A motion control method of moxibustion robot based on multi-sensor perception
A technology of robot movement and control method, which is applied in the direction of comprehensive factory control, heating surgical instruments, heating/cooling reflex point instruments, etc., and can solve problems such as no detailed control method
Active Publication Date: 2022-05-20
佛山冠湾智能科技有限公司
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However, although there are descriptions in the published patent that involve controlling the robot to make adjustments according to changes in the position and posture of the human body, it does not detail its control method.
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[0026] This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.
[0027] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
[0028] I...
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The invention discloses a moxibustion robot motion control method based on multi-sensor perception, which adopts a joint robot, and the joint robot is provided with an execution end and a robot controller, and a temperature sensor and a plurality of distance sensors are arranged at the execution end . The moxibustion head is installed on the execution end, and the robot controller is used to adjust the position and posture of the moxibustion head by receiving the values from the distance sensor and temperature sensor. The surface model of the human body surface and the dynamic real-time position compensation based on the error value of the distance sensor and temperature sensor, that is, the static modeling and dynamic real-time compensation work together, so that the moxibustion head can move at a constant distance on the human body surface and maintain Keep the central axis of the moxibustion head coincident with the normal of the curved surface of the human body.
Description
technical field [0001] The invention relates to a motion control method of a moxibustion robot, in particular to a motion control method of a moxibustion robot based on multi-sensor sensing. Background technique [0002] At present, the research on using robots to assist doctors in moxibustion treatment is gradually rising. Since the body surface of the human body is curved, the distance and posture between the moxa stick and the body surface of the human body will affect the effect of moxibustion. Therefore, in moxibustion treatment At the same time, the moxibustion robot needs to adjust its posture and position according to the changes of the surface of the human body and the temperature of the moxibustion acupoints. For example, the patent No. CN 107791281A discloses a four-degree-of-freedom moxibustion-assisted robotic arm, which is based on vision The method is used to search for acupoints, and the range of acupoints is wide. For example, Patent No. CN109620712A disclo...
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IPC IPC(8): A61B18/04A61H39/06
CPCA61H39/06A61H2201/0207A61H2201/1659A61H2201/5058A61H2201/5082Y02P90/02
Inventor 杨海滨邓旭高罗永华周星高萌陈思敏陈元浩
Owner 佛山冠湾智能科技有限公司