurality of first angle values; and the first control module is used for controlling the target spreader to spread under the first angle value to reach an equilibrium state through the controller by using a plurality of current values for each first angle value.

Optionally, in the control device for a spreader provided in the embodiment of the present application, the first calculating unit includes: the first acquisition module is used for acquiring a first current value when the controller controls the target spreader to spread under a first angle value; the first calculation module is used for calculating according to the first current value and the first angle value to obtain a target weight value.

Optionally, in the control device for a spreader provided by the embodiment of the present application, the calculation module includes: the first construction submodule is used for constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; the processing submodule is used for processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; the first calculating sub-module is used for calculating according to the first angle value, the first current value and the target stress balance relation to obtain a target weight value.

Optionally, in the control device for a spreader provided in the embodiment of the present application, the second control unit includes: the second acquisition module is used for acquiring a preset opening force and calculating according to the preset opening force to obtain a second current value; the second control module is used for controlling the target spreader according to the second current value, the target estimated value and the target weight value through the controller so that the target spreader spreads the target part with a preset spreading force.

Optionally, in the control device for a spreader provided in the embodiment of the present application, the second control module includes: the control submodule is used for controlling the target spreader to spread the target part through the controller by using the second current value; the second construction submodule is used for constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; the second calculating sub-module is used for calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation when the target spreader spreads the target part to obtain a third current value; and the updating sub-module is used for updating the third current value into a second current value and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so as to lead the target spreader to spread the target part with a preset spreading force.

Optionally, in the control device for a spreader provided in the embodiment of the present application, the second calculating unit includes: the third acquisition module is used for acquiring a preset initial estimated value and an initial error covariance; the second calculation module is used for carrying out estimation calculation on the state of the standard spreader through a Kalman filter based on a preset initial estimation value and an initial error covariance to obtain a first estimation value; the third calculation module is used for calculating the Kalman gain of the first estimated value to obtain a Kalman gain value; and the fourth calculation module is used for calculating according to the Kalman gain value and the first estimation value to obtain a target estimation value.

The control device of the distractor comprises a processor and a memory, wherein the first control unit 601, the first calculation unit 602, the second calculation unit 603, the second control unit 604 and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel may be provided with one or more by adjusting the kernel parameters (object of the present invention).

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, on which a program is stored, which when executed by a processor, implements a method for controlling a spreader.

The embodiment of the invention provides a processor, which is used for running a program, wherein the program runs to execute a control method of a spreader.

As shown in fig. 7, an embodiment of the present invention provides an electronic device, where the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, the following steps are implemented: when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; and controlling the target spreader by the controller according to the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force.

Optionally, controlling, by the controller, the target distractor to distract to an equilibrium state at the first angle value includes: determining a plurality of first angle values; for each first angle value, the controller controls the target spreader to spread under the first angle value to reach an equilibrium state through a plurality of current values.

Optionally, calculating according to the first angle value, obtaining the target weight value of the external actuator of the target spreader includes: acquiring a first current value when the controller controls the target spreader to spread under a first angle value; and calculating according to the first current value and the first angle value to obtain a target weight value.

Optionally, calculating according to the first current value and the first angle value, obtaining the target weight value includes: constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; and calculating according to the first angle value, the first current value and the target stress balance relation to obtain a target weight value.

Optionally, controlling, by the controller, the target spreader according to the target estimated value and the target weight value, so that the target spreader spreads the target site with a preset spreading force, including: acquiring a preset opening force, and calculating according to the preset opening force to obtain a second current value; and controlling the target spreader by the controller according to the second current value, the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force.

Optionally, controlling, by the controller, the target spreader according to the second current value, the target estimated value, and the target weight value, so that the target spreader spreads the target site with a preset spreading force, including: the controller controls the target spreader to spread the target part by the second current value; constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; when the target spreader spreads the target part, calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation to obtain a third current value; and updating the third current value to a second current value, and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part with a preset spreading force.

Optionally, performing estimation calculation on the state of the target spreader through a kalman filter, and obtaining a target estimated value includes: acquiring a preset initial estimated value and an initial error covariance; carrying out estimation calculation on the state of the standard spreader by a Kalman filter based on a preset initial estimation value and an initial error covariance to obtain a first estimation value; calculating the Kalman gain of the first estimated value to obtain a Kalman gain value; and calculating according to the Kalman gain value and the first estimated value to obtain a target estimated value.

The device herein may be a server, PC, PAD, cell phone, etc.

The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: when the target spreader is in an idle state, the target spreader is controlled by the controller to spread to reach an equilibrium state under a first angle value, wherein the first angle value is an included angle value between the target spreader and a target direction; calculating according to the first angle value to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with the target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; and controlling the target spreader by the controller according to the target estimated value and the target weight value so that the target spreader spreads the target part with a preset spreading force.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims

1. A control device for a spreader, comprising:

The first control unit is used for controlling the target spreader to spread under a first angle value to reach an equilibrium state when the target spreader is in an idle state, wherein the first angle value is an included angle value between the axial direction and the gravity direction of the target spreader, and the equilibrium state is an equilibrium state when the target spreader is in a state of not being in contact with a target part;

the first calculating unit is used for calculating according to the first angle value, the first current value and the target stress balance relation to obtain a target weight value of an external actuating mechanism of the target spreader;

The second calculation unit is used for carrying out estimation calculation on the state of the target spreader through a Kalman filter under the state that the target spreader is in contact with the target part to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value;

The second control unit is used for controlling the target spreader according to the target estimated value and the target weight value through the controller so that the target spreader spreads the target part with a preset spreading force;

Wherein the first computing unit includes:

The first acquisition module is used for acquiring a first current value when the controller controls the target spreader to be spread under the first angle value;

the first calculation module is used for calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value;

The first computing module includes: the first construction submodule is used for constructing an initial stress balance relation in a state that the target spreader is in contact with the target part, wherein the initial stress balance relation is:

，/> normal force applied to the distractor for knee joint soft tissue, i represents current,/> Representing the proportionality coefficient,/>For the mass of the movement mechanism in the spreader,/>For the target weight value,/>The elastic coefficient of the metal corrugated pipe in the spreader is x is the displacement value of the movement and stretching of the spreader, and f is the friction force born by the spreader in the movement processFor the first angle value,/>For acceleration,/>In order to be able to achieve a speed,Is a damping coefficient;

The processing sub-module is used for processing the initial stress balance relation according to the balance state to obtain a target stress balance relation, wherein the target stress balance relation is:

；

And the first calculation sub-module is used for calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value.

2. The control device according to claim 1, wherein the first control unit includes:

a determining module for determining a plurality of first angle values;

And the first control module is used for controlling the target spreader to spread under the first angle value to reach an equilibrium state through the controller by using a plurality of current values for each first angle value.

3. The control device according to claim 1, wherein the second control unit includes:

The second acquisition module is used for acquiring the preset opening force and calculating according to the preset opening force to obtain a second current value;

And the second control module is used for controlling the target spreader according to the second current value, the target estimated value and the target weight value through the controller so that the target spreader spreads the target part with a preset spreading force.

4. A control device according to claim 3, wherein the second control module comprises:

the control submodule is used for controlling the target spreader to spread the target part through the controller by the second current value;

The second construction submodule is used for constructing an initial stress balance relation of the target spreader in a state of being in contact with the target part;

the second calculating sub-module is used for calculating the output current of the controller according to the target estimated value, the target weight value and the initial stress balance relation when the target spreader spreads the target part, so as to obtain a third current value;

And the updating sub-module is used for updating the third current value to the second current value and repeatedly executing the step of controlling the target spreader to spread the target part by the second current value through the controller so that the target spreader spreads the target part by a preset spreading force.

5. The control device according to claim 1, wherein the second calculation unit includes:

the third acquisition module is used for acquiring a preset initial estimated value and an initial error covariance;

The second calculation module is used for carrying out estimation calculation on the state of the spreader according to the preset initial estimation value and the initial error covariance through the Kalman filter to obtain a first estimation value;

The third calculation module is used for calculating the Kalman gain of the first estimated value to obtain a Kalman gain value;

And the fourth calculation module is used for calculating according to the Kalman gain value and the first estimated value to obtain the target estimated value.

6. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls the storage medium to perform the following steps at a device: when the target spreader is in an empty state, the target spreader is controlled by a controller to spread under a first angle value to reach an equilibrium state, wherein the first angle value is an included angle value between the axial direction and the gravity direction of the target spreader, and the equilibrium state is an equilibrium state when the target spreader is in a state of not being in contact with a target part; calculating according to the first angle value, the first current value and a target stress balance relation to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with a target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; the target spreader is controlled by the controller according to the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force; calculating according to the first angle value, the first current value and the target stress balance relation, and obtaining a target weight value of an external actuating mechanism of the target spreader comprises: acquiring a first current value when the controller controls the target spreader to spread under the first angle value; constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value, wherein the initial stress balance relation is:， normal force applied to the distractor for knee joint soft tissue, i represents current,/> Representing the proportionality coefficient,/>For the mass of the movement mechanism in the spreader,/>For the target weight value, k is the elastic coefficient of the metal corrugated pipe in the spreader, x is the displacement value of the movement and stretching of the spreader, f is the friction force born by the spreader in the movement process, and/(v)For the first angle value,/>For acceleration,/>For the speed,/>Is a damping coefficient; the target stress balance relation is as follows: /(I)。

7. An electronic device comprising one or more processors and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the steps of: when the target spreader is in an empty state, the target spreader is controlled by a controller to spread under a first angle value to reach an equilibrium state, wherein the first angle value is an included angle value between the axial direction and the gravity direction of the target spreader, and the equilibrium state is an equilibrium state when the target spreader is in a state of not being in contact with a target part; calculating according to the first angle value, the first current value and a target stress balance relation to obtain a target weight value of an external actuating mechanism of the target spreader; under the condition that the target spreader is in contact with a target part, carrying out estimation calculation on the state of the target spreader through a Kalman filter to obtain a target estimated value, wherein the target estimated value at least comprises a first displacement value; the target spreader is controlled by the controller according to the target estimated value and the target weight value, so that the target spreader spreads the target part with a preset spreading force; calculating according to the first angle value, the first current value and the target stress balance relation, and obtaining a target weight value of an external actuating mechanism of the target spreader comprises: acquiring a first current value when the controller controls the target spreader to spread under the first angle value; constructing an initial stress balance relation of the target spreader in a state of contacting with the target part; processing the initial stress balance relation according to the balance state to obtain a target stress balance relation; calculating according to the first angle value, the first current value and the target stress balance relation to obtain the target weight value, wherein the initial stress balance relation is:，/> normal force applied to the distractor for knee joint soft tissue, i represents current,/> Representing the proportionality coefficient,/>For the mass of the movement mechanism in the spreader,/>For the target weight value, k is the elastic coefficient of the metal corrugated pipe in the spreader, x is the displacement value of the movement and stretching of the spreader, f is the friction force born by the spreader in the movement process, and/(v)For the first angle value,/>For acceleration,/>In order to be able to achieve a speed,Is a damping coefficient; the target stress balance relation is as follows: /(I)。