CN118067175A - Combined verification method, control method of surgical robot, and storage medium - Google Patents
Combined verification method, control method of surgical robot, and storage medium Download PDFInfo
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Abstract
A joint verification method, a control method of a surgical robot, and a storage medium. The joint verification method comprises the following steps: the position information is synchronously acquired at fixed time through a high-speed encoder and a low-speed encoder, and the acquisition period is delta t; calculating the deformation of the flexible wheel of the speed reducer through the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder and the reduction ratio of the speed reducer; calculating a first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer; a torque sensor is arranged at the low-speed end of the speed reducer, and a second torque value of the low-speed end is detected through the torque sensor; and calculating the moment value deviation of the first moment value and the second moment value, and comparing the moment value deviation with a first preset threshold value. Therefore, the combined verification method can verify the first moment value and the second moment value, fault-tolerant processing is carried out by utilizing the result of the verification method, and the speed reducer is ensured to continue to operate safely.
Description
Technical Field
Embodiments of the present application relate to a joint verification method of moment values, a control method of a surgical robot, and a computer-readable storage medium.
Background
The surgical robot is a robot for assisting a doctor in performing tasks such as surgery and rehabilitation. The surgical robot can improve the accuracy of surgery, reduce the risk of surgery, increase the comfort level of the patient, and improve the operating efficiency of doctors.
Surgical robots need fine motion control, operate in small spaces, and sometimes transmit large torque; the harmonic speed reducer is a high-precision power transmission device, has the characteristics of compactness, high torque transmission capacity and high precision, and can meet the related requirements of the surgical robot. Therefore, surgical robots typically employ harmonic reducers as power transmissions.
The harmonic speed reducer adopts a harmonic transmission principle, and realizes a speed reducing effect with high transmission ratio through elastic deformation of the inner gear and the outer gear. The harmonic speed reducer consists of a driving shaft, an output shaft and a flexible gear ring, and has very low backlash and high positioning precision.
The harmonic speed reducer typically has a High-speed encoder (High-Speed Encoder) and a Low-speed encoder (Low-Speed Encoder) for monitoring and controlling the rotational speed and position of the harmonic speed reducer. The high-speed encoder is positioned at the high-speed end (such as an input shaft) of the harmonic speed reducer and used for detecting the rotating speed and the position of the high-speed end, and the low-speed encoder is positioned at the low-speed end (such as an output shaft) of the harmonic speed reducer and used for detecting the rotating speed and the position of the low-speed end.
Disclosure of Invention
The embodiment of the application provides a joint verification method of moment values, a control method of a surgical robot and a computer readable storage medium. The verification method can calculate a first moment value through position information acquired by the high-speed encoder and the low-speed encoder, detect a second moment value through the moment sensor, then calculate moment value deviation of the first moment value and the second moment value, compare the moment value deviation with a first preset threshold value to carry out joint verification on the first moment value and the second moment value, thereby judging whether the first moment value and the second moment value are abnormal in time, providing another mode for acquiring the moment value at the low speed end, and controlling the moment value calculated by the position information acquired by the high-speed encoder and the low-speed encoder when the moment sensor fails or the detected moment value is inaccurate, so that a control system can carry out fault-tolerant treatment and ensure that a speed reducer continues to operate safely; the control method can timely judge whether the torque value detected by the torque sensor is normal or not through the verification method, and when the torque sensor fails or the detected torque value is not accurate enough, the torque value calculated by the position information acquired by the high-speed encoder and the low-speed encoder can be used for control, so that the fault tolerance processing of the control system can be ensured, and the joint module of the surgical robot can be ensured to continue to operate safely.
At least one embodiment of the present application provides a method for joint verification of torque values, including: a high-speed encoder and a low-speed encoder are respectively arranged at a low-speed end of a high-speed end of the speed reducer, position information is synchronously acquired at fixed time through the high-speed encoder and the low-speed encoder, and the acquisition period is delta t; calculating the deformation of the flexible wheel of the speed reducer through the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder and the reduction ratio of the speed reducer; calculating a first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer; a moment sensor is arranged at the low-speed end of the speed reducer, and a second moment value of the low-speed end is detected through the moment sensor; and calculating the torque value deviation of the first torque value and the second torque value, comparing the torque value deviation with a first preset threshold value, judging that the first torque value and the second torque value are abnormal if the torque value deviation is larger than the first preset threshold value, and judging that the first torque value and the second torque value are normal if the torque value deviation is smaller than the first preset threshold value.
For example, the method for jointly verifying the moment values provided by the embodiment of the application further comprises the following steps: and if the deviation of the moment values is larger than the first preset threshold value, comparing the magnitudes of the first moment values calculated for multiple times, if the magnitudes of the first moment values calculated for m times in succession are equal, judging that the first moment values are abnormal, and if the ratio of the difference value of the first moment values calculated for two times in succession to the average value is larger than the second preset threshold value, judging that the first moment values are abnormal, wherein m is a positive integer larger than or equal to 2.
For example, the method for jointly verifying the moment values provided by the embodiment of the application further comprises the following steps: and if the deviation of the moment values is larger than the first preset threshold value, comparing the magnitudes of the second moment values calculated for multiple times, if the magnitudes of the second moment values detected for n times are equal, judging that the second moment values are abnormal, and if the ratio of the difference value of the second moment values detected for two times to the average value is larger than a third preset threshold value, judging that the second moment values are abnormal, wherein n is a positive integer larger than or equal to 2.
For example, the method for jointly verifying the moment values provided by the embodiment of the application further comprises the following steps: and if the torque value deviation is larger than the first preset threshold value, adopting a normal one of the first torque value and the second torque value to control the speed reducer.
For example, in the method for joint verification of torque values according to an embodiment of the present application, the value range of the acquisition period is 40-60 microseconds.
For example, in the joint verification method for torque values provided in an embodiment of the present application, calculating the flexible wheel deformation amount of the speed reducer by using the position information collected by the high-speed encoder, the position information collected by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=|DH(K)/Q-DL(K)|，
The method comprises the steps of determining a flexible wheel deformation amount of a speed reducer, wherein delta E (K) is the flexible wheel deformation amount of the speed reducer, DH (K) is position information acquired by a high-speed encoder for the Kth time, DL (K) is position information acquired by a low-speed encoder for the Kth time, Q is a reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
For example, in the joint verification method for torque values provided in an embodiment of the present application, calculating the flexible wheel deformation amount of the speed reducer by using the position information collected by the high-speed encoder, the position information collected by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=| (DH(K)-DH(K-1))/Q - (DL(K)-DL(K-1))|，
The method comprises the steps of determining a flexible wheel deformation amount of a speed reducer, wherein delta E (K) is the flexible wheel deformation amount of the speed reducer, DH (K) is position information acquired by a high-speed encoder for the Kth time, DL (K) is position information acquired by a low-speed encoder for the Kth time, Q is a reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
For example, in the method for jointly verifying torque values provided in an embodiment of the present application, calculating the first torque value of the low speed end by using the deformation amount of the compliant wheel and the deformation torque coefficient of the compliant wheel of the speed reducer includes:
Calculating a first moment value of the low speed end using the following formula:
Td=ΔE(K)*N，
td is the first torque value of the low-speed end, delta E (K) is the deformation of the flexible wheel of the speed reducer, and N is the deformation torque coefficient of the flexible wheel.
For example, in the method for joint verification of torque values provided in an embodiment of the present application, calculating a torque value deviation between the first torque value and the second torque value includes:
calculating a torque value deviation of the first torque value and the second torque value using the following formula:
η=2|Td-Tg|/(Td+Tg)，
Wherein η is the torque value deviation, td is the first torque value of the low speed end, and Tg is the second torque value of the low speed end.
The application also provides a control method of a surgical robot, the surgical robot including a joint module including a speed reducer, a high-speed encoder located at a high-speed end of the speed reducer, and a low-speed encoder and a torque sensor located at a low-speed end of the speed reducer, the control method including: and the high-speed encoder, the low-speed encoder and the moment sensor are verified by adopting the combined verification method of the moment value.
For example, the control method of the surgical robot provided by an embodiment of the present application further includes: and if the moment value deviation is larger than the first preset threshold value, adopting a normal one of the first moment value and the second moment value to control the joint module.
At least one embodiment of the present application also provides a computer readable storage medium including a stored computer program that, when run, performs the joint verification method of moment values described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following brief description of the drawings of the embodiments will make it apparent that the drawings in the following description relate only to some embodiments of the present application and are not limiting of the present application.
FIG. 1 is a flow chart of a method for joint verification of torque values according to an embodiment of the present application; and
Fig. 2 is a schematic view of a joint module of a surgical robot according to an embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present application fall within the protection scope of the present application.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Because the servo control system of the joint module of the surgical robot, particularly the minimally invasive surgical robot, has high requirements on safety, when a moment sensor in the joint module fails or a detected moment value is not accurate enough, if the moment value can be obtained continuously in other modes, the fault-tolerant processing of the control system can be ensured, and the safe operation can be continued.
In this regard, the embodiment of the application provides a method for joint verification of moment values, which includes: a high-speed encoder and a low-speed encoder are respectively arranged at a low-speed end of a high-speed end of the speed reducer, position information is synchronously acquired at fixed time through the high-speed encoder and the low-speed encoder, and the acquisition period is deltat; calculating the deformation of the flexible wheel of the speed reducer through the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder and the reduction ratio of the speed reducer; calculating a first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer; a torque sensor is arranged at the low-speed end of the speed reducer, and a second torque value of the low-speed end is detected through the torque sensor; and calculating the moment value deviation of the first moment value and the second moment value, comparing the moment value deviation with a first preset threshold value, judging that the first moment value and the second moment value are abnormal if the moment value deviation is larger than the first preset threshold value, and judging that the first moment value and the second moment value are normal if the moment value deviation is smaller than the first preset threshold value. Therefore, the combined verification method can calculate the first moment value through the position information acquired by the high-speed encoder and the low-speed encoder, detect the second moment value through the moment sensor, calculate the moment value deviation of the first moment value and the second moment value, and compare the moment value deviation with the first preset threshold value to carry out combined verification on the first moment value and the second moment value, so that fault tolerance processing can be carried out by utilizing the result of the verification method, and the speed reducer is ensured to continue to operate safely.
The embodiment of the application also provides a control method of the surgical robot, the surgical robot comprises a joint module, the joint module comprises a speed reducer, a high-speed encoder positioned at a high-speed end of the speed reducer, and a low-speed encoder and a torque sensor positioned at a low-speed end of the speed reducer, and the control method comprises the following steps: and the high-speed encoder, the low-speed encoder and the moment sensor are verified by adopting the combined verification method of the moment value. Therefore, the control method can timely judge whether the torque value detected by the torque sensor is normal or not through the verification method, and when the torque sensor fails or the detected torque value is inaccurate, the torque value calculated by the position information acquired by the high-speed encoder and the low-speed encoder can be used for control, so that the fault tolerance processing of the control system can be ensured, and the joint module of the surgical robot can be ensured to continue to operate safely. On the other hand, when the high-speed encoder and the low-speed encoder fail or the calculated torque value is not accurate enough, the torque value detected by the torque sensor may be used for control.
The embodiment of the application also provides a computer readable storage medium, which comprises a stored computer program, and the computer program executes the joint verification method of the moment value.
The moment value joint verification method, the surgical robot control method and the computer readable storage medium provided by the embodiment of the application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for joint verification of moment values according to an embodiment of the present application. As shown in fig. 1, the joint verification method of the moment value includes the following steps S101 to S106:
step S101: a high-speed encoder and a low-speed encoder are respectively arranged at a low-speed end of a high-speed end of the speed reducer, position information is synchronously acquired at fixed time through the high-speed encoder and the low-speed encoder, and the acquisition period is deltat;
For example, high-speed encoders and low-speed encoders may utilize grating disks, magnetic grating disks, or other operating principles to convert mechanical displacement into electrical signals to collect position information of the corresponding high-speed end or low-speed end.
Step S102: and calculating the deformation of the flexible wheel of the speed reducer through the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder and the reduction ratio of the speed reducer.
Step S103: and calculating a first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer.
Step S104: and a moment sensor is arranged at the low-speed end of the speed reducer, and a second moment value of the low-speed end is detected through the moment sensor.
Step S105: calculating the moment value deviation of the first moment value and the second moment value, comparing the moment value deviation with a first preset threshold value, judging that the first moment value and the second moment value are abnormal if the moment value deviation is larger than the first preset threshold value, and judging that the first moment value and the second moment value are normal if the moment value deviation is smaller than the first preset threshold value.
In the embodiment of the application, the first moment value can be calculated through the position information acquired by the high-speed encoder and the low-speed encoder, the second moment value is detected through the moment sensor, then the moment value deviation of the first moment value and the second moment value is calculated, the moment value deviation is compared with the first preset threshold value to carry out joint verification on the first moment value and the second moment value, so that whether the first moment value and the second moment value are abnormal or not can be judged in time, another mode of acquiring the moment value at the low-speed end can be provided, and when the moment sensor fails or the detected moment value is not accurate enough, the moment value calculated through the position information acquired by the high-speed encoder and the low-speed encoder can be used for control, thereby ensuring that a control system can carry out fault tolerance processing and ensuring that the speed reducer continues to operate safely.
In some examples, the first preset threshold value is in the range of 17% -23%, for example 20%. It should be noted that the first preset threshold may be determined according to an actual application scenario.
For example, the speed reducer may be a harmonic speed reducer. The harmonic speed reducer is a high-precision power transmission device, has the characteristics of compactness, high torque transmission capacity and high precision, and can meet the related requirements of the surgical robot.
In some examples, the method for jointly verifying torque values further includes: if the deviation of the moment values is larger than a first preset threshold value, namely, when the first moment value and the second moment value are judged to be abnormal, the magnitude of the first moment value calculated for many times is compared, if the magnitude of the first moment value calculated for m times is equal, the first moment value is judged to be abnormal, and if the ratio of the difference value of the first moment value calculated for two times and the average value is larger than a second preset threshold value, namely, jump occurs, the first moment value is judged to be abnormal, and m is a positive integer larger than or equal to 2. Therefore, when the first moment value and the second moment value are abnormal, the joint verification method can further judge whether the first moment value is abnormal or not by comparing the first moment values calculated for a plurality of times. It should be noted that, in the actual working process, if the high-speed encoder and the low-speed encoder are normal, the first moment values calculated for multiple times slightly fluctuate, are not completely the same, or jump occurs.
In some examples, the second preset threshold is in the range of 17% -23%, for example 20%.
In some examples, the method for jointly verifying torque values further includes: if the deviation of the moment values is larger than a first preset threshold value, namely, the first moment value and the second moment value are judged to be abnormal, the magnitude of the second moment value detected for many times is compared, if the magnitude of the second moment value detected for n times is equal, the second moment value is judged to be abnormal, and if the ratio of the difference value of the second moment value detected for two times continuously to the average value is larger than a third preset threshold value, the second moment value is judged to be abnormal, and n is a positive integer larger than or equal to 2. Therefore, when the first moment value and the second moment value are abnormal, the joint verification method can further judge whether the second moment value is abnormal or not by comparing the second moment values detected for multiple times. It should be noted that, in the actual working process, if the torque sensor is normal, the second torque value detected multiple times slightly fluctuates, and is not completely the same, or jumps.
In some examples, the third preset threshold is in the range of 17% -23%, for example 20%.
In some examples, the method for jointly verifying torque values further includes: if the torque value deviation is larger than a first preset threshold, namely, when the first torque value and the second torque value are judged to be abnormal, the speed reducer can be controlled by adopting one of the first torque value and the second torque value which is normal. Therefore, the joint verification method can perform fault tolerance processing, and ensure that the speed reducer continues to operate safely.
In some examples, the acquisition period may range from 40-60 microseconds. Therefore, the verification method can be used for verifying the high-speed encoder and the low-speed encoder better through the data collected by the high-speed encoder and the low-speed encoder.
In some examples, calculating the compliant wheel deformation amount of the speed reducer from the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=|DH(K)/Q-DL(K)|，
wherein delta E (K) is the flexible wheel deformation of the speed reducer, DH (K) is the position information acquired by the high-speed encoder for the Kth time, DL (K) is the position information acquired by the low-speed encoder for the Kth time, Q is the reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
Therefore, the joint verification method can accurately and reliably utilize the position information acquired by the high-speed encoder and the position information acquired by the low-speed encoder to calculate the moment value of the low-speed end, and another method for acquiring the moment value of the low-speed end is provided.
In some examples, calculating the compliant wheel deformation amount of the speed reducer from the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=| (DH(K)-DH(K-1))/Q - (DL(K)-DL(K-1))|，
wherein delta E (K) is the flexible wheel deformation of the speed reducer, DH (K) is the position information acquired by the high-speed encoder for the Kth time, DL (K) is the position information acquired by the low-speed encoder for the Kth time, Q is the reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
Therefore, the joint verification method can accurately and reliably utilize the position information acquired by the high-speed encoder and the position information acquired by the low-speed encoder to calculate the moment value of the low-speed end through another calculation mode.
In some examples, calculating the first moment value of the low speed end from the compliant wheel deformation amount and the compliant wheel deformation moment coefficient of the speed reducer includes:
The first moment value of the low speed end is calculated using the following formula:
Td=ΔE(K)*N，
Wherein Td is a first moment value of the low-speed end, delta E (K) is the deformation of the flexible wheel of the speed reducer, and N is the deformation moment coefficient of the flexible wheel.
Therefore, the combined verification method can calculate the first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer.
In some examples, calculating the torque value bias for the first torque value and the second torque value described above includes:
Calculating a torque value deviation of the first torque value and the second torque value using the following formula:
η=2|Td-Tg|/(Td+Tg)，
Wherein, η is a torque value deviation, td is a first torque value at the low speed end, and Tg is a second torque value at the low speed end.
The joint verification method can thus be used as a torque value deviation by calculating the average deviation of the first torque value and the second torque value. Of course, embodiments of the present application include, but are not limited to, other deviations or variance values may be employed as torque deviations.
Fig. 2 is a schematic view of a joint module of a surgical robot according to an embodiment of the application. As shown in fig. 2, the joint module 100 includes a speed reducer 110, a high-speed encoder 120 located at a high-speed end of the speed reducer 110, and a low-speed encoder 130 and a torque sensor 140 located at a low-speed end of the speed reducer 110.
In this regard, an embodiment of the present application further provides a control method of a surgical robot, including: and the high-speed encoder, the low-speed encoder and the moment sensor are verified by adopting the combined verification method of the moment value. Therefore, the control method can timely judge whether the torque value detected by the torque sensor is normal or not through the verification method, and when the torque sensor fails or the detected torque value is inaccurate, the torque value calculated by the position information acquired by the high-speed encoder and the low-speed encoder can be used for control, so that the fault tolerance processing of the control system can be ensured, and the joint module of the surgical robot can be ensured to continue to operate safely. On the other hand, when the high-speed encoder and the low-speed encoder fail or the calculated torque value is not accurate enough, the torque value detected by the torque sensor may be used for control.
In some examples, the control method further comprises: and if the moment value deviation is larger than a first preset threshold value, adopting a normal one of the first moment value and the second moment value to control the joint module. Therefore, the control method can perform fault tolerance processing, and ensure that the surgical robot continues to operate safely.
In some examples, as shown in fig. 2, the joint module 100 further includes a motor 150, the motor 150 having a motor output shaft 155 that is coupled to the high speed end of the reducer 110.
In some examples, as shown in fig. 2, the speed reducer 110 includes an output shaft 115, and a torque sensor 140 is disposed on the output shaft 115.
At least one embodiment of the present application also provides a computer readable storage medium, where the computer readable storage medium includes a stored computer program, and the computer program executes the method for jointly verifying torque values.
For example, the computer readable storage medium may include ROM, RAM, magnetic or optical disks, and the like. The storage medium may also include non-volatile memory (non-volatile) or non-transitory memory (non-transitory) or the like.
The embodiment of the application also provides an electronic device, which comprises a processor and a memory which are in communication connection, wherein the memory stores a computing program, and the processor is configured to execute the computing program to execute the circling operation method provided by any example.
It should be appreciated that in embodiments of the present application, the processor may be a central processing unit (central processing unit, CPU for short), the processor may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, DSP for short), application specific integrated circuits (ASIC for short), off-the-shelf programmable gate arrays (field programmable GATE ARRAY, FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It should also be understood that the memory in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an erasable programmable ROM (erasable PROM EPROM), an electrically erasable programmable ROM (ELECTRICALLY EPROM, EEPROM), or a flash memory. The volatile memory may be a random access memory (random access memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of random access memory (random access memory, RAM) are available, such as static random access memory (STATIC RAM, SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (double DATA RATE SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (ENHANCED SDRAM, ESDRAM), synchronous link dynamic random access memory (SYNCHLINK DRAM, SLDRAM), and direct memory bus random access memory (direct rambus RAM, DR RAM).
The following points need to be described:
(1) In the drawings of the embodiments of the present application, only the structures related to the embodiments of the present application are referred to, and other structures may refer to the general design.
(2) Features of the same embodiment and of different embodiments of the application may be combined with each other without conflict.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (12)
1. A method for joint verification of moment values, comprising:
A high-speed encoder and a low-speed encoder are respectively arranged at a high-speed end and a low-speed end of the speed reducer, position information is synchronously acquired at fixed time through the high-speed encoder and the low-speed encoder, and the acquisition period is delta t;
Calculating the deformation of the flexible wheel of the speed reducer through the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder and the reduction ratio of the speed reducer;
calculating a first moment value of the low-speed end through the deformation quantity of the flexible wheel and the deformation moment coefficient of the flexible wheel of the speed reducer;
a moment sensor is arranged at the low-speed end of the speed reducer, and a second moment value of the low-speed end is detected through the moment sensor; and
Calculating the moment value deviation of the first moment value and the second moment value, comparing the moment value deviation with a first preset threshold value, judging that the first moment value and the second moment value are abnormal if the moment value deviation is larger than the first preset threshold value, and judging that the first moment value and the second moment value are normal if the moment value deviation is smaller than the first preset threshold value.
2. The joint verification method of moment values according to claim 1, further comprising:
And if the deviation of the moment values is larger than the first preset threshold value, comparing the magnitudes of the first moment values calculated for multiple times, if the magnitudes of the first moment values calculated for m times in succession are equal, judging that the first moment values are abnormal, and if the ratio of the difference value of the first moment values calculated for two times in succession to the average value is larger than the second preset threshold value, judging that the first moment values are abnormal, wherein m is a positive integer larger than or equal to 2.
3. The joint verification method of moment values according to claim 2, further comprising:
And if the deviation of the moment values is larger than the first preset threshold value, comparing the magnitudes of the second moment values calculated for multiple times, if the magnitudes of the second moment values detected for n times are equal, judging that the second moment values are abnormal, and if the ratio of the difference value of the second moment values detected for two times to the average value is larger than a third preset threshold value, judging that the second moment values are abnormal, wherein n is a positive integer larger than or equal to 2.
4. A method of joint verification of torque values as claimed in claim 3, further comprising: and if the torque value deviation is larger than the first preset threshold value, adopting a normal one of the first torque value and the second torque value to control the speed reducer.
5. A method of joint verification of torque values as claimed in any one of claims 1 to 4, wherein the acquisition period has a value in the range 40 to 60 microseconds.
6. The joint verification method of a moment value according to any one of claims 1 to 4, wherein calculating a compliant wheel deformation amount of the speed reducer from the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=|DH(K)/Q-DL(K)|，
The method comprises the steps of determining a flexible wheel deformation amount of a speed reducer, wherein delta E (K) is the flexible wheel deformation amount of the speed reducer, DH (K) is position information acquired by a high-speed encoder for the Kth time, DL (K) is position information acquired by a low-speed encoder for the Kth time, Q is a reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
7. The joint verification method of a moment value according to any one of claims 1 to 4, wherein calculating a compliant wheel deformation amount of the speed reducer from the position information acquired by the high-speed encoder, the position information acquired by the low-speed encoder, and the reduction ratio of the speed reducer includes:
The deformation of the flexible wheel of the speed reducer is calculated by using the following formula:
ΔE(K)=| (DH(K)-DH(K-1))/Q - (DL(K)-DL(K-1))|，
The method comprises the steps of determining a flexible wheel deformation amount of a speed reducer, wherein delta E (K) is the flexible wheel deformation amount of the speed reducer, DH (K) is position information acquired by a high-speed encoder for the Kth time, DL (K) is position information acquired by a low-speed encoder for the Kth time, Q is a reduction ratio of the speed reducer, and K is a positive integer greater than or equal to 2.
8. The joint verification method of moment values according to any one of claims 1-4, wherein calculating the first moment value of the low speed end from the compliant wheel deformation amount and compliant wheel deformation moment coefficient of the speed reducer includes:
Calculating a first moment value of the low speed end using the following formula:
Td=ΔE(K)*N，
td is the first torque value of the low-speed end, delta E (K) is the deformation of the flexible wheel of the speed reducer, and N is the deformation torque coefficient of the flexible wheel.
9. The joint verification method of moment values according to any one of claims 1-4, wherein calculating a moment value deviation of the first moment value and the second moment value comprises:
calculating a torque value deviation of the first torque value and the second torque value using the following formula:
η=2|Td-Tg|/(Td+Tg)，
Wherein η is the torque value deviation, td is the first torque value of the low speed end, and Tg is the second torque value of the low speed end.
10. A control method of a surgical robot, wherein the surgical robot includes a joint module including a speed reducer, a high-speed encoder located at a high-speed end of the speed reducer, and a low-speed encoder and a torque sensor located at a low-speed end of the speed reducer, the control method comprising:
The high-speed encoder, the low-speed encoder and the torque sensor are verified using a joint verification method of torque values according to any one of claims 1 to 9.
11. The control method of a surgical robot according to claim 10, further comprising:
And if the moment value deviation is larger than the first preset threshold value, adopting a normal one of the first moment value and the second moment value to control the joint module.
12. A computer readable storage medium, wherein the computer readable storage medium comprises a stored computer program which, when run, performs a joint verification method of moment values according to any one of claims 1-9.
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