Adjustment arm control method, device, system, computer device and storage medium

Abstract

The application relates to an adjustment arm control method, device, system, computer equipment and storage medium. The method comprises the following steps: obtaining a control instruction, identifying the control type of the control instruction, and determining the state of the trigger logic corresponding to the control type; the control type is divided into contact control and non-contact control; if the trigger logic is in an activated state, the end desired angular velocity corresponding to the control instruction is obtained based on the control type of the control instruction; the end desired angular acceleration is obtained according to the end desired angular velocity; and the adjustment arm end is controlled to perform a preset operation according to the end desired angular velocity and the end desired angular acceleration. The method can provide multiple interactive modes of the adjustment arm, configure a processing logic for each interactive mode to prevent false touch, and control the adjustment arm in the corresponding interactive mode by activating the corresponding trigger logic, so that the control efficiency of the adjustment arm is improved.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to an adjustable arm control method, device, system, computer equipment, storage medium, and computer program product. Background Technology

[0002] Currently, single-port surgical robot systems typically consist of a single endoscope with multiple degrees of freedom and multiple multi-degree-of-freedom instruments. The instruments and endoscope are inserted into the patient's body through a single port for surgical procedures. In this system, both the instruments and endoscope can be controlled independently via master-slave configurations. The entire instrument and endoscope system can be adjusted by manipulating the arm around a fixed point. The endoscope's field of view can be adjusted by changing the position of the endoscope instruments or by adjusting the joints to achieve overall movement. However, in endoscope control mode, operators can only select the control mode via a touchscreen, resulting in limited control methods. Any issues with smooth human-machine interaction can lead to low control efficiency.

[0003] However, current single-port surgical robots suffer from low control efficiency. Summary of the Invention

[0004] Therefore, it is necessary to provide an adjustable arm control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the control efficiency of robots, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a method for controlling an adjustable arm. The method includes:

[0006] Acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; control types are divided into contact control and non-contact control;

[0007] If the triggering logic is active, the desired end-effector angular velocity corresponding to the control command is obtained based on the control type of the control command.

[0008] The desired angular acceleration at the end of the arm is obtained based on the desired angular velocity at the end of the arm, and the desired angular acceleration at the end of the arm is used to control the end of the adjustment arm to perform a preset operation.

[0009] In one embodiment, determining the state of the triggering logic corresponding to the control type includes:

[0010] If the control command is a contact control, determine whether the triggering logic is instantaneous triggering logic or continuous triggering logic;

[0011] If the control command is non-contact control, the trigger logic is determined to be gesture trigger logic.

[0012] In one embodiment, prior to obtaining the control command, the method further includes:

[0013] Obtain the activation command and identify the activation type of the activation command; the activation type is divided into contact activation and contactless activation.

[0014] If the activation type is contact activation, obtain the input duration of the activation command;

[0015] If the input duration does not meet the continuous condition, the instantaneous trigger logic is activated.

[0016] In one embodiment, the method further includes:

[0017] If the input duration meets the continuous condition, the continuous triggering logic will be activated.

[0018] In one embodiment, the method further includes:

[0019] If the activation type is contactless activation, then obtain the gesture information in the activation command;

[0020] If the gesture information meets the transformation conditions, the gesture triggering logic is activated.

[0021] In one embodiment, the method further includes:

[0022] If the triggering logic is inactive, the expected end-effector angular velocity corresponding to the control command will not be acquired, and the control command will be treated as a false trigger command.

[0023] In one embodiment, obtaining the desired end-effector angular velocity corresponding to the control command based on the control type of the control command includes:

[0024] Based on the control type, calculate the initial desired angular velocity corresponding to the control command;

[0025] Dead zone suppression is applied to the initial desired angular velocity, and the value of the initial desired angular velocity is adjusted to obtain the final desired angular velocity.

[0026] In one embodiment, the initial desired angular velocity corresponding to the control command is calculated based on the control type of the control command, including:

[0027] If the control command is a contact control, obtain the angle information or angular velocity information from the control command;

[0028] The initial desired angular velocity is calculated based on the angle or angular velocity information.

[0029] In one embodiment, the method further includes:

[0030] If the control command is a non-contact control, obtain the gesture information from the control command;

[0031] The initial desired angular velocity is calculated based on the gesture information.

[0032] In one embodiment, dead zone suppression is performed on the initial desired angular velocity, and the value of the initial desired angular velocity is adjusted to obtain the terminal desired angular velocity, including:

[0033] If the magnitude of the initial expected angular velocity is within the dead zone, the final expected angular velocity is 0.

[0034] If the magnitude of the initial expected angular velocity is within the linear region, the initial expected angular velocity is taken as the final expected angular velocity;

[0035] If the magnitude of the initial desired angular velocity is within the positive limiting range, the positive limiting value will be used as the final desired angular velocity.

[0036] If the magnitude of the initial desired angular velocity is within the negative limit region, the negative limit value will be used as the final desired angular velocity.

[0037] In one embodiment, the end effector of the control arm is controlled to perform a preset operation based on the desired end-effector angular velocity and desired end-effector angular acceleration, including:

[0038] The desired joint position of the adjustment arm joint is calculated based on the desired end-effector angular velocity and desired end-effector angular acceleration, and the desired torque of the adjustment arm joint is obtained based on the desired joint position.

[0039] The adjustment arm joint is controlled based on the desired torque to control the end of the adjustment arm to perform a preset operation.

[0040] In one embodiment, the desired joint position corresponding to the adjustment arm joint is calculated based on the desired end-effector angular velocity and desired end-effector angular acceleration, including:

[0041] Get the current joint position of the adjusting arm;

[0042] Based on the desired end-effector angular velocity, desired end-effector angular acceleration, and joint position, differential kinematics is used to calculate the desired joint angular velocity, desired joint angular acceleration, and joint velocity corresponding to the joints of the adjustment arm.

[0043] The desired joint position is calculated using integral kinematics based on the desired joint angular velocity, desired joint angular acceleration, and joint velocity.

[0044] Secondly, this application also provides an adjusting arm control device. The device includes:

[0045] The acquisition module is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control.

[0046] The calculation module is used to obtain the desired end-effector angular velocity corresponding to the control command based on the control type of the control command if the triggering logic is in an active state.

[0047] The control module is used to obtain the desired angular acceleration at the end based on the desired angular velocity at the end, and to control the end of the adjusting arm to perform preset operations based on the desired angular velocity and the desired angular acceleration at the end.

[0048] Thirdly, this application also provides an adjustable arm control system. The system includes:

[0049] The console is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type. If the trigger logic is active, it calculates the initial expected angular velocity corresponding to the control command based on the control type and transmits the initial expected angular velocity to the adjusting arm trolley.

[0050] The adjustment arm trolley is used to suppress the dead zone of the initial desired angular velocity, adjust the value of the initial desired angular velocity to obtain the end desired angular velocity; obtain the end desired angular acceleration based on the end desired angular velocity, and control the end of the adjustment arm to perform preset operations based on the end desired angular velocity and end desired angular acceleration.

[0051] Fourthly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0052] Acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; control types are divided into contact control and non-contact control;

[0053] If the triggering logic is active, the desired end-effector angular velocity corresponding to the control command is obtained based on the control type of the control command.

[0054] The desired angular acceleration at the end of the arm is obtained based on the desired angular velocity at the end of the arm, and the desired angular acceleration at the end of the arm is used to control the end of the adjustment arm to perform a preset operation.

[0055] Fifthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0056] Acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; control types are divided into contact control and non-contact control;

[0057] If the triggering logic is active, the desired end-effector angular velocity corresponding to the control command is obtained based on the control type of the control command.

[0058] The desired angular acceleration at the end of the arm is obtained based on the desired angular velocity at the end of the arm, and the desired angular acceleration at the end of the arm is used to control the end of the adjustment arm to perform a preset operation.

[0059] Sixthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0060] Acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; control types are divided into contact control and non-contact control;

[0061] If the triggering logic is active, the desired end-effector angular velocity corresponding to the control command is obtained based on the control type of the control command.

[0062] The desired angular acceleration at the end of the arm is obtained based on the desired angular velocity at the end of the arm, and the desired angular acceleration at the end of the arm is used to control the end of the adjustment arm to perform a preset operation.

[0063] The aforementioned control method, device, system, computer equipment, storage medium, and computer program product for adjusting arms acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type. Control types are divided into contact control and non-contact control. If the trigger logic is active, based on the control type of the control command, the desired end-effector angular velocity corresponding to the control command is acquired; the desired end-effector angular acceleration is acquired based on the desired end-effector angular velocity; and the end-effector angular velocity and desired end-effector angular acceleration are used to control the end-effector to perform a preset operation. This provides multiple interaction methods for the adjusting arm and configures a processing logic for each interaction method to prevent accidental activation. Only the corresponding trigger logic needs to be activated to control the adjusting arm using the corresponding interaction method, thus improving the control efficiency of the adjusting arm. Attached Figure Description

[0064] Figure 1 This is a flowchart illustrating the adjustment arm control method in one embodiment;

[0065] Figure 2 This is a schematic diagram illustrating the correspondence between control types and triggering logic in one embodiment;

[0066] Figure 3 This is a schematic diagram of the structure of a contact interaction device in one embodiment;

[0067] Figure 4 This is a schematic diagram of a non-contact interactive device structure in one embodiment;

[0068] Figure 5 This is a flowchart illustrating the instantaneous triggering logic in one embodiment;

[0069] Figure 6 This is a flowchart illustrating the continuously triggered logic in one embodiment;

[0070] Figure 7 This is a flowchart illustrating the gesture triggering logic in one embodiment;

[0071] Figure 8 This is a schematic diagram of the gesture recognition process in one embodiment;

[0072] Figure 9 This is a schematic diagram of the gesture coordinate system in one embodiment;

[0073] Figure 10 This is a schematic diagram illustrating the principle of dead zone suppression in one embodiment;

[0074] Figure 11 This is a schematic diagram illustrating the principle of predicting terminal angular acceleration in one embodiment;

[0075] Figure 12 This is a schematic diagram illustrating the principle of calculating the desired torque in one embodiment;

[0076] Figure 13 This is a schematic diagram of the structure of the adjustable arm control system in one embodiment;

[0077] Figure 14 This is a schematic diagram of the components of the adjustable arm control system in one embodiment;

[0078] Figure 15 This is a schematic diagram of the console workflow in one embodiment;

[0079] Figure 16 This is a schematic diagram illustrating the workflow of adjusting the boom trolley in one embodiment;

[0080] Figure 17 This is a structural block diagram of the adjusting arm control device in one embodiment;

[0081] Figure 18 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0083] The adjustable arm control method provided in this application can be applied to robots. A robot includes at least a controller and an adjustable arm, and the adjustable arm includes at least an adjustable arm joint and an adjustable arm end effector. A robot is a machine device that automatically performs tasks. It can be commanded by humans, run pre-programmed procedures, or act according to principles established using artificial intelligence technology. The task of a robot is to assist or replace human work, such as in manufacturing, construction, and medical fields.

[0084] In one embodiment, such as Figure 1 As shown, an adjustable arm control method is provided. Taking the application of this method to a single-port surgical robot as an example, the method includes the following steps:

[0085] Step 102: Obtain control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; control types are divided into contact control and non-contact control.

[0086] Optionally, control commands can be divided into contact control and non-contact control, acquired through different control devices or sensors. Different control types contain different desired motion parameters and correspond to different triggering logics. Contact control can be further subdivided into three-axis angle sensing control and three-axis angular velocity sensing control, while non-contact control is gesture point cloud sensing control. Activation logic is divided into three types: instantaneous trigger, continuous trigger, and gesture trigger. Desired motion parameters are divided into three types: angle input, angular velocity input, and gesture input. The control types, corresponding triggering logics, and desired motion parameters are as follows: Figure 2 As shown. For example, a single-port surgical robot controller is equipped with multiple interactive sensing and control devices. Three-axis angle sensing control can be input via a joystick, with the desired motion parameter being angle; three-axis angular velocity sensing control can be input via a touch ball, with the desired motion parameter being angular velocity; and gesture point cloud can be input via laser scanning, with the desired motion parameter being gesture. The control type of the acquired control command is determined based on its input content. If the acquired control command is contact-based (including three-axis angle sensing control and three-axis angular velocity sensing control), the corresponding triggering logic is determined to be either instantaneous or continuous. If the acquired control command is non-contact-based, the corresponding triggering logic is determined to be gesture-based.

[0087] Step 104: If the triggering logic is active, obtain the desired end-effector angular velocity corresponding to the control command based on the control type of the control command.

[0088] Optionally, if the triggering logic corresponding to the current control type is active, the control command of the current control type can be used to control the adjusting arm. For example, if the current instantaneous triggering logic is active, and the acquired control command is contact control, the desired motion parameters are obtained from the control command, and the desired end-effector angular velocity is obtained by processing the desired motion parameters. Typically, instantaneous triggering logic requires pressing the switch in advance to activate, continuous triggering logic requires holding the switch down to activate, and gesture triggering logic requires completing a specified action in advance to activate.

[0089] In one feasible implementation, if the triggering logic is in an inactive state, the desired motion parameters are not obtained from the control command, and the control command is treated as a false trigger command.

[0090] Specifically, if the triggering logic is currently active, but the control type of the acquired control command does not correspond to it, the current control command will be judged as a mis-touch control and will not be processed. For example, if the current instantaneous triggering logic is active, but the current gesture triggering logic is inactive, and the acquired control command is a non-contact control, then the current control command will be judged as a mis-touch control and will not be processed.

[0091] Step 106: Obtain the desired angular acceleration at the end based on the desired angular velocity at the end, and control the end of the adjusting arm to perform a preset operation based on the desired angular velocity and the desired angular acceleration at the end.

[0092] Optionally, the single-port surgical robot can perform differential calculations to obtain the corresponding end-effector angular acceleration based on the end-effector desired angular velocity; the single-port surgical robot can also read the end-effector desired angular acceleration that matches the end-effector desired angular velocity from external data; or an external processing device (which communicates with the single-port surgical robot in real time) can receive the end-effector desired angular velocity generated by the single-port surgical robot, perform differential calculations based on the end-effector desired angular velocity to obtain the corresponding end-effector desired angular acceleration, and then transmit the end-effector desired angular acceleration to the single-port surgical robot.

[0093] Specifically, based on the desired end effector angular velocity and the current position of each joint of the adjusting arm, the desired end effector angular velocity has been processed by dead zone suppression and maximum suppression. The desired end effector angular acceleration is directly predicted by feedforward prediction. Then, the desired position of each joint of the adjusting arm is calculated from the desired end effector angular velocity, the desired end effector angular acceleration and the current position of each joint of the adjusting arm. Finally, the desired torque of each joint is calculated based on the desired position of each joint of the adjusting arm, and the corresponding desired torque is output to each joint to control the end effector of the adjusting arm to perform a preset operation.

[0094] In the above-described control method for the adjusting arm, control commands are acquired, their control types are identified, and the state of the trigger logic corresponding to each control type is determined. Control types are categorized as contact control and non-contact control. If the trigger logic is active, the desired end-effector angular velocity is acquired based on the control type of the control command. The desired end-effector angular acceleration is then obtained based on the angular velocity and acceleration. Finally, the adjusting arm's end-effector is controlled to perform a preset operation based on these two angular velocities. This method provides multiple interaction modes for the adjusting arm and configures a processing logic for each mode to prevent accidental activation. By simply activating the corresponding trigger logic, the adjusting arm can be controlled using the appropriate interaction mode, thus improving the control efficiency of the adjusting arm.

[0095] In one embodiment, determining the state of the triggering logic corresponding to the control type includes: if the control command is contact control, determining the triggering logic as instantaneous triggering logic or continuous triggering logic; if the control command is non-contact control, determining the triggering logic as gesture triggering logic.

[0096] Optionally, contact control commands can be obtained through a contact-based interactive device, such as... Figure 3 As shown, a contact interaction device is equipped on the robot controller. This device includes a three-axis sensor and a triggering device. The three-axis sensor can output the three-axis angular velocity ω = [ω x ,ω y ,ω z ] T Or the three-axis rotation angle θ = [θ x ,θ y ,θ z ] T The triggering device is used to prevent accidental activation and increase system safety. It has two triggering modes: instantaneous triggering and continuous triggering. The instantaneous triggering logic can be activated by pressing the switch, and the continuous triggering logic can be activated by continuously pressing the switch.

[0097] Obtaining contactless control commands through contactless interactive devices, such as... Figure 4 As shown, a non-contact interaction device is equipped on the robot controller. This device can recognize hand point clouds and can pre-specify two postures to control the activation of gesture triggering logic, such as posture one and posture two in the figure. After acquiring the hand point cloud, the non-contact interaction device outputs the gesture recognition result according to the gesture recognition process.

[0098] In this embodiment, if the control command is contact-based, the triggering logic is determined to be either instantaneous or continuous; if the control command is non-contact-based, the triggering logic is determined to be gesture-based. This allows for the identification of the triggering logic corresponding to the current control type, thereby further determining whether the triggering logic has been activated and preventing accidental triggering of the control command.

[0099] In one embodiment, before acquiring the control command, the method further includes: acquiring an activation command and identifying the activation type of the activation command; the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, acquiring the input duration of the activation command; if the input duration does not meet the continuous condition, activating the instantaneous triggering logic; if the input duration meets the continuous condition, activating the continuous triggering logic.

[0100] Optionally, in one scenario, the momentary triggering logic is activated via a contact-type triggering device. When the triggering device is momentary, to prevent accidental operation, measures are taken such as... Figure 5 The logic shown in the diagram controls the movement. Upon instantaneous triggering, control of the adjusting arm is initiated. If no operation is performed for a period of time, the motion mapping of the adjusting arm automatically ends. The movement of the adjusting arm is determined by whether the adjusting arm motor is enabled. Triggering can be achieved through button presses, sensing hand pressure, etc. Whether an operation has occurred can be determined by changes in sensor feedback values. A counter is introduced to calculate the time without operation. The start of adjusting arm movement signifies sending a motor enable command to the adjusting arm; the end of adjusting arm movement signifies sending a motor de-enable command to the adjusting arm, stopping the activation of the instantaneous triggering logic.

[0101] In another scenario, the continuous triggering logic is activated via a contact-type triggering device. When the triggering device is in continuous triggering mode, to prevent accidental operation, measures such as... Figure 6 The logic shown is used for control. During continuous triggering, control of the adjusting arm is allowed; when not continuously triggering, control of the adjusting arm's movement ends. The start of adjusting arm movement represents sending a motor enable command to the adjusting arm; the end of adjusting arm movement represents sending a motor de-enable command to the adjusting arm, stopping the continuous triggering logic from activating.

[0102] In this embodiment, an activation command is acquired and its activation type is identified. Activation types are categorized as contact activation and non-contact activation. If the activation type is contact activation, the input duration of the activation command is acquired. If the input duration does not meet the continuous condition, instantaneous triggering logic is activated. If the input duration meets the continuous condition, continuous triggering logic is activated. This allows for the selection of a triggering logic to prevent accidental touches during the control and adjustment of the arm.

[0103] In one embodiment, the method further includes: if the activation type is contactless activation, obtaining gesture information in the activation instruction; if the gesture information meets the transformation conditions, activating the gesture triggering logic.

[0104] Optionally, gesture triggering logic can be activated via gesture recognition from a contactless triggering device. To prevent accidental touches, measures such as... Figure 7The logic shown in the diagram controls the movement. In the diagram, "Posture 1 -> Posture 2" indicates that the recognition result changes from Posture 1 to Posture 2. That is, when the adjusting arm is not moving, if the gesture recognition result switches from Posture 1 to Posture 2, the adjusting arm begins to move, and the initial hand coordinate system needs to be recorded. The coordinate transformation matrix from the measurement coordinate system to the hand coordinate system at this time is denoted as... When adjusting arm movement, if posture two is no longer maintained, the adjustment arm movement ends, and the gesture triggering logic is stopped.

[0105] Specifically, the method for obtaining gesture information in the activation command is as follows: Figure 8 As shown, in hand keypoint matching, the input hand point cloud needs to be converted into 3D coordinates of hand keypoints using a pose matching algorithm. In class classification, a pre-trained deep neural network is used with the sorted hand keypoint coordinates as input and the probabilities of pose 1, pose 2, and other poses as output, taking the highest probability as the output class. In the output filtering, the class output from the second step is filtered to avoid changes in the classification class due to momentary misclassification or missed detection in the neural network output. If the neural network output is pose 2, a pre-trained deep neural network is used with the sorted hand keypoint coordinates as input and the hand pose angle as output. The pose angle is then converted into a pose rotation matrix for output.

[0106] In this embodiment, if the activation type is contactless activation, the gesture information in the activation command is acquired; if the gesture information meets the transformation conditions, the gesture triggering logic is activated. It is possible to select and activate one triggering logic to prevent accidental touches during the control and adjustment of the arm.

[0107] In one embodiment, obtaining the terminal expected angular velocity corresponding to the control command based on the control type of the control command includes: calculating the initial expected angular velocity corresponding to the control command based on the control type; performing dead zone suppression on the initial expected angular velocity; adjusting the value of the initial expected angular velocity; and obtaining the terminal expected angular velocity.

[0108] Optionally, after calculating the initial desired angular velocity according to the control command, the initial desired angular velocity needs to be processed to suppress the dead zone, thereby adjusting the value of the initial desired angular velocity from too large or too small, to obtain the end desired angular velocity, and the end desired angular velocity is actually used to control the adjusting arm.

[0109] In this embodiment, based on the control type, the initial desired angular velocity corresponding to the control command is calculated; dead zone suppression is applied to the initial desired angular velocity, and the value of the initial desired angular velocity is adjusted to obtain the end-effector desired angular velocity. This can prevent adverse effects of operational errors, external influences, and other factors on the control of the adjusting arm, thereby improving the reliability of the adjusting arm control.

[0110] In one embodiment, calculating the initial desired angular velocity corresponding to the control command based on the control type of the control command includes: if the control command is contact control, obtaining angle information or angular velocity information from the control command; and calculating the initial desired angular velocity based on the angle information or angular velocity information. If the control command is non-contact control, obtaining gesture information from the control command; and calculating the initial desired angular velocity based on the gesture information.

[0111] Optionally, in one scenario, the coordinate system O at the fixed point of a single hole needs to be output via contact control command input. s The expected rotational angular velocity ω s The calculation formula is: Here, K is a diagonal coefficient matrix used to limit the control ratio.

[0112] In another scenario, gesture information from control commands is acquired through contactless input. Figure 8 The method shown is the same. For example... Figure 9 As shown, it is necessary to output the coordinate system O at the fixed point of a single hole. s The expected rotational angular velocity ω s The coordinate transformation matrix of the current hand relative to the measuring device is recorded as follows: pass The rotation transformation matrix of the current hand relative to the initial state can be calculated. By taking the rotational differential, the angular velocity of the hand coordinate system rotating in the initial coordinate system can be obtained, denoted as ω. h The formula for calculating the desired terminal angular velocity is ω. s =Kω h , where K is a diagonal coefficient matrix used to limit the control ratio.

[0113] In this embodiment, if the control command is contact-based, angle or angular velocity information is obtained from the control command; the initial desired angular velocity is calculated based on the angle or angular velocity information. If the control command is non-contact-based, gesture information is obtained from the control command; the initial desired angular velocity is calculated based on the gesture information. It can identify different desired motion parameters based on different types of control commands and use different processing methods to calculate different desired motion parameters, all of which yield the initial desired angular velocity.

[0114] In one embodiment, dead zone suppression is applied to the initial expected angular velocity, and the value of the initial expected angular velocity is adjusted to obtain the final expected angular velocity. This includes: if the magnitude of the initial expected angular velocity is within the dead zone range, the final expected angular velocity is 0; if the magnitude of the initial expected angular velocity is within the linear region range, the initial expected angular velocity is used as the final expected angular velocity; if the magnitude of the initial expected angular velocity is within the positive limiting region range, the positive limiting value is used as the final expected angular velocity; if the magnitude of the initial expected angular velocity is within the negative limiting region range, the negative limiting value is used as the final expected angular velocity.

[0115] Optional, such as Figure 10 As shown, the positive limiting range, negative limiting range, and dead zone range are pre-configured, and the initial expected angular velocity obtained each time is subject to dead zone suppression and limiting suppression.

[0116] In this embodiment, a typical input dead zone suppression principle is provided. For slight input changes near zero, the output remains zero, ensuring that motion is not triggered when slight noise interference is received. Outside the dead zone are the linear region and the limiting region. The function of limiting suppression is to avoid high-speed mechanical movement caused by singular values ​​and excessively high command speeds.

[0117] In one embodiment, controlling the end effector of the adjusting arm to perform a preset operation based on the desired end effector angular velocity and desired end effector angular acceleration includes: obtaining the current joint position of the joint of the adjusting arm; calculating the desired joint angular velocity, desired joint angular acceleration, and joint velocity corresponding to the joint of the adjusting arm using differential kinematics based on the desired end effector angular velocity, desired end effector angular acceleration, and joint position; calculating the desired joint position using integral kinematics based on the desired joint angular velocity, desired joint angular acceleration, and joint velocity, and obtaining the desired torque corresponding to the joint of the adjusting arm based on the desired joint position; and controlling the joint of the adjusting arm based on the desired torque to control the end effector of the adjusting arm to perform the preset operation.

[0118] Optional, such as Figure 11 As shown, the terminal expected angular acceleration is mainly obtained by differential terminal expected angular velocity. Combined with LSTM for feature recognition of the input state, the LSTM network helps to remember the user's usage habits and thus give more accurate predictions. The softmax output weights are used to assign weights to the output of the classic algorithm. By combining artificial intelligence and classic algorithms, the accuracy, reliability and security of the prediction are guaranteed.

[0119] Furthermore, such as Figure 12 As shown, obtain the current position q of each adjustment arm joint, and then combine the adjustment arm joint position q with the desired angular velocity ω at the end of the adjustment arm. s and the desired angular acceleration α at the end sc The velocity of each joint can be calculated via the differential kinematics submodule. Desired angular velocity of each joint and the expected angular acceleration of each joint After passing through the integral kinematics submodule, the desired positions q of each joint of the adjustment arm are obtained. sc Based on the input of the above variables, a dynamic feedforward + PD controller is used to calculate and output the desired torque corresponding to the adjustment arm joint. After passing through the filtering module, the torque is output, and each desired torque is used to control the movement of an adjustment arm joint.

[0120] In this embodiment, artificial intelligence and classical algorithms are combined to predict the desired angular velocity at the end of the arm to obtain the desired angular acceleration at the end of the arm. The desired torque of each joint is calculated based on the position of each joint, which can ensure the reliability and safety of the control arm.

[0121] In one embodiment, an adjustable arm control method includes:

[0122] The system acquires the activation command and identifies its activation type. Activation types are categorized as contact activation and contactless activation. If the activation type is contact activation, the system acquires the input duration of the activation command. If the input duration does not meet the duration condition, the system activates the instantaneous trigger logic. If the input duration meets the duration condition, the system activates the continuous trigger logic. If the activation type is contactless activation, the system acquires the gesture information from the activation command. If the gesture information meets the transformation condition, the system activates the gesture trigger logic.

[0123] Acquire control commands and identify the control type of the commands. Control types are divided into contact control and non-contact control. If the control command is contact control, determine whether the triggering logic is instantaneous or continuous. If the control command is non-contact control, determine whether the triggering logic is gesture triggering.

[0124] If the triggering logic is inactive, the expected end-effector angular velocity corresponding to the control command will not be acquired, and the control command will be treated as a false trigger command.

[0125] If the trigger logic is active and the control command is contact control, angle or angular velocity information is obtained from the control command; the initial desired angular velocity is calculated based on the angle or angular velocity information. If the control command is non-contact control, gesture information is obtained from the control command; the initial desired angular velocity is calculated based on the gesture information. If the magnitude of the initial desired angular velocity is within the dead zone, the end-effector desired angular velocity is 0; if the magnitude of the initial desired angular velocity is within the linear zone, the initial desired angular velocity is used as the end-effector desired angular velocity; if the magnitude of the initial desired angular velocity is within the positive limiting zone, the positive limiting value is used as the end-effector desired angular velocity; if the magnitude of the initial desired angular velocity is within the negative limiting zone, the negative limiting value is used as the end-effector desired angular velocity.

[0126] The desired angular acceleration is obtained from the desired end-effector angular velocity; the current joint position of the adjusting arm is obtained; based on the desired end-effector angular velocity, desired end-effector angular acceleration, and joint position, differential kinematics is used to calculate the desired joint angular velocity, desired joint angular acceleration, and joint velocity corresponding to the joint of the adjusting arm; based on the desired joint angular velocity, desired joint angular acceleration, and joint velocity, integral kinematics is used to calculate the desired joint position, and the desired torque corresponding to the joint of the adjusting arm is obtained based on the desired joint position; the adjusting arm joint is controlled based on the desired torque to control the end-effector of the adjusting arm to perform a preset operation.

[0127] In one embodiment, an adjustable arm control method is applied to, for example... Figure 13 Taking the adjustable boom control system shown as an example, the system consists of a control console and an adjustable boom trolley:

[0128] The console is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type. If the trigger logic is active, it calculates the initial expected angular velocity corresponding to the control command based on the control type and transmits the initial expected angular velocity to the adjusting arm trolley.

[0129] The adjustable boom trolley is used to suppress dead zones in the initial desired angular velocity. The value of the initial desired angular velocity is adjusted to obtain the desired end-effector angular velocity. The desired end-effector angular acceleration is obtained based on the desired end-effector angular velocity, and the adjusted boom end-effector is controlled to perform preset operations based on the desired end-effector angular velocity and desired end-effector angular acceleration. For example... Figure 14 As shown, the adjusting arm trolley can be either a single-hole adjusting arm trolley or a multi-hole adjusting arm trolley. Taking the single-hole adjusting arm trolley as an example, the endoscope mounted on the single-hole adjusting arm trolley has three adjusting joints around a fixed point, namely q1, q2, and q3 in the figure. The motion link formed by these three joints is called the adjusting arm.

[0130] Furthermore, the console also includes an interactive sensing module, an activation logic module, and a desired motion module. For example... Figure 15 As shown, the interactive sensing module mainly receives interaction signals with people through sensors and converts them into sensing output signals. The activation logic module outputs the activation signal of the adjusting arm through the sensing output signal. The desired motion module outputs the desired motion speed at the end of the adjusting arm through the sensing output signal and the activation signal.

[0131] Specifically, the interactive sensing module is used to acquire control commands and identify the control type of the control commands. The control type is divided into contact control and non-contact control. If the control command is contact control, the triggering logic is determined to be instantaneous triggering logic or continuous triggering logic. If the control command is non-contact control, the triggering logic is determined to be gesture triggering logic.

[0132] The activation logic module is used to acquire activation commands and identify their activation type. Activation types are divided into contact activation and contactless activation. If the activation type is contact activation, the module acquires the input duration of the activation command. If the input duration does not meet the continuity condition, the instantaneous trigger logic is activated. If the input duration meets the continuity condition, the continuous trigger logic is activated. If the activation type is contactless activation, the module acquires the gesture information from the activation command. If the gesture information meets the transformation condition, the gesture trigger logic is activated.

[0133] The desired motion module is used to: if the trigger logic is active and the control command is contact-based, obtain angle or angular velocity information from the control command; and calculate the initial desired angular velocity based on the angle or angular velocity information. If the control command is non-contact-based, obtain gesture information from the control command; and calculate the initial desired angular velocity based on the gesture information. It is also used to: if the trigger logic is inactive, not obtain the end-effector desired angular velocity corresponding to the control command, and treat the control command as a false trigger command.

[0134] Furthermore, the adjustment mechanism for the boom trolley also includes an input dead zone module, a feedforward prediction module, and a joint control module, such as... Figure 16 As shown, the input dead zone module mainly receives the desired end-effector velocity and performs dead zone suppression on the command signal, the feedforward prediction module mainly performs prediction calculation on the command acceleration, and the joint control module mainly performs torque control of the joint through the information transmitted by the first two modules.

[0135] Specifically, the input dead zone module is used to set the final expected angular velocity to 0 if the magnitude of the initial expected angular velocity is within the dead zone range; if the magnitude of the initial expected angular velocity is within the linear zone range, the initial expected angular velocity is used as the final expected angular velocity; if the magnitude of the initial expected angular velocity is within the positive limiting zone range, the positive limiting value is used as the final expected angular velocity; and if the magnitude of the initial expected angular velocity is within the negative limiting zone range, the negative limiting value is used as the final expected angular velocity.

[0136] The feedforward prediction module is used to obtain the desired angular acceleration at the end based on the desired angular velocity at the end.

[0137] The joint control module is used to obtain the current joint position of the adjusting arm; based on the desired end-effector angular velocity, desired end-effector angular acceleration, and joint position, it uses differential kinematics to calculate the desired joint angular velocity, desired joint angular acceleration, and joint velocity corresponding to the joint of the adjusting arm; based on the desired joint angular velocity, desired joint angular acceleration, and joint velocity, it uses integral kinematics to calculate the desired joint position, and obtains the desired torque corresponding to the joint of the adjusting arm based on the desired joint position; and controls the joint of the adjusting arm based on the desired torque to control the end-effector of the adjusting arm to perform a preset operation.

[0138] This system achieves the purpose of adjusting the field of view by adding an interactive device to the control console to control the torque of the three adjustment joints of the adjustment arm. It is worth noting that this method is also applicable to multi-hole adjustment arm trolleys with three rotational degrees of freedom around a fixed point for adjusting the endoscope posture.

[0139] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0140] Based on the same inventive concept, this application also provides an adjusting arm control device for implementing the adjusting arm control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more adjusting arm control device embodiments provided below can be found in the limitations of the adjusting arm control method described above, and will not be repeated here.

[0141] In one embodiment, such as Figure 17 As shown, an adjustable arm control device 170 is provided, including: an acquisition module 171, a calculation module 172, and a control module 173, wherein:

[0142] The acquisition module 171 is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control.

[0143] The calculation module 172 is used to obtain the desired end angular velocity corresponding to the control command based on the control type of the control command if the triggering logic is in an active state.

[0144] The control module 173 is used to obtain the desired angular acceleration at the end based on the desired angular velocity at the end, and to control the end of the adjusting arm to perform a preset operation based on the desired angular velocity at the end and the desired angular acceleration at the end.

[0145] In one embodiment, the acquisition module 171 is further configured to determine whether the triggering logic is instantaneous triggering logic or continuous triggering logic if the control command is contact control; and to determine whether the triggering logic is gesture triggering logic if the control command is non-contact control.

[0146] In one embodiment, the apparatus further includes:

[0147] The activation module 174 is used to obtain activation instructions and identify the activation type of the activation instructions. The activation type is divided into contact activation and non-contact activation. If the activation type is contact activation, the input duration of the activation instruction is obtained. If the input duration does not meet the continuous condition, the instantaneous trigger logic is activated.

[0148] In one embodiment, the activation module 174 is further configured to activate the continuous triggering logic if the input duration meets the continuous condition.

[0149] In one embodiment, the activation module 174 is further configured to, if the activation type is contactless activation, obtain the gesture information in the activation instruction; and if the gesture information meets the transformation conditions, activate the gesture triggering logic.

[0150] In one embodiment, the arithmetic module 172 is further configured to, if the triggering logic is in an inactive state, not acquire the end-effector expected angular velocity corresponding to the control command, and treat the control command as a false trigger command.

[0151] In one embodiment, the arithmetic module 172 is further configured to calculate the initial desired angular velocity corresponding to the control command based on the control type; perform dead zone suppression on the initial desired angular velocity; adjust the value of the initial desired angular velocity; and obtain the terminal desired angular velocity.

[0152] In one embodiment, the calculation module 172 is further configured to, if the control command is contact control, obtain angle information or angular velocity information from the control command; and calculate the initial desired angular velocity based on the angle information or angular velocity information.

[0153] In one embodiment, the calculation module 172 is further configured to, if the control command is non-contact control, obtain gesture information from the control command; and calculate the initial desired angular velocity based on the gesture information.

[0154] In one embodiment, the calculation module 172 is further configured to: if the magnitude of the initial expected angular velocity is in the dead zone, set the final expected angular velocity to 0; if the magnitude of the initial expected angular velocity is in the linear zone, use the initial expected angular velocity as the final expected angular velocity; if the magnitude of the initial expected angular velocity is in the positive limiting zone, use the positive limiting value as the final expected angular velocity; and if the magnitude of the initial expected angular velocity is in the negative limiting zone, use the negative limiting value as the final expected angular velocity.

[0155] In one embodiment, the control module 173 is further configured to calculate the desired joint position corresponding to the adjustment arm joint based on the desired end-effector angular velocity and desired end-effector angular acceleration, and obtain the desired torque corresponding to the adjustment arm joint based on the desired joint position; and control the adjustment arm joint based on the desired torque to control the end of the adjustment arm to perform a preset operation.

[0156] In one embodiment, the control module 173 is further configured to obtain the current joint position of the joint of the adjusting arm; calculate the expected joint angular velocity, expected joint angular acceleration and joint velocity corresponding to the joint of the adjusting arm using differential kinematics based on the expected end angular velocity, expected end angular acceleration and joint position; and calculate the expected joint position using integral kinematics based on the expected joint angular velocity, expected joint angular acceleration and joint velocity.

[0157] Each module in the aforementioned adjustable arm control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0158] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 18 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an adjustment arm control method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0159] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0160] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0161] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0162] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0163] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0164] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0165] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0166] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling an adjusting arm, characterized in that, The method includes: Acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control; If the triggering logic is active, based on the control type of the control command, the end-effector expected angular velocity corresponding to the control command is obtained. The end-effector expected angular acceleration is calculated by differential end-effector expected angular velocity, and LSTM is used to perform feature recognition on the input state. The desired joint position of the adjusting arm joint is calculated based on the desired end-effector angular velocity and the desired end-effector angular acceleration, and the desired torque of the adjusting arm joint is obtained based on the desired joint position. The adjustment arm joint is controlled based on the desired torque to control the end of the adjustment arm to perform a preset operation. The step of determining the state of the trigger logic corresponding to the control type includes: If the control command is a contact control, the triggering logic is determined to be an instantaneous triggering logic or a continuous triggering logic; if the control command is a non-contact control, the triggering logic is determined to be a gesture triggering logic; if there is a triggering logic that is currently active, but the control type of the acquired control command does not correspond to it, then the current control command is determined to be a mis-touch control.

2. The method according to claim 1, characterized in that, Before acquiring the control command, the method further includes: Obtain an activation command and identify the activation type of the activation command; the activation type is divided into contact activation and contactless activation. If the activation type is contact activation, obtain the input duration of the activation command; If the input duration does not meet the continuous condition, the instantaneous triggering logic is activated.

3. The method according to claim 2, characterized in that, The method further includes: If the input duration meets the continuous condition, the continuous triggering logic is activated.

4. The method according to claim 2, characterized in that, The method further includes: If the activation type is contactless activation, then the gesture information in the activation command is obtained; If the gesture information meets the transformation conditions, the gesture triggering logic is activated.

5. The method according to claim 1, characterized in that, The method further includes: If the triggering logic is inactive, the desired end-effector angular velocity corresponding to the control command is not acquired, and the control command is treated as a false trigger command.

6. The method according to claim 1, characterized in that, The method of obtaining the desired end-effector angular velocity corresponding to the control command based on the control type includes: Based on the control type, calculate the initial desired angular velocity corresponding to the control command; Dead zone suppression is applied to the initial desired angular velocity, and the value of the initial desired angular velocity is adjusted to obtain the terminal desired angular velocity.

7. The method according to claim 6, characterized in that, The calculation of the initial desired angular velocity corresponding to the control command based on the control type of the control command includes: If the control command is a contact control, obtain angle information or angular velocity information from the control command; The initial desired angular velocity is calculated based on the angle information or the angular velocity information.

8. The method according to claim 7, characterized in that, The method further includes: If the control command is a contactless control, obtain gesture information from the control command; The initial desired angular velocity is calculated based on the gesture information.

9. The method according to claim 6, characterized in that, The step of performing dead-zone suppression on the initial desired angular velocity and adjusting the value of the initial desired angular velocity to obtain the terminal desired angular velocity includes: If the magnitude of the initial expected angular velocity is within the dead zone, the final expected angular velocity is 0; If the magnitude of the initial expected angular velocity is within the linear region, the initial expected angular velocity shall be taken as the final expected angular velocity; If the magnitude of the initial expected angular velocity is within the positive limiting range, the positive limiting value will be used as the final expected angular velocity; If the magnitude of the initial desired angular velocity is within the negative limiting region, the negative limiting value is used as the final desired angular velocity.

10. The method according to claim 1, characterized in that, The step of calculating the desired joint position corresponding to the adjustment arm joint based on the desired end-effector angular velocity and the desired end-effector angular acceleration includes: Obtain the current joint position of the adjustment arm; Based on the desired end-effector angular velocity, the desired end-effector angular acceleration, and the joint position, the desired joint angular velocity, desired joint angular acceleration, and joint velocity corresponding to the joints of the adjusting arm are calculated using differential kinematics. The desired joint position is calculated using integral kinematics based on the desired joint angular velocity, the desired joint angular acceleration, and the joint velocity.

11. An adjusting arm control device, characterized in that, The device includes: The acquisition module is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type; the control type is divided into contact control and non-contact control. The calculation module is used to obtain the end-effector expected angular velocity corresponding to the control command based on the control type of the control command if the triggering logic is in an active state. The end-effector expected angular acceleration is calculated by differential end-effector expected angular velocity and combined with LSTM to perform feature recognition on the input state. The control module is used to calculate the desired joint position corresponding to the adjustment arm joint based on the desired end-effector angular velocity and the desired end-effector angular acceleration, and to obtain the desired torque corresponding to the adjustment arm joint based on the desired joint position; and to control the adjustment arm joint based on the desired torque to control the end-effector of the adjustment arm to perform a preset operation. The acquisition module is further configured to determine whether the triggering logic is instantaneous or continuous if the control command is contact control; determine whether the triggering logic is gesture triggering logic if the control command is non-contact control; and determine whether the current control command is mis-touch control if the current triggering logic is active but the control type of the acquired control command does not correspond to it.

12. An adjustable arm control system, characterized in that, The system includes: The console is used to acquire control commands, identify the control type of the control commands, and determine the state of the trigger logic corresponding to the control type. If the trigger logic is active, it calculates the initial expected angular velocity corresponding to the control command based on the control type and transmits the initial expected angular velocity to the adjusting arm trolley. The adjusting arm trolley is used to perform dead zone suppression on the initial desired angular velocity, adjust the value of the initial desired angular velocity to obtain the end desired angular velocity, and calculate the end desired angular acceleration by differential end desired angular velocity. It then combines LSTM to perform feature recognition on the input state. Based on the end desired angular velocity and the end desired angular acceleration, it calculates the expected joint position corresponding to the adjusting arm joint, and obtains the expected torque corresponding to the adjusting arm joint based on the expected joint position. Based on the expected torque, it controls the adjusting arm joint to control the end of the adjusting arm to perform a preset operation. The console is also used to determine whether the triggering logic is instantaneous or continuous if the control command is contact control; to determine whether the triggering logic is gesture triggering logic if the control command is non-contact control; and to determine whether the current control command is accidental touch control if the current triggering logic is active but the control type of the acquired control command does not correspond to it.

13. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

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