The invention discloses a double-arm ultrasonic
robot breast curved surface self-adaptive scanning method and related equipment. The method comprises the following steps: by taking a central axis of a
human body as a starting point, performing equal-interval segmentation on a
mammary gland three-dimensional
point cloud to obtain an autonomous scanning track; according to the autonomous scanning tracks, one mechanical arm of the double-arm ultrasonic
robot is controlled to move up and down in sequence from one side to the direction where the midmost segmentation line is located, and meanwhile, the other mechanical arm is controlled to move up and down in sequence from the midmost segmentation line to the other side until the probe passes through the autonomous scanning tracks corresponding to all the segmentation lines; for each probe, when the probe goes downhill, the probe is controlled to rotate around the Y axis of the tool coordinate
system according to the
contact force of the probe; and when the probe goes uphill, determining a Z-axis
direction vector of the position of the target probe according to the position information of the probe, and controlling the probe to rotate around the Y axis of the tool coordinate
system. According to the method, it can be ensured that the probe is attached to the surface of the
human body, and therefore scanning accuracy and scanning efficiency are improved.