WO2023030035A1

WO2023030035A1 - Dynamic picture dynamic display method for position of mechanical arm and control terminal

Info

Publication number: WO2023030035A1
Application number: PCT/CN2022/113484
Authority: WO
Inventors: 王亮
Original assignee: 中科尚易健康科技(北京)有限公司
Priority date: 2021-08-30
Filing date: 2022-08-19
Publication date: 2023-03-09
Also published as: CN113808163A

Abstract

The present application relates to a dynamic picture dynamic display method for a position of a mechanical arm, a control terminal, and an intelligent human body meridian conditioning device. The method comprises: acquiring human body surface point cloud data, and establishing a locomotion trajectory according to the human body surface point cloud data; acquiring real-time displacement data of a tail end of the mechanical arm in all directions, and performing correction feedback on the locomotion trajectory according to the real-time displacement data to acquire a real-time correction feedback result; and executing a motion instruction according to the real-time feedback result. The technical effect of performing real-time correction feedback adjustment on the locomotion trajectory of the mechanical arm is achieved, such that the locomotion trajectory of the tail end of the mechanical arm is accurately corrected, and the tail end of the mechanical arm can apply force for locomotion according to human body surface characteristics, thereby avoiding potential safety hazards caused by the mechanical arm to the human body.

Description

Method and control terminal for dynamically displaying moving pictures of manipulator arm positions

technical field

The present disclosure relates to the field of physiotherapy equipment, and in particular to a method for dynamically displaying a moving picture of a position of a mechanical arm, a control terminal, and an intelligent human body meridian conditioning equipment.

Background technique

Intelligent human body meridian conditioning equipment is based on the principle of dredging and regulating meridians in traditional Chinese medicine, through cutting-edge artificial intelligence technology, robotics technology, combined with precision servo control technology and multi-physical field energy stimulation technology, it is an integrated intelligent device that can replace manual methods.

In the prior art, when using traditional Chinese medicine meridian conditioning equipment to regulate the human body, the conditioning equipment is carried by the end of the robotic arm of the robot, although the robotic arm can walk according to the planned trajectory and can display the position of the end of the mechanical arm on the human body , but does not show the relative position information of the end of the manipulator and the human body, and does not show the position information of the end of the manipulator in the planned trajectory; what’s more, it only shows the 3D model of the patient’s body. This leads to the fact that although the robot arm walks according to the simulated trajectory of the front-end animation, it cannot obtain the relative position information between the end of the robot arm and the human body for accurate position feedback, which cannot accurately reflect the real-time state of the robot arm in the human body.

In addition, if there is no relative position information between the end of the robotic arm and the human body, the animation displayed by the existing TCM meridian conditioning equipment lacks the relative position information between the end of the robotic arm and the body surface of the human body, etc., which makes the displayed animation If the distance feedback between the end of the robotic arm and the human body surface cannot be obtained, it is easy to cause the end of the robotic arm to exert excessive force on the body surface, causing injury to the human body surface and bringing safety hazards to patients.

Therefore, there are the following technical defects in the animation displayed by the traditional Chinese medicine meridian conditioning equipment in the prior art:

In the display animation of the traditional Chinese medicine meridian conditioning equipment, there is no feedback information display of the relative position information between the end of the mechanical arm and the human body, which makes the end of the mechanical arm lack the dynamic display signal of the animation, which is likely to bring safety hazards to the human body. .

Contents of the invention

In view of this, the present disclosure proposes a dynamic display method of the position of the mechanical arm, a control terminal, and an intelligent human meridian conditioning device, aiming at obtaining real-time displacement data of the end of the mechanical arm in various directions and real-time mechanical The body surface position data of the end of the arm relative to the body surface of the human body, establish and display the feedback information of the relative position information between the end of the robotic arm and the human body, so that the physiotherapy equipment can have real-time dynamic display information and better control the machine Arm walking, avoiding the lack of moving picture dynamic display signals at the end of the robotic arm and causing safety hazards to the human body surface.

According to an aspect of the present disclosure, a method for dynamically displaying a moving picture of a position of a robot arm is provided, including the following steps:

S1. Obtain real-time displacement data of the end of the robotic arm in various directions and real-time body surface position data of the end of the robotic arm relative to the body surface of the human body;

S2. Perform dynamic graphics processing on the real-time displacement data and the body surface position data through the dynamic graphics processing engine;

S3. Outputting and displaying the working diagram of the mechanical arm.

In one possible implementation,

In step S1, after obtaining the real-time displacement data and the real-time body surface position data of the end of the mechanical arm relative to the body surface of the human body, it also includes:

Analyzing the real-time displacement data and the real-time position data of the end of the mechanical arm relative to the body surface of the human body;

Obtain real-time displacement analysis data and real-time position analysis data of the end of the manipulator relative to the body surface of the human body;

receiving and sending the real-time displacement analysis data and the real-time body surface position analysis data of the end of the mechanical arm relative to the body surface of the human body.

In one possible implementation,

In step S1, the acquisition of real-time displacement data of the end of the mechanical arm in various directions includes:

Obtain the coordinate value size data of the end of the robot arm in the world coordinates, including (x, y, z), where:

x is the position coordinate value of the end of the robot arm in the X direction of the world coordinate system;

y is the position coordinate value of the end of the robot arm in the Y direction of the world coordinate system;

z is the position coordinate value of the end of the robot arm in the Z direction of the world coordinate system.

In one possible implementation,

Also includes:

Obtain the rotation angle data of the end of the robot arm in world coordinates, including (Rx, Ry, Rz), where:

Rx is the rotation angle of the end of the robot arm in the X direction of the world coordinate system;

Ry is the rotation angle of the end of the robot arm in the Y direction of the world coordinate system;

Rz is the rotation angle of the end of the robot arm in the Z direction of the world coordinate system.

In one possible implementation,

Also includes:

Obtain the rotation angle axis data of the end of the robot arm in world coordinates, including (r1, r2, r3, r4, r5, r6), where:

r1 is the angle of the first rotation axis of the manipulator;

r2 is the angle of the second rotation axis of the manipulator;

r3 is the angle of the third rotation axis of the robot arm;

r4 is the angle of the fourth rotation axis of the robot arm;

r5 is the angle of the fifth rotation axis of the robotic arm;

r6 is the angle of the sixth rotation axis of the manipulator.

In one possible implementation,

In step S1, the acquisition of real-time body surface position data of the end of the mechanical arm relative to the body surface of the human body includes:

Obtain real-time displacement data of the end of the robotic arm in various directions and point cloud data of the human body surface;

Combining the real-time displacement data and the point cloud data of the human body surface, calculate and obtain the dynamic display data of the moving picture of the end of the mechanical arm relative to the human body surface;

The data output is dynamically displayed according to the moving picture and the simulation moving picture is displayed.

In one possible implementation,

Also includes:

Obtain point cloud data of human body surface;

Establishing a walking track according to the point cloud data of the human body surface;

Performing position feedback on the walking track based on the real-time displacement data to obtain a real-time feedback result.

In one possible implementation,

Also includes:

receiving the real-time feedback result;

Input the real-time feedback result into the animation processing engine.

According to another aspect of the present disclosure, a control terminal is provided, including:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to implement the method for controlling the mechanical arm with force-sensing feedback adjustment when executing the executable instructions.

According to another aspect of the present disclosure, there is also provided an intelligent body meridian conditioning device, including a robotic arm and the control terminal, the control terminal is electrically connected to the controller of the robotic arm.

This application obtains the point cloud data of the human body surface, establishes the walking trajectory according to the point cloud data of the human body surface; obtains the real-time displacement data of the end of the mechanical arm in various directions, and corrects the walking trajectory according to the real-time displacement data Feedback, obtain real-time correction feedback results; execute motion instructions according to the real-time correction feedback results; achieve the technical effect of real-time correction feedback adjustment on the walking trajectory of the mechanical arm, so that the walking trajectory at the end of the mechanical arm is accurately corrected, and the mechanical arm The end can walk with force according to the characteristics of the human body surface, so as to avoid the occurrence of safety hazards caused by the robotic arm to the human body.

According to the real-time displacement data of the end of the manipulator in various directions and the real-time position data of the end of the manipulator relative to the body surface of the human body, the present invention establishes and displays the feedback information of the relative position information between the end of the manipulator and the human body, In this way, the physiotherapy equipment can better control the walking of the mechanical arm with the real-time dynamic display information of the moving picture, and avoid the potential safety hazard to the human body surface caused by the lack of dynamic display signal of the moving picture at the end of the mechanical arm.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the specification, serve to explain the principles of the disclosure.

Fig. 1 shows the schematic diagram of the implementation process for the dynamic display of the moving picture of the position of the mechanical arm of the present invention;

Fig. 2 is a schematic diagram showing the composition of the control terminal of the present invention;

Fig. 3 shows the structural representation of the intelligent human body meridian conditioning device of the present invention;

List of reference signs: 1. Mechanical arm, 2. AI vision system, 3. Vibration conditioning head, 4. Floating conditioning bed;

Detailed ways

Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific implementation manners. It will be understood by those skilled in the art that the present disclosure may be practiced without some of the specific details. In some instances, methods, means, components and circuits that are well known to those skilled in the art have not been described in detail so as to obscure the gist of the present disclosure.

Example 1

As shown in Figure 1, according to an aspect of the present disclosure, a method for dynamically displaying a moving picture of a position of a mechanical arm is provided, including the following steps:

According to the real-time displacement data of the end of the manipulator in various directions and the real-time position data of the end of the manipulator relative to the body surface of the human body, the present invention establishes and displays the feedback information of the relative position information between the end of the manipulator and the human body, in order to This enables the physical therapy equipment to have real-time dynamic display information and better control the walking of the robotic arm;

Therefore, it is necessary to obtain real-time displacement data of the end of the manipulator in various directions, so as to obtain the dynamic position data of the end of the manipulator. Specifically, the control terminal and the controller of the manipulator can be connected by TCP/IP to obtain the data of the end of the manipulator. walking data;

In addition, sensors, etc. can also be used to obtain real-time displacement data of the end of the mechanical arm in various directions, such as rotation angle sensors, displacement sensors, etc.;

In this embodiment, the real-time displacement data includes the coordinate value size data of the end of the mechanical arm in the world coordinates, the rotation angle data of the end of the mechanical arm in the world coordinates, and the rotation angle axis data of the end of the mechanical arm in the world coordinates, preferably using respective sensors Collect data by means of data extraction;

For the display of dynamic graphs, in addition to the dynamic simulation trajectory of the end of the manipulator shown by the above-mentioned time displacement data, it is also necessary to combine the real-time data of the position of the end of the manipulator relative to the body surface of the human body to obtain the relative position of the end of the manipulator relative to the body surface of the human body. The distance between the display data, so as to establish a dynamic real-time dynamic display result with this data, so that the dynamic data of the end of the mechanical arm relative to the human body surface can be displayed on the 3D engine.

After obtaining the real-time displacement data of the end of the manipulator in various directions and the real-time position data of the end of the manipulator relative to the body surface of the human body, the data is processed by the 3D engine:

The real-time displacement data of the end of the manipulator in various directions and the real-time position data of the end of the manipulator relative to the body surface of the human body are input into the real-time data, after system analysis, analysis and calculation, modeling, etc., can be simulated and calculated Show the human body, the robot arm, the working environment, and the trajectory animation of the robot arm moving relative to the human body.

S3. Outputting and displaying the working diagram of the mechanical arm.

In this way, through the implementation of the above-mentioned embodiment, this embodiment obtains the point cloud data of the human body surface, and establishes a walking trajectory according to the point cloud data of the human body surface; obtains the real-time displacement data of the end of the mechanical arm in various directions, and according to the described Real-time displacement data corrects and feeds back the walking trajectory to obtain real-time correction feedback results; executes motion instructions according to the real-time correction feedback results; achieves the technical effect of performing real-time correction feedback adjustment on the walking trajectory of the mechanical arm, so that the end of the mechanical arm The walking trajectory of the robot is accurately corrected, and the end of the robot arm can perform force walking according to the characteristics of the human body surface, thereby avoiding the safety hazard caused by the robot arm to the human body.

Through the obtained real-time displacement data of the end of the manipulator in various directions and the real-time position data of the end of the manipulator relative to the body surface of the human body, the feedback information of the relative position information between the end of the manipulator and the human body is established and displayed, in order to This enables the physical therapy equipment to have real-time dynamic display information of moving pictures to better control the walking of the mechanical arm, and avoids the lack of moving picture dynamic display signals at the end of the mechanical arm, which may bring safety hazards to the human body surface.

It should be noted that although the above communication manners are described by taking 3D engine, TCP/IP port, etc. as examples, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, users can flexibly set animation processing engine tools according to their personal preferences and/or actual application scenarios, as long as they can receive data for modeling, simulation and display of human body, robotic arm, working environment, and the walking of the robotic arm relative to the human body. The track animation is enough.

After obtaining the real-time displacement data and the real-time position data of the end of the mechanical arm relative to the body surface of the human body, in order to facilitate intuitive data and analysis and statistics, it is necessary to analyze the data and obtain the analytical data, which is convenient for later data analysis.

In one possible implementation,

After the analysis, the analyzed real-time displacement analysis data and the real-time position analysis data of the end of the mechanical arm relative to the body surface of the human body are input into the engine to facilitate direct calculation.

The technology of data parsing can be selected by the user, which is not limited here.

The real-time displacement data obtained by this technology includes the coordinate value size data of the end of the robot arm in the world coordinates, the rotation angle data in the world coordinates, and the rotation angle axis data in the world coordinates. The corresponding data is sent from the robot arm controller to the control terminal. The TCP/IP data port can be obtained, or the corresponding sensors can be used to obtain the real-time displacement data of the end of the manipulator in various directions, such as rotation angle sensors, displacement sensors, etc.;

In one possible implementation,

The data value of the coordinate value size data (x, y, z) can be acquired and calculated in real time by the control terminal.

In one possible implementation,

Also includes:

In one possible implementation,

Also includes:

r1 is the angle of the first rotation axis of the manipulator;

r2 is the angle of the second rotation axis of the manipulator;

r3 is the angle of the third rotation axis of the robot arm;

r4 is the angle of the fourth rotation axis of the robot arm;

r5 is the angle of the fifth rotation axis of the robotic arm;

r6 is the angle of the sixth rotation axis of the manipulator.

Similarly, the rotation angle data (Rx, Ry, Rz) and rotation angle axis data (r1, r2, r3, r4, r5, r6) can be collected by the rotation angle sensor, etc., and can be acquired and calculated by the control terminal in real time.

After obtaining the real-time displacement data of the end of the mechanical arm in various directions, only the dynamic picture of the end of the mechanical arm is displayed. This disclosure also needs to dynamically display the moving picture of the end of the mechanical arm relative to the body surface of the human body, so it is necessary to obtain real-time mechanical The body surface position data of the end of the arm relative to the body surface of the human body is combined with the body surface position data to display the motion parameters of the end of the robotic arm relative to the body surface of the human body.

In one possible implementation,

The real-time displacement data of the end of the robotic arm in all directions is described above;

The point cloud data of the human body surface can be obtained by a camera or a point cloud sensor, and can also be obtained by an AI perspective recognition system;

After the real-time displacement data and point cloud data of human body surface are obtained, the real-time displacement data and point cloud data of human body surface are analyzed and sent to the system for calculation.

After showing the simulated animation, you can display the relative motion simulation animation between the end of the mechanical arm and the human body surface on the animation, so that you can intuitively watch the position and trajectory of the end of the mechanical arm when it is treating the human body. Avoid damaging the skin.

In one possible implementation,

Also includes:

Obtain point cloud data of human body surface;

In an application scheme of this embodiment, this embodiment adds a movement trajectory feedback scheme combined with point cloud data of the human body surface, and obtains the point cloud data of the human body surface through the AI perspective recognition system, so as to establish the trajectory (acupoint) The walking trajectory map composed of points is convenient for matching with the walking position data at the end of the robot arm;

Combining the obtained real-time displacement data of the end of the mechanical arm, compare it with the walking trajectory to see whether the distance between the position point of each end of the mechanical arm and the corresponding trajectory point of the walking trajectory is within a safe distance, through the data Comparing calculations, you can get position feedback information, such as calculating the distance difference to see if it exceeds a certain value (you can set it), and then perform feedback adjustment after obtaining real-time feedback results.

In one possible implementation,

Also includes:

receiving the real-time feedback result;

Input the real-time feedback result into the animation processing engine.

When outputting the moving picture, the real-time feedback result can be input into the engine for calculation, so as to adjust the position data of the data points in the moving picture. When there is a deviation in the walking position of the end of the manipulator, the data is adjusted based on the feedback results, and the real-time displacement data of the end of the manipulator is corrected.

Example 2

In this embodiment, a control terminal is provided, which is used for connecting and communicating with the mechanical arm control system of the intelligent human body meridian conditioning equipment, so as to facilitate remote control of the action of the mechanical arm.

The control terminal is connected to the TCP/IP port of the robotic arm controller, and through the TCP/IP link, real-time mechanical arm force status data and position data of the end of the robotic arm on the human body are obtained.

As shown in FIG. 2, according to another aspect of the present disclosure, a control terminal is provided, including:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to realize the dynamic display method of the moving picture of the position of the mechanical arm when executing the executable instruction.

The control terminal in this embodiment of the present disclosure includes a processor and a memory for storing instructions executable by the processor. Wherein, the processor is configured to implement the above-mentioned method for dynamically displaying the moving picture of the position of the mechanical arm when executing the executable instruction.

Here, it should be noted that the number of processors may be one or more. Meanwhile, the control terminal in the embodiment of the present disclosure may further include an input device and an output device. Wherein, the processor, the memory, the input device and the output device may be connected through a bus or in other ways, which are not specifically limited here.

As a computer-readable storage medium, the memory can be used to store software programs, computer-executable programs and various modules, such as the programs or modules corresponding to the method for controlling a manipulator with force-sensing feedback adjustment in an embodiment of the present disclosure. The processor executes various functional applications and data processing of the control terminal by running software programs or modules stored in the memory.

The input device can be used to receive input numbers or signals. Wherein, the signal may be a key signal related to user setting and function control of the device/terminal/server. The output device may include a display device such as a display screen.

It should be noted that although the above communication manner is described by taking the TCP/IP port as an example, those skilled in the art can understand that the present disclosure should not be limited thereto. In fact, users can flexibly set communication methods such as buses according to personal preferences and/or actual application scenarios, as long as they can receive data from the robotic arm controller.

Example 3

As shown in FIG. 3 , the intelligent human body meridian conditioning device provided in this embodiment includes the robotic arm 1 and the control terminal, and the robotic arm 1 and the control terminal are controlled and executed according to the scheme described in the first embodiment.

The robotic arm has a control system that can communicate with the control terminal;

In addition to a pair of mechanical arms 1, the intelligent human meridian conditioning device of this embodiment also includes an AI vision system 2, a vibration conditioning head 3 and a floating conditioning bed 4. The AI vision system 2 is used to identify meridians, and the vibration conditioning head 3 is used to Vibration hits meridians and acupoints, etc., and the floating conditioning bed 4 is used for patients to lie down, and the spatial position can be adjusted. The usage process is as follows:

When the patient is being recuperated by traditional Chinese medicine equipment, he or she lies supine or prone on the floating recuperation bed 4;

The AI vision system 2 composed of four cameras quickly identifies the meridian path on the front or back of the human body, and passes it to the robotic arm 1 after interpolation planning. The robotic arm 1 of this technology is a dual-arm robot;

Then the dual-arm robot carries the vibration conditioning head 3 to run precisely along the meridians;

To achieve the function of dredging the meridians, activating the functions of the human body, and regulating the human body.

Having described various embodiments of the present disclosure above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles of the various embodiments, practical applications or technical improvements over technologies in the market, or to enable other persons of ordinary skill in the art to understand the various embodiments disclosed herein.

Claims

A method for dynamically displaying a moving picture of a position of a mechanical arm, comprising the following steps:

S1. Obtain real-time displacement data of the end of the robotic arm in various directions and real-time body surface position data of the end of the robotic arm relative to the body surface of the human body;

S2. Perform dynamic graphics processing on the real-time displacement data and the body surface position data through the dynamic graphics processing engine;

S3. Outputting and displaying the working diagram of the mechanical arm.
A method for dynamically displaying the moving picture of the position of the manipulator according to claim 1, wherein in step S1, after acquiring the real-time displacement data and the real-time body surface position data of the end of the manipulator relative to the body surface of the human body After that, also include:

Analyzing the real-time displacement data and the real-time position data of the end of the mechanical arm relative to the body surface of the human body;

Obtain real-time displacement analysis data and real-time position analysis data of the end of the manipulator relative to the body surface of the human body;

receiving and sending the real-time displacement analysis data and the real-time body surface position analysis data of the end of the mechanical arm relative to the body surface of the human body.
A method for dynamically displaying a moving picture of a position of a manipulator according to claim 1, wherein in step S1, said acquiring real-time displacement data of the end of the manipulator in various directions comprises:

Obtain the coordinate value size data of the end of the robot arm in the world coordinates, including (x, y, z), where:

x is the position coordinate value of the end of the robot arm in the X direction of the world coordinate system;

y is the position coordinate value of the end of the robot arm in the Y direction of the world coordinate system;

z is the position coordinate value of the end of the robot arm in the Z direction of the world coordinate system.
A method for dynamically displaying a moving picture of a position of a mechanical arm according to claim 3, further comprising:

Obtain the rotation angle data of the end of the robot arm in world coordinates, including (Rx, Ry, Rz), where:

Rx is the rotation angle of the end of the robot arm in the X direction of the world coordinate system;

Ry is the rotation angle of the end of the robot arm in the Y direction of the world coordinate system;

Rz is the rotation angle of the end of the robot arm in the Z direction of the world coordinate system.
The dynamic display method of a moving picture of a position of a mechanical arm according to claim 4, further comprising:

Obtain the rotation angle axis data of the end of the robot arm in world coordinates, including (r1, r2, r3, r4, r5, r6), where:

r1 is the angle of the first rotation axis of the manipulator;

r2 is the angle of the second rotation axis of the manipulator;

r3 is the angle of the third rotation axis of the robot arm;

r4 is the angle of the fourth rotation axis of the robot arm;

r5 is the angle of the fifth rotation axis of the robotic arm;

r6 is the angle of the sixth rotation axis of the manipulator.
A method for dynamically displaying the moving picture of the position of the manipulator according to claim 1, wherein in step S1, the acquisition of real-time body surface position data of the end of the manipulator relative to the body surface of the human body includes:

Obtain real-time displacement data of the end of the robotic arm in various directions and point cloud data of the human body surface;

Combining the real-time displacement data and the point cloud data of the human body surface, calculate and obtain the dynamic display data of the moving picture of the end of the mechanical arm relative to the human body surface;

The data output is dynamically displayed according to the moving picture and the simulation moving picture is displayed.
The dynamic display method of a moving picture of a position of a mechanical arm according to claim 1, further comprising:

Obtain point cloud data of human body surface;

Establishing a walking track according to the point cloud data of the human body surface;

Performing position feedback on the walking track based on the real-time displacement data to obtain a real-time feedback result.
The method for dynamically displaying the moving picture of the position of the mechanical arm according to claim 7, further comprising:

receiving the real-time feedback result;

Input the real-time feedback result into the animation processing engine.
A control terminal, characterized in that it comprises:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to implement the method according to any one of claims 1 to 8 when executing the executable instructions.
An intelligent body meridian conditioning device, characterized by comprising a robotic arm and the control terminal described in claim 9, the control terminal being electrically connected to the controller of the robotic arm.