A robot device and a control method thereof

Abstract

The application provides a robot device and a control method thereof, the robot device comprising an execution device and a driving device, the method comprising: obtaining at least one inertial sensing data from at least one inertial sensor arranged on the execution device and / or the driving device; performing data fusion based on the at least one inertial sensing data to obtain fusion data of the robot device; determining a working state of the robot device based on the fusion data, and controlling the robot device according to the working state. According to the application, the inertial sensing data is detected by the inertial sensor, and data fusion and analysis are performed, so that higher-precision detection of the robot device is achieved, and the reliability of the robot device is improved. A plurality of single-axis angle sensors are omitted, the structure of the robot device is greatly simplified, the weight and volume of the robot device are reduced, and the cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, and more particularly, to a robot device and a control method thereof. BACKGROUND

[0002] With the development of robot technology, the application field of robot devices is more and more extensive, such as for medical field. The traditional medical robot device can realize that a mechanical arm drives an execution tool, such as a surgical tool, to move around a fixed remote center of motion (RCM) through a parallelogram mechanical transmission structure (PLM). And the angle synchronization between a linear driving unit (ISA) of the surgical tool and a compact motor module (CMD) is measured by using a plurality of single-axis angle sensor modules (ENC) installed inside and outside the parallelogram mechanical transmission structure. However, the single-axis angle sensor module system can only realize the elevation angle synchronization detection between the compact motor module and the linear driving unit of the surgical tool, and cannot measure the deformation of the parallelogram mechanical transmission structure in other directions. Moreover, using the single-axis angle sensor module system will increase the number of circuit module devices in the parallelogram mechanical transmission structure, reduce the reliability of the robot device, and increase the wiring complexity, at the same time, increase the complexity of the structural design, and affect the structural optimization design of the robot device. SUMMARY

[0003] Embodiments of the present application provide a robot device and a control method, system and computer storage medium thereof to at least solve one of the above problems that the deformation of the parallelogram mechanical transmission structure in other directions cannot be detected, the structure is complex, and the reliability of the robot device is reduced.

[0004] According to a first aspect of the present application, a control method of a robot device is provided, the robot device comprising: an execution device for fixing an execution tool; and a driving device driving the execution device to move on the driving device, the method comprising:

[0005] obtaining at least one inertial sensing data from at least one inertial sensor arranged on the execution device and / or the driving device;

[0006] performing data fusion based on the at least one inertial sensing data to obtain fusion data of the robot device;

[0007] determining a working state of the robot device based on the fusion data, and controlling the robot device according to the working state.

[0008] Optionally, performing data fusion based on the at least one inertial sensing data to obtain fusion data of the robot device comprises:

[0009] calculate at least one of an actual pitch angle, an actual roll angle or an actual yaw angle of the driving device based on the at least one inertial sensing data;

[0010] determine a working state of the robotic device based on the fused data, and control the robotic device according to the working state, including:

[0011] determine whether at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is synchronized with a corresponding target angle;

[0012] determine that the robotic device is working abnormally if at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is not synchronized with the corresponding target angle;

[0013] control the robotic device to stop working when it is determined that the robotic device is working abnormally.

[0014] Optionally, determining whether at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is synchronized with a corresponding target angle includes:

[0015] determine whether at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is within a corresponding preset angle range, wherein the corresponding preset angle range includes the corresponding target angle;

[0016] determine that at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is not synchronized with the corresponding target angle if at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is not within the corresponding preset angle range.

[0017] Optionally, determining a working state of the robotic device based on the fused data, and controlling the robotic device according to the working state, further includes:

[0018] calculate a synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle or the actual yaw angle based on at least one of the actual pitch angle, the actual roll angle or the actual yaw angle and the corresponding target angle;

[0019] determine whether the synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle or the actual yaw angle reaches a corresponding synchronization rate threshold;

[0020] determine that the robotic device is working abnormally and control the robotic device to stop working if the synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle or the actual yaw angle does not reach the corresponding synchronization rate threshold.

[0021] Optionally, the working state of the robot device is determined based on the fusion data, and the robot device is controlled according to the working state, and the method further comprises:

[0022] whether the change of the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle in the first preset time period exceeds the corresponding change threshold is calculated based on the synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle or the actual yaw angle;

[0023] If the change of the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle in the first preset time period exceeds the corresponding change threshold, it is determined that the robot device is abnormal, and the robot device is controlled to stop working.

[0024] Optionally, the robot device further comprises a transmission device connected with the driving device, for driving the driving device to move;

[0025] The fusion data of the robot device is obtained by fusing the at least one inertial sensing data, comprising:

[0026] The output angle of the transmission device is calculated based on the at least one inertial sensing data;

[0027] The error between the output angle of the transmission device and the input angle of the transmission device at each use is calculated;

[0028] The permanent consumption of the transmission device is predicted based on the change and / or change rate of the adjacent error and the mathematical motion model of the transmission device;

[0029] The working state of the robot device is determined based on the fusion data, comprising:

[0030] Whether the robot device is in normal working state, and the remaining use time or the remaining use times of the transmission device are judged based on the permanent consumption.

[0031] Optionally, the robot device further comprises a transmission device connected with the driving device, for driving the driving device to move; and a power device connected with the transmission device, for providing power to the transmission device; and the at least one inertial sensing data comprises acceleration data;

[0032] The fusion data of the robot device is obtained by fusing the at least one inertial sensing data, comprising:

[0033] The actual current data of the power device is obtained;

[0034] predicting theoretical acceleration data of the transmission device based on the actual current data and a mathematical motion model of the transmission mechanism;

[0035] determining a working state of the robot device based on the fusion data, and controlling the robot device according to the working state, including:

[0036] judging that the robot device has a collision based on the theoretical acceleration data and the acceleration data;

[0037] controlling the robot device to stop working when it is determined that the robot device has a collision.

[0038] Optionally, the robot device further comprises a transmission device connected with the driving device, for driving the driving device to move; a power device connected with the transmission device, for providing power to the transmission device; and an adjusting device connected with the power device, for adjusting an angle of the power device.

[0039] The data fusion based on the at least one inertial sensing data to obtain the fusion data of the robot device comprises:

[0040] calculating deformation data of the transmission device based on the at least one inertial sensing data;

[0041] calculating a pushing force size and direction of the user on the driving device based on the deformation data;

[0042] determining a working state of the robot device based on the fusion data, and controlling the robot device according to the working state, including:

[0043] controlling the angle of the adjusting device based on the pushing force size and direction.

[0044] Optionally, the data fusion based on the at least one inertial sensing data to obtain the fusion data of the robot device comprises:

[0045] obtaining a control signal of the robot device;

[0046] fusing the at least one inertial sensing data with the control signal to obtain the fusion data.

[0047] Optionally, the data fusion based on the at least one inertial sensing data to obtain the fusion data of the robot device adopts an algorithm as follows: a complementary algorithm, an algorithm based on a noise model, or an algorithm based on a particle swarm.

[0048] Optionally, the inertial sensing data comprises at least one of the following: acceleration data, angular velocity data, or direction data.

[0049] According to a second aspect of the present application, a robot device is provided, comprising:

[0050] an execution device for fixing an execution tool;

[0051] a driving device connected with the execution device for driving the execution device;

[0052] at least one inertial sensor arranged on the execution device and / or the driving device for collecting inertial sensing data of the execution device and / or the driving device;

[0053] a control device connected with the at least one inertial sensor for performing the following steps: performing data fusion based on the at least one inertial sensing data to obtain fusion data of the robot device; and determining a working state of the robot device based on the fusion data and controlling the robot device according to the working state.

[0054] Optionally, the inertial sensor comprises at least two of a gyroscope, an accelerometer or a magnetometer.

[0055] Optionally, the robot device further comprises:

[0056] a transmission device connected with the driving device for driving the driving device to move;

[0057] a power device connected with the transmission device for providing power to the transmission device;

[0058] an adjustment device connected with the power device for adjusting the position and / or orientation of the transmission device and the power device as a whole.

[0059] The robot device and the control method thereof according to the embodiments of the present application can realize higher precision detection of the robot device by detecting inertial sensing data through the inertial sensor and performing data fusion and analysis, thereby improving the reliability of the robot device. The robot device is simplified by eliminating multiple sets of single-axis angle sensors, thereby reducing the weight and volume of the robot device and saving costs. BRIEF DESCRIPTION OF DRAWINGS

[0060] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0061] Figure 1is a schematic principle diagram of a robot device;

[0062] Figure 2 is a schematic flow diagram of an elevation angle synchronization detection of a robot device;

[0063] Figure 3 is a schematic principle diagram of a robot device according to an embodiment of the present application;

[0064] Figure 4 is a schematic flow diagram of a control method of a robot device according to an embodiment of the present application;

[0065] Figure 5 is an example of a control method of a robot device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the objectives, technical solutions, and advantages of the present application more apparent, the following will describe example embodiments according to the present application in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present application.

[0067] A conventional robot device for medical field, such as a surgical robot, contains one or more pre-tensioned metal belts or steel wire ropes (PSB) as power transmission in a parallelogram mechanical transmission structure (PLM), and uses a plurality of single-axis angle sensor modules (ENC) installed inside and outside the parallelogram mechanical transmission structure to measure the angle synchronization of a surgical tool linear driving unit (ISA) and a compact motor module (CMD), the metal belt elongation value, and the parallelogram mechanical transmission structure deformation, to realize structural state safety detection. However, the single-axis angle sensor module cannot measure the deformation of the parallelogram mechanical transmission structure in other directions and actively detect the collision between the mechanical arm and the outside world. In addition, using the single-axis angle sensor module increases the number of module devices in the parallelogram mechanical transmission structure, reduces the reliability of the robot device, and increases the wiring complexity, while increasing the complexity of structural design and affecting the optimal design of the structure.

[0068] Referring to Figure 1 , Figure 1 shows a schematic principle diagram of a robot device. As Figure 1As shown, the conventional surgical robot uses a remote center of motion 1 to operate on a target object through several small holes and improve the safety of the surgery. The yaw and pitch movements of the surgical tool (SGI) 2 at the front end of the robot device are powered by the compact motor modules (CMD) 3 and 4 at the rear end of the robot device. Specifically, the compact motor modules 3 and 4 transmit power to the surgical tool linear drive unit (ISA) 10 through the parallelogram mechanical transmission structure (PLM) 5 and the pre-tightened metal belt installed inside the parallelogram mechanical transmission structure 5, while the surgical tool linear drive unit 10 provides translational movement of the surgical tool 2 along the central axis, realizing multi-degree-of-freedom control of the surgical tool.

[0069] Figure 1 The reliability of power transmission of the robot device shown in the middle depends on the structural integrity of the parallelogram mechanical transmission structure 5 and the pre-tightening force of the pre-tightened metal belt. The conventional robot device uses multiple single-axis angle sensor modules (ENC) 6, 7, 8 installed in the parallelogram mechanical transmission structure 5 to measure the change in the output-input angle relationship of each segment of the parallelogram mechanical transmission structure 5 in real time, to confirm the integrity of the parallelogram mechanical transmission structure 5 and the pre-tightening degree of the pre-tightened metal belt. See Figure 2 , Figure 2 A schematic flowchart of the robot device is shown. As Figure 2 shown, the elevation angles output by the compact motor modules 3 and 4 are output to the surgical tool linear drive unit (ISA) 10 through the parallelogram mechanical transmission structure (PLM) 5 and the pre-tightened metal belt installed inside the parallelogram mechanical transmission structure 5; the single-axis angle sensor modules (ENC) 6, 7, 8 feedback the actual elevation angles of the PLM and the ISA; after processing the actual elevation angles and the elevation angles output by the compact motor modules 3 and 4, the system state machine makes a judgment as to whether the parallelogram mechanical transmission structure 5 has an elevation angle synchronization error or the pre-tightened metal belt is broken, so that the controller will interrupt the surgery and issue an alarm prompt for robot device maintenance.

[0070] As shown in Figure 1 and Figure 2 , the cooperation of the multiple single-axis angle sensor modules 6, 7, 8 installed in the parallelogram mechanical transmission structure 5 increases the circuit design requirements of the safety detection system in the parallelogram mechanical transmission structure, the installation and mechanical cooperation of the sensors, complicates the entire system design, reduces the reliability, and reduces the design freedom of the parallelogram mechanical transmission structure, increasing the weight of the entire machine. In addition, the single-axis angle sensor module system does not have the function of detecting yaw angle synchronization anomalies.

[0071] Based on the above considerations, the robot device and its control method according to an embodiment of the present application are proposed. SeeFigure 3 , Figure 3 A schematic diagram of a robotic device according to an embodiment of the present application is shown. As shown, the robotic device 300 can include: Figure 3

[0072] an execution device 310 for fixing an execution tool 311;

[0073] a driving device 320 connected with the execution device 310 for driving the execution device 310;

[0074] at least one inertial sensor 330 arranged on the execution device 310 and / or the driving device 320 for collecting inertial sensing data of the driving device 320;

[0075] a control device 340 connected with the at least one inertial sensor 330 for executing at least part of or all of the steps in the control method of the robotic device according to an embodiment of the present application.

[0076] In some embodiments, the execution tool 311 can be a surgical instrument (SGI). In some embodiments, the surgical instrument (SGI) can be a tool for performing surgical operations (such as grasping, cutting, cutting, pinching, suturing, etc.) on a target object, such as surgical forceps, surgical scissors, high-frequency electric knife, suture needle, etc. In some embodiments, the surgical instrument (SGI) can also be a tool for assisting in performing surgical operations, such as various types of image acquisition devices, endoscopes, etc. It should be understood that the above-mentioned surgical instruments are only examples and are not intended to limit the surgical instruments, which can be any tool related to performing surgery, without limitation.

[0077] In some embodiments, the execution device 310 can be a surgical instrument driving module (MPK) for driving the surgical instrument fixed thereon to perform various surgical operations.

[0078] In some embodiments, the driving device 320 can be a surgical instrument linear driving unit (ISA).

[0079] In some embodiments, the inertial sensor 330 includes at least two of a gyroscope, an accelerometer, or a magnetometer. In some embodiments, the inertial sensor 330 can be two, such as: a gyroscope and an accelerometer, a gyroscope and a magnetometer; or more, such as: a gyroscope, an accelerometer, and a magnetometer.

[0080] ​In some embodiments, the control device 340 can be implemented by software, hardware, firmware, or a combination thereof. In some embodiments, the control device 340 can use at least one of a circuit, a single or multiple Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a PLC, a microcontroller, a microprocessor.

[0081] Optionally, the robotic device 300 further comprises:

[0082] A transmission device 350 connected to the driving device 320 for driving the driving device 320 to move;

[0083] A power device 360 connected to the transmission device 350 for providing power to the transmission device 350;

[0084] An adjustment device 370 connected to the power device 360 for adjusting the position and / or orientation of the transmission device 350 and the power device 360 as a whole.

[0085] In some embodiments, the transmission device 350 can be a Parallel Mechanism (PLM).

[0086] In some embodiments, the power device 360 can be one or more motors. Further, it can be a Compact Motor Drive (CMD). In some embodiments, the control device 340 can control the output angle of the power device 360.

[0087] In some embodiments, the adjustment device 370 can be a Set-Up Joint (SUJ) disposed at the back end of the robotic device. For example, Figure 3As shown, the robotic device can be a surgical robot, the transmission device 350 and the power device 360 can serve as a mechanical arm of the surgical robot, the adjustment arm (SUJ) is arranged at the rear end of the mechanical arm and connected with the mechanical arm, the adjustment arm (SUJ) can perform at least one operation of moving the mechanical arm as a whole in the horizontal direction, moving in the vertical direction, and adjusting the pointing direction of the mechanical arm, so as to adjust the pointing direction and position of the mechanical arm to a suitable range, ensure that the area where the target object needs to be operated is located within the movement range of the execution device 310, so that the distance between the mechanical arm and the target object is suitable for the surgical operation on the target object. Referring to Figure 4 , Figure 4 A schematic flowchart of a control method of a robotic device according to an embodiment of the present application is shown. As shown in Figure 4 The method can be performed by a robotic device, and the control method 400 of the robotic device includes:

[0088] Step S410, acquiring at least one inertial sensor data from at least one inertial sensor arranged on the execution device and / or the driving device;

[0089] Step S420, performing data fusion based on the at least one inertial sensor data to obtain fusion data of the robotic device;

[0090] Step S430, determining a working state of the robotic device based on the fusion data, and controlling the robotic device according to the working state.

[0091] Wherein, the inertial sensor arranged on the execution device and / or the driving device collects the inertial sensor data, and performs data fusion and analysis, which can realize higher precision detection of the robotic device, accurately analyze the working state of the robotic device, and perform corresponding control, thereby improving the reliability of the robotic device. Compared with the traditional robotic device, a plurality of single-axis angle sensors are omitted, the structure of the robotic device is greatly simplified, the weight and volume of the robotic device are reduced, and the cost is saved.

[0092] In some embodiments, the inertial sensor data includes at least one of acceleration data, angular velocity data, or earth magnetic field direction data. Further, in some embodiments, the acceleration data can be collected by an accelerometer. In some embodiments, the angular velocity data can be collected by a gyroscope. In some embodiments, the earth magnetic field direction data is collected by a magnetometer. In some embodiments, the accelerometer, the gyroscope or the magnetometer sends the respective collected inertial sensor data to the control device, and the control device performs data fusion calculation to obtain the fusion data.

[0093] In some embodiments, the data fusion based on the at least one inertial sensor data can employ an algorithm such as a complementary algorithm, a noise model based algorithm, or a particle swarm based algorithm.

[0094] The algorithms for data fusion are all based on the optimization of the utilization of inertial sensor data and control signals, including but not limited to inertial sensor data (such as acceleration data, angular velocity data, or direction data), output of the driving device (such as driver torque output), input current of the power device (such as motor detection current), etc. to fuse data and generate an optimized deformation signal of the transmission device. In comparison, the complementary algorithm has the lowest calculation amount and a specific ordinary fusion effect; the noise model based algorithm has a slightly higher calculation amount and a good fusion effect; and the particle swarm based algorithm has the highest calculation amount and the best data fusion effect.

[0095] Optionally, in step S420, data fusion is performed based on the at least one inertial sensor data to obtain fusion data of the robotic device, including:

[0096] The actual pitch angle, actual roll angle, or actual yaw angle of the driving device is calculated based on the at least one inertial sensor data;

[0097] In step S430, the working state of the robotic device is determined based on the fusion data, and the robotic device is controlled according to the working state, including:

[0098] It is determined whether at least one of the actual pitch angle, actual roll angle, or actual yaw angle is synchronized with the corresponding target angle;

[0099] If at least one of the actual pitch angle, actual roll angle, or actual yaw angle is not synchronized with the corresponding target angle, it is determined that the robotic device is working abnormally;

[0100] When it is determined that the robotic device is working abnormally, the robotic device is controlled to stop working.

[0101] The actual pitch angle, actual roll angle, or actual yaw angle of the driving device is determined whether it is synchronized with the respective target angle, and it can be determined whether the robotic device is working abnormally. For example, refer to Figure 3In the surgical robot, the execution tool 311 can be a surgical tool (SGI), the execution device 310 can be a surgical instrument driving module (MPK), the driving device 320 can be a surgical tool linear driving unit (ISA), the surgical instrument driving module MPK can be arranged on the track of the surgical tool linear driving unit ISA, and the surgical instrument driving module MPK with the surgical tool SGI driven by the surgical tool linear driving unit ISA moves on the track to perform the corresponding surgical operation. It can be seen that the pitch angle, roll angle or yaw angle of the execution device 310 and the driving device 320 are consistent, so at least one inertial sensor can be arranged on the execution device 310 or the driving device 320, and then the fusion data can be obtained by fusing the data collected by the at least one inertial sensor; or, at least one inertial sensor can be arranged on the execution device 310 and the driving device 320 to detect at the same time, so that the redundancy of the inertial sensor can be realized, and the plurality of inertial sensing data obtained are also redundant, thereby ensuring the accuracy of the data and improving the accuracy of the subsequent data fusion.

[0102] Further, in some embodiments, when a plurality of inertial sensors are arranged, the average or median of a plurality of inertial sensing data of the same type can be used for data fusion when the data is fused. For example, for the angular velocity data of the driving device of the same type, the average or median of the angular velocity data of the driving device collected by a plurality of inertial sensors can be used as the angular velocity data of the driving device when the data is fused; other types of data can also be processed similarly.

[0103] In some embodiments, the working abnormality can include that at least one of the pitch angle, the roll angle or the yaw angle is out of synchronization. In some embodiments, the working abnormality can further include that a parallelogram mechanical transmission structure (PLM) contains one or more pre-tightened metal belts or steel wire ropes (PSB) that are broken.

[0104] In some embodiments, the control method 400 can further include alarming when it is determined that the robot device is working abnormally. In some embodiments, the robot device can be stopped to stop working after the alarm. It can be seen that the alarm when the robot device is working abnormally can facilitate the user to stop and maintain in time.

[0105] In some embodiments, the alarm can be an audible and light alarm, or the display device arranged on the robot device can be used to display that at least one of the pitch angle, the roll angle or the yaw angle is out of synchronization, and / or the metal belt or steel wire rope (PSB) in the transmission device is broken.

[0106] In some embodiments, determining whether at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is synchronized with a corresponding target angle comprises:

[0107] Determining whether at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is within a corresponding preset angle range, wherein the corresponding preset angle range includes the corresponding target angle;

[0108] If at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is not within the corresponding preset angle range, determining that the actual pitch angle, the actual roll angle, or the actual yaw angle is not synchronized with the corresponding target angle.

[0109] In some embodiments, the preset angle range can be a range centered on the target angle. For example, the target angle is A t , and the preset angle range can be [A t -a, A t +b], where a and b can be the same or different, and are both positive numbers. It should be understood that the pitch angle, the roll angle, and the yaw angle each have a corresponding target angle.

[0110] Wherein the values of a and b can be set as needed, which are not limited here, such as being set considering the transitional jolt caused by the structural flexibility of the transmission device.

[0111] In some embodiments, the target angle can be an angle output by the power device. For example, at least one of the pitch angle, the roll angle, and the yaw angle output by the compact motor module (CMD).

[0112] In some embodiments, in step S420, determining the working state of the robot device based on the fused data can further include:

[0113] If at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is within the corresponding preset angle range, determining that the actual pitch angle, the actual roll angle, or the actual yaw angle is synchronized with the corresponding target angle.

[0114] In some embodiments, in step S430, determining the working state of the robot device based on the fused data can further include:

[0115] If at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is not within the corresponding preset angle range, determining that the actual pitch angle, the actual roll angle, or the actual yaw angle is not synchronized with the corresponding target angle.

[0116] Further, in some embodiments, when all of the actual pitch angle, the actual roll angle and the actual yaw angle are synchronized with the corresponding target angles, it is determined that the robot device is working normally.

[0117] In some embodiments, in step S430, the working state of the robot device is determined based on the fusion data, and the robot device is controlled according to the working state, which further includes:

[0118] The synchronization rate of at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is calculated based on the corresponding target angle;

[0119] It is determined whether the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle reaches a corresponding synchronization rate threshold;

[0120] If the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle does not reach the corresponding synchronization rate threshold, it is determined that the robot device is working abnormally, and the robot device is controlled to stop working.

[0121] In some embodiments, in step S430, the working state of the robot device is determined based on the fusion data, and the robot device is controlled according to the working state, which further includes:

[0122] It is determined whether the change of the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle in a first preset time period exceeds a corresponding change threshold based on the synchronization rate of at least one of the actual pitch angle, the actual roll angle or the actual yaw angle;

[0123] If the change of the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle in the first preset time period exceeds the corresponding change threshold, it is determined that the robot device is working abnormally, and the robot device is controlled to stop working.

[0124] In some embodiments, the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle, or the change of the synchronization rate can be used to determine whether the robot device is working normally. When the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle does not reach the corresponding synchronization rate threshold, or the change of the synchronization rate of the actual pitch angle, the actual roll angle or the actual yaw angle is too large (exceeding the change threshold), the robot device is in an abnormal working state, and the robot device can be controlled to stop working to prevent damage to the robot device.

[0125] It can be seen that the control method of the robot device according to the embodiment of the application simultaneously detects the roll angle, the pitch angle and the yaw angle of the transmission device (such as the parallelogram mechanical transmission structure) and the driving device (such as the linear driving unit of the surgical tool), thereby realizing multi-directional deformation detection of the robot device and increasing the comprehensiveness of the angle synchronous monitoring safety system of the surgical robot.

[0126] Optionally, in step S420, data fusion is performed based on the at least one inertial sensing data to obtain fusion data of the robot device, including:

[0127] Obtaining a control signal of the robot device;

[0128] Performing data fusion on the at least one inertial sensing data and the control signal to obtain the fusion data.

[0129] The control signal of the robot device and the inertial sensing data detected by the inertial sensor are fused to obtain fusion data containing more comprehensive and accurate information, and the robot device is analyzed based on the more comprehensive and accurate fusion data, thereby improving the accuracy of the state analysis of the robot device and facilitating accurate control of the robot device.

[0130] In some embodiments, the control signal of the robot device can include an output signal (i.e., an input signal of the transmission device) of the power device, such as an output angle, an output current, an output torque, etc., and can also include an output signal of the driving device, such as a driving torque output, etc. It should be understood that the control signal can be any signal for controlling a device or a component in the robot device, which is not limited herein.

[0131] Optionally, the robot device further includes a transmission device connected to the driving device for driving the driving device to move;

[0132] In step S420, the data fusion based on the at least one inertial sensing data to obtain the fusion data of the robot device includes:

[0133] Calculating an output angle of the transmission device based on the at least one inertial sensing data;

[0134] Calculating an error between the output angle of the transmission device and an input angle of the transmission device at each use;

[0135] Predicting a permanent consumption of the transmission device based on a change and / or a change rate of the adjacent errors and a mathematical motion model of the transmission device;

[0136] In step S430, the working state of the robot device is determined based on the fusion data, including:

[0137] determine whether the robot device is in normal work based on the permanent consumption, and a remaining use time or a remaining use number of the transmission device.

[0138] In the above embodiment, before calculating the error between the output angle of the transmission device and the input angle of the transmission device in each use, the method can further include: obtaining the input angle of the transmission device.

[0139] The input angle of the transmission device is the output angle of the power device, and the power device can be controlled by the control device, that is, the control device sends a corresponding control instruction to the power device to control the power device to output a corresponding angle, and the output angle of the power device (that is, the input angle of the transmission device) can be used as a control signal.

[0140] In some embodiments, determining whether the robot device is in normal work based on the permanent consumption, and a remaining use time or a remaining use number of the transmission device, includes:

[0141] When the permanent consumption exceeds the preset consumption, it is determined that the robot device is working abnormally; and the remaining use time of the transmission device is 0.

[0142] Further, in some embodiments, when it is determined that the robot device is working abnormally, the robot device is controlled to stop working.

[0143] In some embodiments, determining whether the robot device is in normal work based on the permanent consumption, and a remaining use time or a remaining use number of the transmission device, includes:

[0144] When the permanent consumption does not exceed the preset consumption, it is determined that the robot device is working normally; and the remaining use time or the remaining use number of the transmission device is the difference between the permanent consumption and the preset consumption divided by the average consumption.

[0145] In some embodiments, the average consumption can be calculated based on the permanent consumption and a use time corresponding to the permanent consumption or a use number corresponding to the permanent consumption. For example, the average consumption = the permanent consumption / the use time corresponding thereto; or the average consumption = the permanent consumption / the use number corresponding thereto.

[0146] In some embodiments, the preset consumption amount can be a consumption amount corresponding to a time when pre-tightening or replacement is needed. When the preset consumption amount represents a time when pre-tightening is needed, the calculated remaining use time or remaining use number of the transmission device represents a remaining use time or remaining use number of the transmission device for the next pre-tightening. When the preset consumption amount represents a time when replacement is needed, the calculated remaining use time or remaining use number of the transmission device represents a remaining use time or remaining use number of the transmission device for replacement. It should be understood that the preset consumption amount can be set as needed, which is not limited herein.

[0147] In some embodiments, the input angle of the transmission device can be an output angle of the power device. For example, the pitch angle, roll angle, and yaw angle output by a compact motor module (CMD).

[0148] The mathematical motion model of the transmission device can adopt a mathematical motion model of the parallelogram mechanical transmission structure. The permanent consumption amount of the transmission device can be predicted based on the change / variation rate of the difference between the input and output of the transmission device and the mathematical motion model of the transmission device, so as to obtain the remaining use time of the transmission device. The permanent consumption amount can refer to the consumption amount in the transmission device that cannot be recovered. Taking the transmission belt in the transmission device (PLM) as an example, the permanent consumption amount refers to the unrecoverable elongation length of the transmission belt, which can be predicted based on the elongation value of the transmission belt each time the transmission device (PLM) is used to obtain the available number of times or time of the transmission belt

[0149] In some embodiments, the control method 400 of the robotic device can further include:

[0150] reporting at least one of the permanent consumption amount, the remaining use time, or the remaining use number of the transmission device through an output device of the robotic device.

[0151] In some embodiments, the control method 400 of the robotic device can further include:

[0152] determining a time when maintenance of the transmission device is needed according to at least one of the remaining use time or the remaining use number of the transmission device.

[0153] In some embodiments, the control method 400 of the robotic device can further include:

[0154] reporting the time when maintenance of the transmission device is needed through an output device of the robotic device.

[0155] It can be seen that, by predicting at least one of the permanent consumption amount, the remaining use time, or the remaining use number of the transmission device, the maintenance work can be reasonably arranged, the number of maintenance and the cost can be reduced, and the maintenance efficiency can be improved.

[0156] Optionally, the at least one inertial sensing data comprises acceleration data.

[0157] In step S420, data fusion is performed based on the at least one inertial sensing data to obtain fusion data of the robotic device, comprising:

[0158] obtaining actual current data of the power device;

[0159] predicting theoretical acceleration data of the transmission device based on the actual current data and a mathematical motion model of the transmission mechanism;

[0160] In step S430, a working state of the robotic device is determined based on the fusion data, and the robotic device is controlled according to the working state, comprising:

[0161] judging that the robotic device collides based on the theoretical acceleration data and the acceleration data;

[0162] controlling the robotic device to stop working when it is determined that the robotic device collides.

[0163] In some embodiments, judging that the robotic device collides based on the theoretical acceleration data and the acceleration data can comprise:

[0164] determining that the robotic device collides when the theoretical acceleration data is greater than or equal to the acceleration data;

[0165] determining that the robotic device does not collide when the theoretical acceleration data is less than the acceleration data.

[0166] In some embodiments, the power device can be a joint of a mechanical arm of a surgical robot, the transmission device can be the mechanical arm, the acceleration data collected by the inertial sensor can be compared with the theoretical acceleration output by the transmission device, when a collision occurs, the power device connected to the transmission device will increase its input current in order to maintain the original motion speed, then the theoretical acceleration data obtained according to the input current detected at this time and the mathematical motion model of the transmission device will increase, while the acceleration data actually detected by the inertial sensor will decrease due to the collision, so when a collision occurs, the theoretical acceleration data will be greater than the detected acceleration data. Accordingly, it can be actively detected whether the transmission device (such as a mechanical arm) collides with the surrounding objects, mainly including the collision between the mechanical arms and the collision between the mechanical arms and the outside world, thereby improving the safety of the robotic device.

[0167] In some embodiments, the control method 400 can further include prompting the user when detecting that the collision occurs. For example, a specific sound or voice prompt can be issued, or a prompt message can be displayed on the display device of the robot device through the output device of the robot device, to indicate that the collision occurs.

[0168] In some embodiments, the control method 400 can further include pausing the robot arm that collides after detecting that the collision occurs. At this time, it is convenient for the user to remove the obstacle.

[0169] Optionally, in step S420, the data fusion based on the at least one inertial sensor data obtains fusion data of the robot device, including:

[0170] The deformation data of the transmission device is calculated based on the at least one inertial sensor data;

[0171] The pushing force size and direction of the user on the driving device are calculated based on the deformation data;

[0172] In step S430, the working state of the robot device is determined based on the fusion data, and the robot device is controlled according to the working state, including:

[0173] The angle of the adjusting device is controlled based on the pushing force size and direction.

[0174] Specifically, referring to Figure 3 When the surgical tool is installed on the robot device, the transmission device 350 (such as a parallelogram mechanical transmission structure) and the power device 360 (such as a compact motor module) are in a state of maintaining the angle. The user (such as a medical staff) pushes the execution device 310 (such as a surgical tool linear driving unit), causing the transmission device 350 (such as a parallelogram mechanical transmission structure) to deform, and the deformation degree of the transmission device 350 (such as a parallelogram mechanical transmission structure) detected in real time by the at least one inertial sensor 330 can be used to estimate the pushing force size and direction of the user. The control device can further obtain the required torque and speed output of each joint of the adjusting device 370 (such as an adjusting arm (SUJ)) located at the rear end of the robot device through the inverse kinematics algorithm, and send corresponding instructions to the adjusting arm to realize angle control of the adjusting arm, so that the user can easily move the adjusting arm.

[0175] Referring to Figure 5 , Figure 5 An example of a control method of a robot device according to an embodiment of the present application is shown. As shown in Figure 5 the control method 500 of the robot device includes:

[0176] In step S510, the elevation angle, the yaw angle output by the power device (such as the compact motor module CMD) are output to the driving device (such as the linear driving unit ISA of the surgical tool) through the transmission device (such as the parallelogram mechanical transmission structure PLM) and the pre-tightened metal belt installed inside the transmission device;

[0177] In step S520, at least one inertial sensor IMU arranged on the driving device collects acceleration data, angular velocity data and direction data of the driving device, and obtains actual pitch angle, actual roll angle and actual yaw angle of the driving device;

[0178] In step S530, the data fusion algorithm is combined to fuse the collected data of each sensor and the control signal, and the working state of the robot device is analyzed;

[0179] In step S541, it is judged whether at least one of the actual pitch angle, the actual roll angle or the actual yaw angle is synchronized with the corresponding target angle; when at least one of the pitch angle, the roll angle or the yaw angle is out of synchronization, it is determined that the robot device is abnormal and an alarm is given;

[0180] In step S542, stop and wait for maintenance;

[0181] In step S551, the permanent consumption and / or the remaining use time of the transmission device are predicted based on the difference between the input and output of the transmission device and the mathematical model of the transmission device; and the time when the transmission device needs to be repaired is determined according to the permanent consumption and / or the remaining use time of the transmission device;

[0182] In step S552, the time when the transmission device needs to be repaired is reported through the output device of the robot device;

[0183] In step S561, the deformation degree of the transmission device (such as the parallelogram mechanical transmission structure) is calculated based on the inertial sensing data detected by the at least one inertial sensor in real time to estimate the size and direction of the user's pushing force;

[0184] In step S562, corresponding instructions are sent to the adjustment arm based on the size and direction of the pushing force to realize angle control of the adjustment arm;

[0185] In step S571, it is judged whether the transmission device collides with the surrounding object based on the fusion data and the acceleration data;

[0186] In step S572, after detecting the collision, the mechanical arm where the collision occurs is paused. After the medical staff removes the obstacle.

[0187] In conclusion, according to the robot device and the control method thereof, the inertial sensor is used to detect inertial sensing data and perform data fusion and analysis, so that higher precision detection of the robot device is realized, and the reliability of the robot device is improved; a plurality of single-axis angle sensors are omitted, the structure of the robot device is greatly simplified, the weight and size of the robot device are reduced, and the cost is saved.

[0188] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0189] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be omitted or not executed.

[0190] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not described in detail in order not to obscure the understanding of the present specification.

[0191] Similarly, it should be understood that, in order to simplify the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of the present application should not be interpreted as reflecting an intention that the claimed present application requires more features than those explicitly recited in each claim. Rather, as reflected by the corresponding claims, the inventive point is that the corresponding technical problem can be solved with fewer features than all the features of a certain disclosed single embodiment. Therefore, the claims following the specific embodiments are hereby expressly incorporated into the specific embodiments, wherein each claim itself is a separate embodiment of the present application.

[0192] Those skilled in the art will appreciate that all features described herein (including all companion claims, abstract and drawings) can be combined in any combination, except where such combinations are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) can be replaced by alternative features that serve the same, equivalent or similar purpose, unless expressly stated otherwise.

[0193] Furthermore, those skilled in the art will recognize that references in this specification to some embodiments include certain features and not others, unless expressly stated otherwise. Thus, the features of the different embodiments can be combined with each other in any combination within the scope of the application and form different embodiments.

[0194] It is noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps other than those listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or means can be listed, comprising means for performing a certain task. The use of the term "means" in a claim is intended to cover one or more elements that perform the specified function. The use of the terms "first", "second" and "third" etc. does not limit the number of these elements in the claim, but they are used to distinguish between two or more elements or steps. The use of the terms "first", "second", and "third" etc. does not limit the number of these elements in the claim, but they are used to distinguish between two or more elements or steps.

[0195] The above description is only specific embodiments of the present application, and the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all such changes or replacements should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a robot device, characterized in that, The robotic device includes: an execution device for fixing an execution tool; and a drive device that drives the execution device to move on the drive device. The method includes: At least one inertial sensing data is acquired from at least one inertial sensor disposed on the actuator and / or the drive device; Acquire the control signal of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; Based on the at least one inertial sensor data and the control signal, data fusion is performed to obtain the fused data of the robot device; The working state of the robot device is determined based on the fused data, and the robot device is controlled according to the working state. The robot device also includes a transmission device connected to the drive device for driving the drive device to move; Based on the data fusion of the at least one inertial sensing data and the control signal, the fused data of the robot device is obtained, including: The output angle of the transmission device is calculated based on the at least one inertial sensor data. Calculate the error between the output angle and the input angle of the transmission device for each use; The permanent wear and tear of the transmission device is predicted based on the change and / or rate of change of adjacent errors, and the mathematical motion model of the transmission device. Determining the operating status of the robot device based on the fused data includes: The permanent consumption amount is used to determine whether the robot is in normal operation, as well as the remaining usage time or remaining number of uses of the transmission device.

2. A control method for a robot device, characterized in that, The robotic device includes: an execution device for fixing an execution tool; and a drive device that drives the execution device to move on the drive device; the method includes: At least one inertial sensing data is acquired from at least one inertial sensor disposed on the actuator and / or the drive device; Acquire the control signal of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; The fused data of the robot device is obtained by fusing the at least one inertial sensor data with the control signal. The working state of the robot device is determined based on the fused data, and the robot device is controlled according to the working state. The robot device further includes: a transmission device connected to the drive device for driving the drive device to move; and a power device connected to the transmission device for powering... The transmission device provides power; the at least one inertial sensing data includes acceleration data; Based on the data fusion of the at least one inertial sensing data and the control signal, the fused data of the robot device is obtained, including: Obtain the actual current data of the power unit; Based on the actual current data and the mathematical motion model of the transmission device, the theoretical acceleration data of the transmission device is predicted. Determining the operating state of the robot device based on the fused data, and controlling the robot device according to the operating state, includes: Based on the theoretical acceleration data and the acceleration data, it is determined that the robot device has collided; When a collision is detected, the robot is controlled to stop operating.

3. A control method for a robot device, characterized in that, The robotic device includes: an execution device for fixing an execution tool; and a drive device that drives the execution device to move on the drive device. The method includes: At least one inertial sensing data is acquired from at least one inertial sensor disposed on the actuator and / or the drive device; Acquire the control signal of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; The fused data of the robot device is obtained by fusing the at least one inertial sensor data with the control signal. The working state of the robot device is determined based on the fused data, and the robot device is controlled according to the working state. The robot device also includes a transmission device connected to the drive device for driving the drive device to move; a power device connected to the transmission device for providing power to the transmission device; and an adjustment device connected to the power device for adjusting the angle of the power device. Based on the data fusion of the at least one inertial sensing data and the control signal, the fused data of the robot device is obtained, including: The deformation data of the transmission device is calculated based on the at least one inertial sensing data; The magnitude and direction of the thrust exerted by the user on the drive device are calculated based on the deformation data. Determining the operating state of the robot device based on the fused data, and controlling the robot device according to the operating state, includes: The angle of the adjustment device is controlled based on the magnitude and direction of the thrust.

4. The method according to any one of claims 1-3, characterized in that, Based on the data fusion of the at least one inertial sensing data and the control signal, the fused data of the robot device is obtained, including: Based on the at least one inertial sensor data, at least one of the actual pitch angle, actual roll angle, or actual yaw angle of the drive device is calculated. Determining the operating state of the robot device based on the fused data, and controlling the robot device according to the operating state, includes: Determine whether at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is synchronized with the corresponding target angle; If at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is not synchronized with the corresponding target angle, the robot device is determined to be malfunctioning. When it is determined that the robot is malfunctioning, the robot is controlled to stop working.

5. The method according to claim 4, characterized in that, Determining whether at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is synchronized with the corresponding target angle includes: Determine whether at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is within the corresponding preset angle range, wherein the corresponding preset angle range includes the corresponding target angle; If at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle is not within the corresponding preset angle range, then it is determined that the actual pitch angle, the actual roll angle, or the actual yaw angle is out of sync with the corresponding target angle.

6. The method according to claim 5, characterized in that, Determining the working state of the robot device based on the fused data, and controlling the robot device according to the working state, further includes: Based on at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle and the corresponding target angle, calculate the synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle; Determine whether the synchronization rate corresponding to the actual pitch angle, the actual roll angle, or the actual yaw angle has reached the corresponding synchronization rate threshold; If the synchronization rate of the actual pitch angle, the actual roll angle, or the actual yaw angle does not reach the corresponding synchronization rate threshold, the robot device is determined to be malfunctioning, and the robot device is controlled to stop working.

7. The method according to claim 6, characterized in that, Determining the working state of the robot device based on the fused data, and controlling the robot device according to the working state, further includes: Based on the synchronization rate corresponding to at least one of the actual pitch angle, the actual roll angle, or the actual yaw angle, the change in the synchronization rate of the actual pitch angle, the actual roll angle, or the actual yaw angle within a first preset time period is calculated to determine whether it exceeds the corresponding change threshold. If the change in the synchronization rate of the actual pitch angle, the actual roll angle, or the actual yaw angle exceeds the corresponding change threshold within the first preset time period, then the robot device is determined to be malfunctioning, and the robot device is controlled to stop working.

8. The method according to claim 2 or 3, characterized in that, The fused data of the robot device is obtained by fusing the at least one inertial sensing data with the control signal using the following algorithm: a complementary algorithm, a noise model-based algorithm, or a particle swarm optimization algorithm, wherein the control signal includes one or more of the following: The output signal of the power unit; The input signal of the transmission device; and The output signal of the drive device.

9. The method according to claim 8, characterized in that, The robotic device is a surgical robot, the execution tool is a surgical tool, the execution device is a surgical instrument drive module, the drive device is a surgical tool linear drive unit, the transmission device is a parallelogram mechanical transmission structure, the power device is one or more motors, and the inertial sensing data includes at least one of the following: acceleration data, angular velocity data, or direction data.

10. A robotic device, characterized in that, include: An actuator is used to fix the execution tool. A drive device, connected to the actuator, is used to drive the actuator; At least one inertial sensor is disposed on the actuator and / or the drive device for acquiring inertial sensing data of the actuator and / or the drive device; A control device, connected to the at least one inertial sensor, is configured to perform the following steps: performing data fusion based on the at least one inertial sensor data and the control signal of the robot device to obtain fused data of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; And determine the working state of the robot device based on the fused data, and control the robot device according to the working state; The robot device also includes a transmission device connected to the drive device for driving the drive device to move; Data fusion is performed based on the at least one inertial sensing data to obtain the fused data of the robot device, including: The output angle of the transmission device is calculated based on the at least one inertial sensor data. Calculate the error between the output angle and the input angle of the transmission device for each use; The permanent wear and tear of the transmission device is predicted based on the change and / or rate of change of adjacent errors, and the mathematical motion model of the transmission device. Determining the operating status of the robot device based on the fused data includes: The permanent consumption amount is used to determine whether the robot is in normal operation, as well as the remaining usage time or remaining number of uses of the transmission device.

11. A robotic device, characterized in that, include: An actuator is used to fix the execution tool. A drive device, connected to the actuator, is used to drive the actuator; At least one inertial sensor is disposed on the actuator and / or the drive device for acquiring inertial sensing data of the actuator and / or the drive device; A control device, connected to the at least one inertial sensor, is configured to perform the following steps: performing data fusion based on the at least one inertial sensor data and the control signal of the robot device to obtain fused data of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; And determine the working state of the robot device based on the fused data, and control the robot device according to the working state; The robot device further includes: a transmission device connected to the drive device for driving the drive device to move; and a power device connected to the transmission device for powering... The transmission device provides power; the at least one inertial sensing data includes acceleration data; Data fusion is performed based on the at least one inertial sensing data to obtain the fused data of the robot device, including: Obtain the actual current data of the power unit; Based on the actual current data and the mathematical motion model of the transmission device, the theoretical acceleration data of the transmission device is predicted. Determining the operating state of the robot device based on the fused data, and controlling the robot device according to the operating state, includes: Based on the theoretical acceleration data and the acceleration data, it is determined that the robot device has collided; When a collision is detected, the robot is controlled to stop operating.

12. A robotic device, characterized in that, include: An actuator is used to fix the execution tool. A drive device, connected to the actuator, is used to drive the actuator; At least one inertial sensor is disposed on the actuator and / or the drive device for acquiring inertial sensing data of the actuator and / or the drive device; A control device, connected to the at least one inertial sensor, is configured to perform the following steps: performing data fusion based on the at least one inertial sensor data and the control signal of the robot device to obtain fused data of the robot device, wherein the control signal is a signal for controlling the device or component in the robot device; And determine the working state of the robot device based on the fused data, and control the robot device according to the working state; The robot device also includes a transmission device connected to the drive device for driving the drive device to move; a power device connected to the transmission device for providing power to the transmission device; and an adjustment device connected to the power device for adjusting the angle of the power device. Data fusion is performed based on the at least one inertial sensing data to obtain the fused data of the robot device, including: The deformation data of the transmission device is calculated based on the at least one inertial sensing data; The magnitude and direction of the thrust exerted by the user on the drive device are calculated based on the deformation data. Determining the operating state of the robot device based on the fused data, and controlling the robot device according to the operating state, includes: The angle of the adjustment device is controlled based on the magnitude and direction of the thrust.

13. The robot device according to claim 11 or 12, characterized in that, The robotic device is a surgical robot, the execution tool is a surgical instrument, the execution unit is a surgical instrument drive module, the drive unit is a surgical instrument linear drive unit, the transmission device is a parallelogram mechanical transmission structure, the power unit is one or more motors, the inertial sensor includes at least two of a gyroscope, accelerometer, or magnetometer, and the control signal includes one or more of the following: The output signal of the power unit; The input signal of the transmission device; and The output signal of the drive device.

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