Control position determination method, device, equipment and storage medium

Abstract

The present disclosure relates to a control position determination method, device, equipment and storage medium. The planned control position of the end tool in the current cycle is obtained; based on the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool is determined, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; if the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary, and the target control position of the end tool in the current cycle is determined. Therefore, when it is determined that the planned control position exceeds the position restriction boundary, the target control position that will not exceed the position restriction area is determined, thereby ensuring the position control accuracy and operation safety of the end tool.

Description

Technical Field

[0001] The present disclosure relates to the field of robot motion control, and in particular to a control position determination method, device, equipment and storage medium. Background Art

[0002] When using robots for joint replacement surgery, the safety requirements for the robots are extremely high, and the robot's end tool is required to always move within the position restriction area. For example, when grinding the acetabulum, the robot's end tool is required to always move within the position restriction area corresponding to the acetabulum to ensure that the end tool does not damage tissues other than the acetabulum. Therefore, it is urgent to provide a control position determination method to ensure that the end tool does not exceed the position restriction area during operation. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a control position determination method, device, equipment and storage medium.

[0004] In a first aspect, the present disclosure provides a control position determination method, the method comprising:

[0005] Get the planned control position of the end tool in the current cycle;

[0006] Based on the planned control position and the position restriction area of ​​the end tool, determining the position restriction boundary of the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area;

[0007] If the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle.

[0008] In a second aspect, the present disclosure provides a control position determination device, the device comprising:

[0009] An acquisition module is used to acquire the planned control position of the end tool in the current cycle;

[0010] A first determining module, configured to determine a position restriction boundary of the end tool based on the planned control position and a position restriction area of ​​the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area;

[0011] The second determination module is used to correct the position of the planned control position according to the boundary points on the first limit boundary or the boundary points on the second limit boundary if the planned control position is outside the position limit boundary, so as to determine the target control position of the end tool in the current cycle.

[0012] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the device comprising:

[0013] one or more processors;

[0014] a storage device for storing one or more programs,

[0015] When one or more programs are executed by one or more processors, the one or more processors implement the method provided in the first aspect.

[0016] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method provided in the first aspect is implemented.

[0017] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0018] A control position determination method, device, equipment and storage medium of an embodiment of the present disclosure obtains the planned control position of the end tool in the current cycle; based on the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool is determined, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; if the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle. Thus, according to the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool in each cycle is determined, and when it is determined that the planned control position exceeds the position restriction boundary, the target control position of each cycle is determined according to the boundary points on different restriction boundaries in each cycle, so that the end tool will not exceed the position restriction area during operation, thereby improving the position control accuracy of the end tool and thus improving the operation safety of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A flow chart of a control position determination method provided in an embodiment of the present disclosure;

[0022] Figure 2 A schematic diagram of the effect of a position restriction area of ​​an end tool provided in an embodiment of the present disclosure;

[0023] Figure 3 A front view of a position restriction area of ​​an end tool provided by an embodiment of the present disclosure;

[0024] Figure 4 A schematic diagram of the process of S120 provided in an embodiment of the present disclosure;

[0025] Figure 5 A front view of a position limiting area of ​​another end tool provided by an embodiment of the present disclosure;

[0026] Figure 6 A front view of a position limiting area of ​​another end tool provided by an embodiment of the present disclosure;

[0027] Figure 7 A schematic diagram of the structure of a control position determination device provided in an embodiment of the present disclosure;

[0028] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0031] In order to ensure that the end tool does not exceed the position limit area during operation, the following Figures 1 to 5The control position determination method provided in the embodiment of the present disclosure is described. In the embodiment of the present disclosure, the control position determination method can be executed by an electronic device or a server. Among them, the electronic device may include a device with communication function such as a tablet computer, a desktop computer, a laptop computer, etc., and may also include a device simulated by a virtual machine or a simulator. The server may be a device with storage and computing functions such as a cloud server or a server cluster. The electronic device or server may specifically be a controller of the robot where the end tool is located.

[0032] Figure 1 A flow chart of a control position determination method provided by an embodiment of the present disclosure is shown.

[0033] like Figure 1 As shown, the control position determination method may include the following steps.

[0034] S110, obtaining the planned control position of the end tool in the current cycle.

[0035] In this embodiment, when controlling the movement of the end tool of the robot (for example, using a surgical robot to perform joint replacement surgery), the controller of the robot where the end tool is located sets the planned control position of each cycle for the end tool in advance. When the controller controls the movement of the end tool in the current cycle, the planned control position of the end tool in the current cycle is obtained. If the planned control position meets the motion control requirements, the end tool movement is directly controlled based on the planned control position. If the planned control position does not meet the motion control requirements, the target control position that meets the motion control requirements is determined based on the planned control position, and the end tool movement is controlled based on the target control position, so that the end tool always moves based on the control position that meets the motion control requirements, thereby ensuring the operation safety of the robot.

[0036] The end tool may be a pointed or spherical tool capable of grinding bones.

[0037] The planned control position refers to a position pre-planned for the end tool to control the movement of the end tool. Specifically, the planned control position is determined based on the external force of the end tool and the expected grinding effect of the grinding object (such as acetabulum).

[0038] Optionally, the planned control position may be coordinate data in a world coordinate system.

[0039] S120. Determine the position restriction boundary of the end tool based on the planned control position and the position restriction area of ​​the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area.

[0040] In order to ensure that the end tool does not exceed the position restriction area during operation, the controller of the robot where the end tool is located controls the position based on the planning of each cycle, finds the corresponding position restriction boundary from the position restriction area, and uses the position restriction boundary to limit the movement of the end tool.

[0041] The position restriction area is a preset range within which the end tool is allowed to move. Specifically, when the planned control position is outside the position restriction area, it is necessary to determine a target control position that meets the motion control requirements based on the planned control position, and control the end tool movement based on the target control position.

[0042] The first restricted area may be a restricted area determined by rotating around a rotation axis. Optionally, the first restricted area includes but is not limited to a virtual wall in a cylindrical form, a virtual wall in a rectangular form, and the like.

[0043] Among them, the second restricted area includes a first sub-area and a second sub-area, one end of the first sub-area is connected to the first restricted area, and the other end of the first sub-area is connected to the second sub-area; any limiting boundary of the first sub-area is a curve, and the curvature difference between two adjacent boundary points on any limiting boundary of the first sub-area is less than a first threshold.

[0044] The first sub-region may be determined according to the expected smooth effect, so that the boundary of the first sub-region is a gentle curve. Specifically, the expected smooth effect is determined according to the curvature of the boundary of the first restricted region and the curvature of the boundary of the second sub-region.

[0045] Optionally, any limiting boundary of the first sub-region may be formed by an arc, or may be formed by one or more smooth curves.

[0046] Any limiting boundary of the second sub-region is a line segment; or any limiting boundary of the second sub-region is a curve, and a curvature difference between two adjacent boundary points on any limiting boundary of the second sub-region is less than a second threshold.

[0047] The second sub-region may be determined according to an expected grinding effect of the object to be ground (eg, acetabulum).

[0048] Specifically, since any limiting boundary of the second sub-region is a line segment or a curve, the second sub-region may be a funnel virtual wall in the form of a cone or a funnel virtual wall in the form of a curve.

[0049] It can be understood that in order to ensure that the first restricted area is smoothly connected to the second restricted area, any restriction boundary of the first sub-area is a curve. Since the curvature difference between two adjacent boundary points on any restriction boundary of the first sub-area is less than the first threshold, it is ensured that any restriction boundary of the first sub-area is a smooth curve. In this way, the first sub-area in the second restricted area can smoothly connect the second sub-area in the first restricted area and the second restricted area, so that when the controller controls the end tool to move from the first restricted area to the second restricted area, it is ensured that the end tool can move smoothly from the first restricted area to the second restricted area, and the end tool will not be significantly hindered, and there is no need to increase the force applied to the end tool, so as to avoid the end tool overload alarm.

[0050] In this embodiment, the specific implementation method of S120 includes but is not limited to the following methods: determining the restriction plane corresponding to the planned control position according to the rotation axis of the first restriction area and the planned control position; determining the first boundary where the restriction plane intersects with the first restriction area as the first restriction boundary; and obtaining the second boundary connected to the first restriction boundary from the multiple boundaries constituting the second restriction area as the second restriction boundary.

[0051] For easier understanding, see Figure 2 The effect diagram of the position restriction area of ​​the end tool is shown as well as Figure 3 The front view of the position restriction area of ​​the end tool is shown. The planned control position of the end tool in the current cycle is point p, the first restriction area A is a virtual wall in the form of a cylinder formed by rotating around the rotation axis l, and the second restriction area B is a virtual wall in the form of a cone. First, based on the rotation axis l and the planned control position p, a restriction plane C is formed; then, the first boundary where the restriction plane C intersects with the first restriction area A is determined as the first restriction boundary j; then, the second boundary connected to the first restriction boundary j is obtained from the multiple boundaries that constitute the second restriction area B as the second restriction boundary k, and the position restriction boundary formed by the first restriction boundary j and the second restriction boundary k is obtained.

[0052] In this way, the position limit boundary of the end tool in the current cycle can be accurately determined through geometric calculation, which facilitates the subsequent accurate judgment of whether the planned control position exceeds the position limit area based on the position limit boundary.

[0053] S130: If the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle.

[0054] In this embodiment, the controller of the robot where the end tool is located determines whether the planned control position is outside the position limit boundary. If it is determined that the planned control position is outside the position limit boundary, it means that the planned control position exceeds the preset range allowed for the end tool to move, that is, it is determined that the planned control position does not meet the motion control requirements, and it is necessary to determine the target control position that meets the motion control requirements based on the planned control position.

[0055] Among them, the target control position does not exceed the preset range within which the end tool is allowed to move, that is, the target control position is the control position that meets the motion control requirements. Then, the controller of the robot where the end tool is located can control the movement of the end tool based on the target control position to ensure that the end tool will not exceed the position restriction area during operation.

[0056] In other cases, if it is determined that the planned control position is on or within the position limit boundary, it means that the planned control position does not exceed the preset range allowed for the end tool movement. The planned control position can be used as the target control position of the end tool in the current cycle, and the end tool movement can be controlled based on the target control position.

[0057] In this way, when the end tool moves close to the position limit boundary or moves along the position limit boundary, it will not encounter resistance. Therefore, there is no need to increase the counter resistance to overcome the resistance encountered by the end tool, making the movement process of the end tool easier.

[0058] A control position determination method of an embodiment of the present disclosure obtains the planned control position of the end tool in the current cycle; based on the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool is determined, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; if the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle. Thus, according to the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool in each cycle is determined, and when it is determined that the planned control position exceeds the position restriction boundary, the target control position of each cycle is determined according to the boundary points on different restriction boundaries in each cycle, so that the end tool will not exceed the position restriction area during operation, thereby improving the position control accuracy of the end tool and thus improving the operation safety of the robot.

[0059] In another embodiment of the present disclosure, when the planned control position is outside the position restriction boundary, the method for determining the target control position of the end tool in the current cycle is specifically explained through the following embodiments.

[0060] Figure 4 A schematic diagram of the process of S120 provided in an embodiment of the present disclosure is shown.

[0061] like Figure 4 As shown, S120 may include the following steps.

[0062] S410: Determine whether the planned control position is outside the first restriction boundary or outside the second restriction boundary.

[0063] S420: If the planned control position is outside the first restriction boundary, the planned control position is corrected based on the boundary points on the first restriction boundary to determine the target control position.

[0064] In this embodiment, the specific implementation method of S420 includes but is not limited to the following methods: starting from the planned control position, along the vertical direction parallel to the rotation axis of the first restricted area, controlling the planned control position to translate to the first restricted boundary to obtain the target control position.

[0065] For easier understanding, see Figure 5 The front view of the position limitation area of ​​the end tool is shown. The vertical direction of the rotation axis of the first limitation area can be understood as the direction of the dividing line h between the first limitation boundary and the second limitation boundary. The controller of the robot where the end tool is located controls the planned control position p along the direction parallel to the vertical line to approach the first limitation boundary, that is, the planned control position is translated along the dividing line h to the first limitation boundary j to obtain the target control position q1.

[0066] S430: If the planned control position is outside the second restriction boundary, the planned control position is corrected based on the boundary points on the second restriction boundary to determine the target control position.

[0067] In this embodiment, the specific implementation method of S430 includes but is not limited to the following methods: obtaining the tangent of the first boundary point on the second limiting boundary, and obtaining the first line segment formed by the first boundary point on the second limiting boundary and the planned control position; if there is a tangent to the first boundary point perpendicular to the first line segment, then the first boundary point is used as the target control position.

[0068] The first boundary point refers to any point on the second limiting boundary.

[0069] For easier understanding, see Figure 6The front view of the position restriction area of ​​the end tool is shown. First, the controller of the robot where the end tool is located determines the tangent of the first boundary point q1 on the second restriction boundary, and at the same time, connects the first boundary point q1 and the planned control position p to form a first line segment. Then, the controller of the robot where the end tool is located determines whether there is a tangent perpendicular to the first line segment among the tangents corresponding to the multiple first boundary points q1. If the tangent corresponding to the first boundary point q1 is perpendicular to the first line segment, the first boundary point q1 is used as the target control position.

[0070] In other cases, S430 also includes: if there is no tangent to the first boundary point perpendicular to the first line segment, calculating the first distance between the planned control position and the first endpoint of the second limiting boundary, and calculating the second distance between the planned control position and the second endpoint of the second limiting boundary; obtaining the minimum distance from the first distance and the second distance, and taking the position of the endpoint corresponding to the minimum distance as the target control position.

[0071] Continue to see Figure 6 If the tangents corresponding to the multiple first boundary points of the second limiting boundary are not perpendicular to the first line segment, the controller of the robot where the end tool is located directly calculates the first distance between the planned control position p and the first boundary point q2, and calculates the second distance between the planned control position p and the first boundary point q3. If the first distance is less than the second distance, the first boundary point q2 is used as the target control position.

[0072] In other cases, the specific implementation methods of S430 include but are not limited to the following methods: calculating the first distance between the planned control position and the first endpoint of the second restriction boundary, calculating the second distance between the planned control position and the second endpoint of the second restriction boundary, and calculating the third distance between the planned control position and the first boundary point of the second restriction boundary; obtaining the minimum distance from the first distance, the second distance and the third distance, and taking the position of the point corresponding to the minimum distance as the target control position.

[0073] It can be understood that no matter what the shapes of the first sub-area and the second sub-area in the second restricted area are, the distance between the planned control position and any point on the second restricted boundary can be determined, and then the position of the point corresponding to the minimum distance can be selected from these distances as the target control position.

[0074] Through the above method, when the planned control position is outside the position limit boundary, the planned control position is adaptively corrected using the points on the first limit boundary or the second limit boundary, so that when the planned control position exceeds the position limit boundary, the target control position for actually controlling the movement of the end tool is determined on the first limit boundary or the second limit boundary to control the movement of the end tool on the position limit boundary, thereby improving the position control accuracy of the end tool and further improving the operation safety of the robot.

[0075] The present disclosure also provides a control position determination device for implementing the above control position determination method. Figure 7 In the disclosed embodiment, the control position determination device may be an electronic device or a server. The electronic device may include a tablet computer, a desktop computer, a laptop computer, or other devices with communication functions, or may include a virtual machine or a device simulated by a simulator. The server may be a cloud server or a server cluster or other device with storage and computing functions. The electronic device or server may specifically be a controller of the robot where the end tool is located.

[0076] Figure 7 A schematic structural diagram of a control position determination device provided in an embodiment of the present disclosure is shown.

[0077] like Figure 7 As shown, the control position determination device 700 may include:

[0078] An acquisition module 710 is used to acquire the planned control position of the end tool in the current cycle;

[0079] A first determining module 720 is used to determine a position restriction boundary of the end tool based on the planned control position and the position restriction area of ​​the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area;

[0080] The second determination module 730 is used to correct the position of the planned control position according to the boundary points on the first limit boundary or the boundary points on the second limit boundary if the planned control position is outside the position limit boundary, so as to determine the target control position of the end tool in the current cycle.

[0081] A control position determination device of an embodiment of the present disclosure obtains the planned control position of the end tool in the current cycle; based on the planned control position and the position restriction area of ​​the end tool, determines the position restriction boundary of the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; if the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle. Thus, according to the planned control position and the position restriction area of ​​the end tool, the position restriction boundary of the end tool in each cycle is determined, and when it is determined that the planned control position exceeds the position restriction boundary, the target control position of each cycle is determined according to the boundary points on different restriction boundaries in each cycle, so that the end tool will not exceed the position restriction area during operation, thereby improving the position control accuracy of the end tool and thus improving the operation safety of the robot.

[0082] In some embodiments of the present disclosure, the first determining module 720 includes:

[0083] A first determining unit, configured to determine a restriction plane corresponding to the planned control position according to a rotation axis of the first restriction area and the planned control position;

[0084] A second determining unit, configured to determine a first boundary where the restriction plane intersects the first restriction area as the first restriction boundary;

[0085] The first acquisition unit is configured to acquire, from a plurality of boundaries constituting the second restricted area, a second boundary connected to the first restricted boundary as the second restricted boundary.

[0086] In some embodiments of the present disclosure, the second determining module 730 includes:

[0087] a third determining unit, configured to, if the planned control position is outside the first restriction boundary, correct the position of the planned control position based on a boundary point on the first restriction boundary to determine the target control position;

[0088] The fourth determining unit is configured to, if the planned control position is outside the second restriction boundary, correct the position of the planned control position based on a boundary point on the second restriction boundary to determine the target control position.

[0089] In some embodiments of the present disclosure, the third determining unit is specifically configured to:

[0090] Taking the planned control position as a starting point, the planned control position is controlled to translate to the first restriction boundary along a vertical direction parallel to the rotation axis of the first restriction area to obtain the target control position.

[0091] In some embodiments of the present disclosure, the fourth determining unit is specifically configured to:

[0092] Acquire a tangent line of a first boundary point on the second limiting boundary, and acquire a first line segment formed by the first boundary point on the second limiting boundary and the planned control position;

[0093] If there is a tangent line of the first boundary point that is perpendicular to the first line segment, the first boundary point is used as the target control position.

[0094] In some embodiments of the present disclosure, the fourth determining unit is further configured to:

[0095] If there is no tangent line of the first boundary point perpendicular to the first line segment, calculating a first distance between the planned control position and a first endpoint of the second limiting boundary, and calculating a second distance between the planned control position and a second endpoint of the second limiting boundary;

[0096] A minimum distance is acquired from the first distance and the second distance, and a position of an endpoint corresponding to the minimum distance is used as the target control position.

[0097] In some embodiments of the present disclosure, the second restricted area includes a first sub-area and a second sub-area, one end of the first sub-area is connected to the first restricted area, and the other end of the first sub-area is connected to the second sub-area;

[0098] Any limiting boundary of the first sub-region is a curve, and a curvature difference between two adjacent boundary points on any limiting boundary of the first sub-region is less than a first threshold.

[0099] In some embodiments of the present disclosure, any one of the limiting boundaries of the second sub-area is a line segment; or,

[0100] Any limiting boundary of the second sub-region is a curve, and a curvature difference between two adjacent boundary points on any limiting boundary of the second sub-region is less than a second threshold.

[0101] In some embodiments of the present disclosure, the apparatus further includes: a third determination module;

[0102] The third determination module is used to use the planned control position as the target control position of the end tool in the current cycle if the planned control position is located on or within the position restriction boundary.

[0103] It should be noted that Figure 7 The control position determination device 700 shown can execute Figures 1 to 6 The various steps in the method embodiment shown in the figure are implemented Figures 1 to 6 The various processes and effects in the method embodiment shown are not described in detail here.

[0104] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown. The electronic device may be a controller of the target robot mentioned in the above embodiment.

[0105] like Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0106] Specifically, the processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0107] The memory 802 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 802 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 802 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 802 is a non-volatile solid-state memory. In a particular embodiment, the memory 802 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0108] The processor 801 reads and executes the computer program instructions stored in the memory 802 to perform the steps of the control position determination method provided in the embodiment of the present disclosure.

[0109] In one example, the electronic device may further include a transceiver 803 and a bus 804. Figure 8 As shown, the processor 801, the memory 802 and the transceiver 803 are connected via a bus 804 and communicate with each other.

[0110] The bus 804 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 804 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0111] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the control position determination method of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiment of the computer-readable storage medium, reference can be made to the embodiment of the above-mentioned control position determination method.

[0112] This embodiment provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to perform a control position determination method. The method includes:

[0113] Get the planned control position of the end tool in the current cycle;

[0114] Based on the planned control position and the position restriction area of ​​the end tool, determining the position restriction boundary of the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area;

[0115] If the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle.

[0116] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present disclosure, whose computer executable instructions are not limited to the above method operations, can also execute related operations in the control position determination method provided by any embodiment of the present disclosure.

[0117] Through the above description of the implementation method, the technicians in the relevant field can clearly understand that the present disclosure can be implemented with the help of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to execute the control position determination method provided by each embodiment of the present disclosure.

[0118] Note that the above are only preferred embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A control position determination method, characterized in that: include: Get the planned control position of the end tool in the current cycle; Based on the planned control position and the position restriction area of ​​the end tool, determining the position restriction boundary of the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; If the planned control position is outside the position restriction boundary, the planned control position is corrected according to the boundary point on the first restriction boundary or the boundary point on the second restriction boundary to determine the target control position of the end tool in the current cycle, wherein the target control position is used to control the movement of the end tool so that the end tool does not exceed the position restriction area during the movement process; The determining the position restriction boundary of the end tool based on the planned control position and the position restriction area of ​​the end tool comprises: Determining a restriction plane corresponding to the planned control position according to the rotation axis of the first restriction area and the planned control position; Determine a first boundary where the restriction plane intersects the first restriction area as the first restriction boundary; Acquire a second boundary connected to the first limiting boundary from a plurality of boundaries constituting the second limiting area as the second limiting boundary; The second restricted area includes a first sub-area and a second sub-area, one end of the first sub-area is connected to the first restricted area, and the other end of the first sub-area is connected to the second sub-area; Any limiting boundary of the first sub-region is a curve, and a curvature difference between two adjacent boundary points on any limiting boundary of the first sub-region is less than a first threshold; Any limiting boundary of the second sub-region is a line segment; or Any limiting boundary of the second sub-region is a curve, and the curvature difference between two adjacent boundary points on any limiting boundary of the second sub-region is less than a second threshold, so that the first sub-region smoothly connects the first limiting region and the second sub-region in the second limiting region.

2. The method according to claim 1, characterized in that The performing position correction on the planned control position according to the boundary point on the first limiting boundary or the boundary point on the second limiting boundary to determine the target control position of the end tool in the current cycle includes: If the planned control position is outside the first restriction boundary, based on the boundary points on the first restriction boundary, the planned control position is corrected to determine the target control position; If the planned control position is outside the second restriction boundary, the planned control position is corrected based on the boundary points on the second restriction boundary to determine the target control position.

3. The method according to claim 2, characterized in that The step of correcting the planned control position based on the boundary point on the first restriction boundary to determine the target control position includes: Taking the planned control position as a starting point, the planned control position is controlled to translate to the first restriction boundary along a vertical direction parallel to the rotation axis of the first restriction area to obtain the target control position.

4. The method according to claim 2, characterized in that: The step of correcting the planned control position based on the boundary point on the second restriction boundary to determine the target control position includes: Acquire a tangent line of a first boundary point on the second limiting boundary, and acquire a first line segment formed by the first boundary point on the second limiting boundary and the planned control position; If there is a tangent line of the first boundary point that is perpendicular to the first line segment, the first boundary point is used as the target control position.

5. The method according to claim 4, characterized in that Also includes: If there is no tangent line of the first boundary point perpendicular to the first line segment, calculating a first distance between the planned control position and a first endpoint of the second limiting boundary, and calculating a second distance between the planned control position and a second endpoint of the second limiting boundary; A minimum distance is acquired from the first distance and the second distance, and a position of an endpoint corresponding to the minimum distance is used as the target control position.

6. The method according to claim 1, characterized in that Also includes: If the planned control position is located on or within the position restriction boundary, the planned control position is used as the target control position of the end tool in the current cycle.

7. A control position determination device, characterized in that: include: An acquisition module is used to acquire the planned control position of the end tool in the current cycle; A first determining module, configured to determine a position restriction boundary of the end tool based on the planned control position and a position restriction area of ​​the end tool, wherein the position restriction area includes a first restriction area and a second restriction area, and the position restriction boundary includes a first restriction boundary corresponding to the first restriction area and a second restriction boundary corresponding to the second restriction area; a second determination module, configured to, if the planned control position is outside the position restriction boundary, perform position correction on the planned control position according to a boundary point on the first restriction boundary or a boundary point on the second restriction boundary, and determine a target control position of the end tool in the current cycle, wherein the target control position is used to control the movement of the end tool so that the end tool does not exceed the position restriction area during the movement; The first determining module includes: A first determining unit, configured to determine a restriction plane corresponding to the planned control position according to a rotation axis of the first restriction area and the planned control position; A second determining unit, configured to determine a first boundary where the restriction plane intersects the first restriction area as the first restriction boundary; A first acquisition unit, configured to acquire, from a plurality of boundaries constituting the second restricted area, a second boundary connected to the first restricted boundary as the second restricted boundary; The second restricted area includes a first sub-area and a second sub-area, one end of the first sub-area is connected to the first restricted area, and the other end of the first sub-area is connected to the second sub-area; Any limiting boundary of the first sub-region is a curve, and a curvature difference between two adjacent boundary points on any limiting boundary of the first sub-region is less than a first threshold; Any limiting boundary of the second sub-region is a line segment; or Any limiting boundary of the second sub-region is a curve, and the curvature difference between two adjacent boundary points on any limiting boundary of the second sub-region is less than a second threshold, so that the first sub-region smoothly connects the first limiting region and the second sub-region in the second limiting region.

8. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 6.

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