A Luer connector automatic insertion system and control method thereof

Abstract

The present invention provides a Luer connector automatic insertion system and a control method thereof, which belongs to the field of automation technology, and includes: an acquisition module: acquiring the structure and working principle of the Luer connector, and acquiring the corresponding sensor; a determination module: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector; a generation module: determining the size and shape of different transported materials and the Luer connector, and generating the optimal path of the robot arm according to the control algorithm; an automatic insertion module: realizing the automatic insertion of the Luer connector based on the optimal path of the robot arm according to the positioning of the transported material and the Luer connector; a monitoring module: monitoring the automatic insertion process in real time, and displaying it in real time through a human-computer interaction interface. The system solves the problem that multiple parameters of the pipeline cannot be obtained according to sensor technology, manual operation is required, the automation of pipeline connection and the accuracy of material grabbing cannot be guaranteed, and the connection efficiency and insertion accuracy are reduced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to an automatic insertion system for a Luer connector and a control method thereof. Background Art

[0002] With the rapid development of my country's economy and the advancement of industrialization, the number and complexity of infrastructure construction projects have gradually increased. In these projects, a large number of pipe connectors are required, and Luer connectors are one of the main types of these connectors.

[0003] The traditional Luer connector automated insertion system cannot obtain multiple parameters of the pipeline based on sensor technology. At the same time, manual operation is required during the process of grabbing materials and inserting the connector, which cannot guarantee the automation of pipeline connection and the accuracy of material grabbing, reducing the connection efficiency and insertion accuracy. Furthermore, the insertion process cannot be displayed, which reduces visualization and the accuracy of the insertion process.

[0004] Therefore, the present invention provides a Luer connector automated insertion system and a control method thereof. Summary of the invention

[0005] The present invention provides a Luer connector automatic insertion system and a control method thereof, which are used to solve the problems in the prior art that multiple parameters of a pipeline cannot be obtained according to sensor technology, and manual operation is required during the process of grabbing materials and inserting the connector, which cannot ensure the automation of pipeline connection and the accuracy of material grabbing, thereby reducing the connection efficiency and the accuracy of insertion. Furthermore, the insertion process cannot be displayed, which reduces visualization and the accuracy of the insertion process.

[0006] In one aspect, the present invention provides a Luer connector automated insertion system, comprising:

[0007] Acquisition module: acquires the structure and working principle of the Luer connector, and acquires the corresponding sensor according to the structure and working principle;

[0008] A determination module: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters;

[0009] Generation module: determines the size and shape of different conveyed materials and Luer connectors, and automatically generates the optimal path of the robot arm based on the control algorithm;

[0010] Automatic insertion module: realizes automatic insertion of the Luer connector based on the optimal path of the robot arm according to the positioning of the conveyed material and the Luer connector;

[0011] Monitoring module: monitors the automated insertion process in real time, and displays the working status and insertion progress of the robotic arm in real time through the human-computer interaction interface.

[0012] According to the present invention, a Luer connector automated insertion system, an acquisition module, comprises:

[0013] A first acquisition unit: acquires a model of a target Luer connector, and acquires a structure of the Luer connector based on the model and a device database;

[0014] A second acquisition unit: acquiring a working principle of the Luer connector based on the structure of the Luer connector and the work manual;

[0015] A first determining unit is configured to determine a corresponding sensor according to the structure and working principle.

[0016] According to the present invention, a Luer connector automated insertion system is provided, wherein the determination module comprises:

[0017] Conversion unit: based on the sensor, monitors the deformation of the pipeline in real time when it is subjected to different pressures, and converts the deformation into an electrical signal;

[0018] A second determination unit is used to determine the specific pressure amplitude, vibration amplitude and frequency of the pipeline according to the electrical signal;

[0019] A third determining unit: determining a micro displacement of the Luer connector according to the specific pressure amplitude, vibration amplitude and frequency;

[0020] The fourth determining unit determines the positioning of the transported material and the Luer connector according to the micro displacement of the Luer connector connector.

[0021] According to the present invention, a Luer connector automated insertion system is provided, wherein the generation module comprises:

[0022] Preprocessing unit: acquiring images of different conveyed materials and the Luer connector, and preprocessing the images;

[0023] Annotation unit: extract features from the preprocessed image, obtain the size and shape parameters of different transported materials and Luer connectors based on the extracted features, and annotate them in the image;

[0024] A third acquisition unit: acquiring corresponding controller algorithms according to the size and shape parameters of the different transported materials and the Luer connector, and determining the kinematic model and dynamic model of the robot arm according to the controller algorithm;

[0025] A fifth determination unit: determining the range of motion and rate limit of the joints of the manipulator, and the acceleration limit of the manipulator when performing a task according to the kinematic model and the dynamic model;

[0026] A sixth determination unit: determining optimal controller parameters based on a gradient descent optimization algorithm according to the motion range and rate limit of the joints of the robotic arm and the acceleration limit of the robotic arm when performing a task;

[0027] Generating unit: automatically generating an optimal path of the robot arm according to the optimal controller parameters.

[0028] According to the present invention, a Luer connector automated insertion system and an automated insertion module are provided, comprising:

[0029] A fourth acquisition unit: acquiring a motion trajectory of the robotic arm according to the optimal path of the robotic arm, and acquiring a grasping method and a pushing method of the robotic arm for the conveyed material according to the motion trajectory;

[0030] A fifth acquisition unit: acquiring a path between the transported material and the Luer connector according to the positioning of the transported material and the Luer connector;

[0031] A sixth acquisition unit: acquiring obstacles and path parameters in the path process according to the path;

[0032] Automated insertion unit: The automated insertion of the Luer connector is achieved based on the grabbing and pushing methods of the conveyed material by the robot arm according to the obstacles and path parameters.

[0033] According to the present invention, a Luer connector automated insertion system and a monitoring module are provided, comprising:

[0034] Monitoring unit: monitors the motion parameters of the robot arm in real time based on the laser rangefinder and inertial measurement unit;

[0035] Comparison unit: compares the real-time motion parameters with the preset parameters, and determines whether the working state of the robot arm is abnormal according to the comparison result;

[0036] A seventh acquisition unit is used for acquiring the process progress of the automatic insertion of the Luer connector according to the real-time motion parameters;

[0037] Visual display unit: The real-time working status of the robot arm and the progress of the automated insertion of the Luer connector are visualized through the human-computer interaction interface.

[0038] According to the present invention, a Luer connector automated insertion system, a fourth acquisition unit comprises:

[0039] The first acquisition subunit is used to acquire a plurality of measurement points of the optimal path of the robot arm;

[0040] The first determination subunit: determines the space coordinates corresponding to the robot arm at multiple measurement points and uses an adaptive polynomial to fit the key points to obtain a continuous curve equation of the robot arm angle, speed, and acceleration with respect to time;

[0041] The second determination subunit: determines the posture parameters and joint torque of the robot arm at each measurement point according to the continuous curve equation;

[0042] The first subunit is to obtain the structural information of the robot arm and establish the spatial double arc constraint equation of the robot arm according to the structural information;

[0043] The second establishing subunit: establishing the first constraint equation of the manipulator and the second constraint equation of the manipulator respectively according to the spatial double arc constraint equation;

[0044] A third establishing subunit: establishing a robot arm global constraint equation for representing an arc curve of a super redundant linkage robot arm according to the first constraint equation and the second constraint equation;

[0045] Solving subunit: Solve the global constraint equation of the robot arm to obtain the driving joint angle of each arm segment;

[0046] Evaluation and correction subunit: evaluates and corrects the posture parameters and joint torque of the robot arm at each measurement point according to the driving joint angles of each arm segment;

[0047] Construct subunit: Construct the motion trajectory of the robot arm according to the corrected posture parameters and joint torque of the robot arm at each measurement point and the positional relationship between multiple measurement points.

[0048] According to the present invention, a Luer connector automatic insertion control method is provided, comprising:

[0049] Step 1: Obtain the structure and working principle of the Luer connector, and obtain the corresponding sensor according to the structure and working principle;

[0050] Step 2: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters;

[0051] Step 3: Determine the size and shape of different conveyed materials and Luer connectors, and automatically generate the optimal path of the robot arm based on the control algorithm;

[0052] Step 4: Automated insertion of the Luer connector is performed based on the optimal path of the robotic arm according to the positioning of the conveyed material and the Luer connector;

[0053] Step 5: Monitor the automated insertion process in real time, and display the working status and insertion progress of the robotic arm in real time through the human-computer interaction interface.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] The sensor is determined according to the structure and working principle of the Luer connector, the pipeline parameters are monitored in real time, and the positioning of the material and the Luer connector is determined. The optimal path of the robot arm is generated based on the control algorithm according to the material and the connector, and the automatic insertion of the Luer connector is realized. The automatic insertion process is displayed in real time through the human-computer interaction interface, and multiple parameters of the pipeline can be obtained in real time to ensure the accuracy of the data. At the same time, in the process of grabbing materials and inserting connectors, manual operation is reduced, the automation of pipeline connection and the accuracy of material grabbing are guaranteed, the connection efficiency and the accuracy of insertion are improved, and the insertion process is further displayed to improve visualization and ensure the accuracy of the insertion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0057] Figure 1 is a schematic diagram of the structure of the Luer connector automated insertion system provided by an embodiment of the present invention;

[0058] Figure 2 It is a flow chart of the Luer connector automated insertion control method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Embodiment 1:

[0061] An embodiment of the present invention provides an automated Luer connector insertion system, such as Figure 1 As shown, the system mainly includes the following modules:

[0062] Acquisition module: acquires the structure and working principle of the Luer connector, and acquires the corresponding sensor according to the structure and working principle;

[0063] A determination module: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters;

[0064] Generation module: determines the size and shape of different conveyed materials and Luer connectors, and automatically generates the optimal path of the robot arm based on the control algorithm;

[0065] Automatic insertion module: realizes automatic insertion of the Luer connector based on the optimal path of the robot arm according to the positioning of the conveyed material and the Luer connector;

[0066] Monitoring module: monitors the automated insertion process in real time, and displays the working status and insertion progress of the robotic arm in real time through the human-computer interaction interface.

[0067] In this embodiment, the sensor may be: a temperature sensor or a vibration sensor.

[0068] In this embodiment, the parameters include: size, wall thickness, and material.

[0069] In this embodiment, the optimal path of the robot arm refers to the robot arm moving to the target position along the shortest or optimal route during the execution of the task to maximize efficiency and reduce energy consumption.

[0070] In this embodiment, the material may be: metal, non-metal, liquid.

[0071] In this embodiment, the possible working states of the robot arm are:

[0072] Normal operating state: This is the most common state of the robot arm. At this time, the robot arm can perform tasks normally according to instructions or predetermined programs, and no abnormal situation occurs.

[0073] Fault state: The robot arm may enter a fault state due to various reasons, such as sensor failure, motor damage, control system failure, etc.

[0074] Overload protection state: When the load of the robot arm exceeds its rated load, it will automatically enter the overload protection state.

[0075] Low Battery State: When the robot's battery charge drops below its safe value, it will enter a low battery state.

[0076] The beneficial effects of the above technical solution are: determining the sensor according to the structure and working principle of the Luer connector, monitoring the pipeline parameters in real time and determining the positioning of the material and the Luer connector, generating the optimal path of the robot arm based on the control algorithm according to the material and the connector, realizing the automatic insertion of the Luer connector, and displaying the automatic insertion process in real time through the human-computer interaction interface, being able to obtain multiple parameters of the pipeline in real time to ensure the accuracy of the data, and at the same time, reducing manual operation in the process of grabbing materials and inserting connectors, ensuring the automation of pipeline connection and the accuracy of material grabbing, improving the connection efficiency and the accuracy of insertion, and further, displaying the insertion process to improve visualization and ensure the accuracy of the insertion process.

[0077] Embodiment 2:

[0078] Based on Example 1, the acquisition module of the embodiment of the present invention includes:

[0079] A first acquisition unit: acquires a model of a target Luer connector, and acquires a structure of the Luer connector based on the model and a device database;

[0080] A second acquisition unit: acquiring a working principle of the Luer connector based on the structure of the Luer connector and the work manual;

[0081] A first determining unit is configured to determine a corresponding sensor according to the structure and working principle.

[0082] In this embodiment, the model of the Luer connector is usually composed of numbers and letters, which are used to indicate its specific size, material, connection method and other information. For example: GBD series: suitable for copper wires, such as G represents twisted shielded soft wire, B represents insulating sheath, and D represents connection type. For example, GBD-50-YZR represents a Luer connector with a diameter of 50 mm, a Y-type connection type, and a material of thermoplastic plastic.

[0083] In this embodiment, the Luer connector can be divided into multiple types according to the structure, such as insertion type, crimping type, and ferrule type.

[0084] In this embodiment, for the thermal expansion compensation of the Luer connector, a temperature sensor may be considered, such as a thermistor, a thermocouple, and an infrared sensor; for the vibration monitoring of the Luer connector, a vibration sensor may be used, and common ones include piezoelectric, electromagnetic induction, and displacement sensors.

[0085] The beneficial effect of the above technical solution is: the structure and working principle of the Luer connector are obtained according to the model of the target Luer connector, so as to obtain the corresponding sensor, which can ensure that the appropriate sensor can monitor the pipeline parameters in real time and provide complete data records, thereby improving the real-time and integrity of the data.

[0086] Embodiment 3:

[0087] Based on Example 2, the embodiment of the present invention determines the module, including:

[0088] Conversion unit: based on the sensor, monitors the deformation of the pipeline in real time when it is subjected to different pressures, and converts the deformation into an electrical signal;

[0089] A second determination unit is used to determine the specific pressure amplitude, vibration amplitude and frequency of the pipeline according to the electrical signal;

[0090] A third determining unit: determining a micro displacement of the Luer connector according to the specific pressure amplitude, vibration amplitude and frequency;

[0091] The fourth determining unit determines the positioning of the transported material and the Luer connector according to the micro displacement of the Luer connector connector.

[0092] The beneficial effects of the above technical solution are: the deformation of the pipeline detected by the sensor is converted into an electrical signal to determine the pressure amplitude, vibration amplitude and frequency of the pipeline, thereby determining the slight displacement of the Luer connector, and further determining the positioning of the material and the Luer connector. The status of the connector can be monitored in real time, and the connection process can be fine-tuned as needed, thereby improving the accuracy and repeatability of the Luer connector.

[0093] Embodiment 4:

[0094] Based on Example 3, the generation module of the embodiment of the present invention includes:

[0095] Preprocessing unit: acquiring images of different conveyed materials and the Luer connector, and preprocessing the images;

[0096] Annotation unit: extract features from the preprocessed image, obtain the size and shape parameters of different transported materials and Luer connectors based on the extracted features, and annotate them in the image;

[0097] A third acquisition unit: acquiring corresponding controller algorithms according to the size and shape parameters of the different transported materials and the Luer connector, and determining the kinematic model and dynamic model of the robot arm according to the controller algorithm;

[0098] A fifth determination unit: determining the range of motion and rate limit of the joints of the manipulator, and the acceleration limit of the manipulator when performing a task according to the kinematic model and the dynamic model;

[0099] A sixth determination unit: determining optimal controller parameters based on a gradient descent optimization algorithm according to the motion range and rate limit of the joints of the robotic arm and the acceleration limit of the robotic arm when performing a task;

[0100] Generating unit: automatically generating an optimal path of the robot arm according to the optimal controller parameters.

[0101] In this embodiment, the image preprocessing may include noise and blur removal, color normalization, illumination compensation and enhancement.

[0102] In this embodiment, the controller algorithm includes: a PID controller and an adaptive PID controller.

[0103] In this embodiment, the kinematic model of the robot arm mainly studies the motion law of the robot arm in space, including information such as the position, posture, and acceleration of the robot arm.

[0104] In this embodiment, the dynamic model of the robot arm mainly studies the dynamic behavior of the robot arm during task execution, including torque balance, force distribution, etc.

[0105] In this embodiment, the range of motion of the robot arm joint refers to the maximum angle that the robot arm joint can move.

[0106] In this embodiment, the rate limit of the robot arm joint refers to the maximum speed that the joint of the robot arm can reach when performing a specific task.

[0107] In this embodiment, the acceleration limit of the robotic arm refers to the maximum acceleration that each joint of the robotic arm can achieve per unit time during its movement. This limit is determined by many factors, such as the design and materials of the robotic arm, load capacity, control system settings, and expected accuracy and response time.

[0108] In this embodiment, the optimization algorithm of gradient descent may be: particle swarm optimization algorithm, genetic algorithm.

[0109] The beneficial effects of the above technical solution are: determining the size and shape parameters of different materials and Luer connectors through images of different materials and Luer connectors, obtaining corresponding algorithms, determining the kinematic model and dynamic model of the robot arm, thereby determining the optimal controller parameters, generating the optimal path of the robot arm, enabling the robot arm to move faster and more stably, thereby improving the performance and movement efficiency of the robot arm.

[0110] Embodiment 5:

[0111] Based on the fourth embodiment, the automatic insertion module of the embodiment of the present invention includes:

[0112] A fourth acquisition unit: acquiring a motion trajectory of the robotic arm according to the optimal path of the robotic arm, and acquiring a grasping method and a pushing method of the robotic arm for the conveyed material according to the motion trajectory;

[0113] A fifth acquisition unit: acquiring a path between the transported material and the Luer connector according to the positioning of the transported material and the Luer connector;

[0114] A sixth acquisition unit: acquiring obstacles and path parameters in the path process according to the path;

[0115] Automated insertion unit: The automated insertion of the Luer connector is achieved based on the grabbing and pushing methods of the conveyed material by the robot arm according to the obstacles and path parameters.

[0116] In this embodiment, the robot arm grabs the conveyed material in the following ways: suction cup grabbing, claw grabbing, and force feedback grabbing.

[0117] In this embodiment, the robot arm pushes the conveyed material in the following ways: contact propulsion, non-contact propulsion, and adsorption propulsion.

[0118] In this embodiment, the path parameters may include: a starting point, an end point, and a distance.

[0119] In this embodiment, there is a close relationship between the material and the Luer connector. The Luer connector is a component used to connect two pipes, and the pipe is a channel for transporting materials. Therefore, the relationship between the Luer connector and the material is that the Luer connector is used to connect pipes to facilitate the transportation of materials to where they are needed. For example, in a water treatment plant, the Luer connector can be used to connect different pipes to facilitate the transportation of water from one place to another.

[0120] The beneficial effects of the above technical solution are: obtaining the grasping method and pushing method of the material according to the motion trajectory of the robot arm, and realizing the automatic insertion of the Luer connector according to the path obstacle parameters between the material and the Luer connector, which can enable the robot arm to complete the task faster and more accurately, thereby improving the grasping efficiency and pushing efficiency, and at the same time, improving the reliability and safety of the automated insertion process.

[0121] Embodiment 6:

[0122] Based on Example 5, the monitoring module of the embodiment of the present invention includes:

[0123] Monitoring unit: monitors the motion parameters of the robot arm in real time based on the laser rangefinder and inertial measurement unit;

[0124] Comparison unit: compares the real-time motion parameters with the preset parameters, and determines whether the working state of the robot arm is abnormal according to the comparison result;

[0125] A seventh acquisition unit is used for acquiring the process progress of the automatic insertion of the Luer connector according to the real-time motion parameters;

[0126] Visual display unit: The real-time working status of the robot arm and the progress of the automated insertion of the Luer connector are visualized through the human-computer interaction interface.

[0127] In this embodiment, the laser rangefinder is an instrument that uses laser technology to measure distance, and calculates the distance by emitting a visible light (such as red or green) laser beam and measuring the time difference of the reflected light received by the receiver.

[0128] In this embodiment, the inertial measurement unit is a device capable of measuring the acceleration and angular velocity of an object in real time.

[0129] In this embodiment, the motion parameters may include: position, posture, force and motion speed.

[0130] In this embodiment, the human-computer interaction interface refers to the way of information exchange and interaction between humans and computer systems.

[0131] The beneficial effects of the above technical solution are: the working state of the robot arm and the progress of the automatic insertion of the Luer connector are determined according to the motion parameters of the robot arm, and precise control can be performed according to the motion parameters to ensure that the quality and accuracy of each connector are guaranteed. At the same time, the time and error rate of manual intervention can be reduced. Furthermore, the human-computer interaction interface can be displayed, and the human-computer interaction interface can present the working state of the robot arm and the progress of the insertion process to the operator in real time, and the operation process of the robot arm can be adjusted in time to ensure the stability of the insertion.

[0132] Embodiment 7:

[0133] Based on Embodiment 6, a fourth acquisition unit in Embodiment 6 of the present invention includes:

[0134] The first acquisition subunit is used to acquire a plurality of measurement points of the optimal path of the robot arm;

[0135] The first determination subunit: determines the space coordinates corresponding to the robot arm at multiple measurement points and uses an adaptive polynomial to fit the key points to obtain a continuous curve equation of the robot arm angle, speed, and acceleration with respect to time;

[0136] The second determination subunit: determines the posture parameters and joint torque of the robot arm at each measurement point according to the continuous curve equation;

[0137] The first subunit is to obtain the structural information of the robot arm and establish the spatial double arc constraint equation of the robot arm according to the structural information;

[0138] The second establishing subunit: establishing the first constraint equation of the manipulator and the second constraint equation of the manipulator respectively according to the spatial double arc constraint equation;

[0139] A third establishing subunit: establishing a robot arm global constraint equation for representing an arc curve of a super redundant linkage robot arm according to the first constraint equation and the second constraint equation;

[0140] Solving subunit: Solve the global constraint equation of the robot arm to obtain the driving joint angle of each arm segment;

[0141] Evaluation and correction subunit: evaluates and corrects the posture parameters and joint torque of the robot arm at each measurement point according to the driving joint angles of each arm segment;

[0142] Construct subunit: Construct the motion trajectory of the robot arm according to the corrected posture parameters and joint torque of the robot arm at each measurement point and the positional relationship between multiple measurement points.

[0143] In this embodiment, the optimal path of the robot arm refers to the shortest distance required for the robot arm to travel from the current position to the target position when performing a task.

[0144] In this embodiment, polynomial adaptation refers to a method of increasing the complexity of the equation by increasing the order of the polynomial, thereby achieving adaptability to input data.

[0145] In this embodiment, the continuous curve equation refers to an equation that describes the trajectory of a point where the absolute value of the difference between the distances from a spatial point (x, y) to two adjacent straight lines is equal to a constant.

[0146] In this embodiment, the posture parameter of the robot arm at each measurement point is a set of information describing the position and orientation of the robot arm in space, including:

[0147] Euler angles: Describe the three-dimensional rotation sequence of the robot arm in the Cartesian coordinate system, usually expressed as rotation around the x-axis, y-axis, and z-axis.

[0148] Quaternions: Describe the three-dimensional rotation sequence of the robot arm in a Cartesian coordinate system, similar to Euler angles, but more stable and less susceptible to computer noise.

[0149] Tool vector: describes the positive direction of motion of the robot arm in a given posture. The tool vector is the direction of the push or pull applied by the robot arm in the direction it wants to move.

[0150] Joint angle: describes the angle of the robot arm joints.

[0151] In this embodiment, the joint torque of the robotic arm is a measure that describes the rotation effect produced by each joint of the robotic arm, and reflects the rotational movement of the center of mass of the robotic arm in the joint space.

[0152] In this embodiment, the spatial double-arc constraint equation of the robot arm is used to describe the kinematic constraint conditions of the robot arm, and the constraint equation mainly considers the rotational motion of the robot arm at the joint and the position limitation of the end effector.

[0153] In this embodiment, the first constraint equation of the robot arm is that during the movement of the robot arm, each joint has at least one rotational degree of freedom, that is, the change of the joint angle does not affect the overall position of the robot arm. Therefore, the first constraint equation of the robot arm can be established by analyzing the rotational degrees of freedom of the robot arm and the motion trajectory of the end effector. For example, for a robot arm with five degrees of freedom, its first constraint equation can be expressed as follows:

[0154]

[0155] in, and Represent the angle and azimuth of joint i respectively, and n represents the number of degrees of freedom. This equation indicates that the angle change of each joint must be consistent with the corresponding azimuth change.

[0156] In this embodiment, the hyper-redundant linkage robot arm means that each joint of the robot arm has multiple independent degrees of freedom, so that the robot arm can realize arbitrary shape movement in space, and the global constraint equation of the robot arm includes:

[0157] Position constraint: In order to ensure the stability of the robot arm, it is necessary to ensure that the position constraint conditions are met at any point in the movement of the robot arm. On the arc curve, this constraint equation can be expressed as:

[0158]

[0159] in,( , , ) is the position of the robot arm at time t, is the position of the point on the circular curve in the Cartesian coordinate system.

[0160] Speed ​​constraint: When solving the circular motion of the robot arm, the speed constraint of the robot arm also needs to be considered. On the circular curve of the robot arm, the speed constraint can be obtained by solving the speed derivative. The tangent direction of a point on the circular curve is the speed direction of the point.

[0161] In this embodiment, the driving joint angle of each arm segment can be set according to factors such as the working range, load capacity, and accuracy requirements of the robotic arm.

[0162] The beneficial effects of the above technical solution are: the motion trajectory of the robotic arm is constructed based on the posture parameters and joint torques of the robotic arm after correction at each measuring point and the positional relationship between multiple measuring points, and the accuracy and efficiency of grasping and pushing can be improved by correcting the position of the robotic arm. At the same time, by constructing the motion trajectory, the task can be performed at the actual position and posture of each measuring point, thereby avoiding errors caused by instability of the robotic arm.

[0163] Embodiment 8:

[0164] The present invention provides a Luer connector automatic insertion control method, comprising:

[0165] Step 1: Obtain the structure and working principle of the Luer connector, and obtain the corresponding sensor according to the structure and working principle;

[0166] Step 2: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters;

[0167] Step 3: Determine the size and shape of different conveyed materials and Luer connectors, and automatically generate the optimal path of the robot arm based on the control algorithm;

[0168] Step 4: Automated insertion of the Luer connector is performed based on the optimal path of the robotic arm according to the positioning of the conveyed material and the Luer connector;

[0169] Step 5: Monitor the automated insertion process in real time, and display the working status and insertion progress of the robotic arm in real time through the human-computer interaction interface.

[0170] The beneficial effects of the above technical solution are: determining the sensor according to the structure and working principle of the Luer connector, monitoring the pipeline parameters in real time and determining the positioning of the material and the Luer connector, generating the optimal path of the robot arm based on the control algorithm according to the material and the connector, realizing the automatic insertion of the Luer connector, and displaying the automatic insertion process in real time through the human-computer interaction interface, being able to obtain multiple parameters of the pipeline in real time to ensure the accuracy of the data, and at the same time, reducing manual operation in the process of grabbing materials and inserting connectors, ensuring the automation of pipeline connection and the accuracy of material grabbing, improving the connection efficiency and the accuracy of insertion, and further, displaying the insertion process to improve visualization and ensure the accuracy of the insertion process.

[0171] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is 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 ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A Luer connector automated insertion system, characterized in that: include: Acquisition module: acquires the structure and working principle of the Luer connector, and acquires the corresponding sensor according to the structure and working principle; A determination module: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters; Generation module: determines the size and shape of different conveyed materials and Luer connectors, and automatically generates the optimal path of the robot arm based on the control algorithm; Automatic insertion module: realizes automatic insertion of the Luer connector based on the optimal path of the robot arm according to the positioning of the conveyed material and the Luer connector; Monitoring module: monitors the automated insertion process in real time, and displays the working status and insertion progress of the robot arm in real time through the human-computer interaction interface; Among them, determine the module, including: Conversion unit: based on the sensor, monitors the deformation of the pipeline in real time when it is subjected to different pressures, and converts the deformation into an electrical signal; A second determination unit is used to determine the specific pressure amplitude, vibration amplitude and frequency of the pipeline according to the electrical signal; A third determining unit: determining a micro displacement of the Luer connector according to the specific pressure amplitude, vibration amplitude and frequency; A fourth determining unit: determining the positioning of the transported material and the Luer connector according to a micro displacement of the Luer connector connector; Among them, the generation module includes: Preprocessing unit: acquiring images of different conveyed materials and the Luer connector, and preprocessing the images; Annotation unit: extract features from the preprocessed image, obtain the size and shape parameters of different transported materials and Luer connectors based on the extracted features, and annotate them in the image; A third acquisition unit: acquiring corresponding controller algorithms according to the size and shape parameters of the different transported materials and the Luer connector, and determining the kinematic model and dynamic model of the robot arm according to the controller algorithm; A fifth determination unit: determining the range of motion and rate limit of the joints of the robotic arm, and the acceleration limit of the robotic arm when performing a task according to the kinematic model and the dynamic model; A sixth determination unit: determining optimal controller parameters based on a gradient descent optimization algorithm according to the motion range and rate limit of the joints of the robotic arm and the acceleration limit of the robotic arm when performing a task; Generating unit: automatically generating an optimal path of the robot arm according to the optimal controller parameters.

2. The Luer connector automated insertion system according to claim 1, characterized in that: Get modules, including: A first acquisition unit: acquires a model of a target Luer connector, and acquires a structure of the Luer connector based on the model and a device database; A second acquisition unit: acquiring a working principle of the Luer connector based on the structure of the Luer connector and the work manual; A first determining unit is configured to determine a corresponding sensor according to the structure and working principle.

3. The Luer connector automated insertion system according to claim 1, characterized in that: Automation Insertion Module, including: A fourth acquisition unit: acquiring a motion trajectory of the robotic arm according to the optimal path of the robotic arm, and acquiring a grasping method and a pushing method of the robotic arm for the Luer connector according to the motion trajectory; A fifth acquisition unit: acquiring a path between the transported material and the Luer connector according to the positioning of the transported material and the Luer connector; A sixth acquisition unit: acquiring obstacles and path parameters in the path process according to the path; Automated insertion unit: Automated insertion of the Luer connector is achieved based on the grabbing and pushing methods of the Luer connector by the robotic arm according to the obstacles and path parameters.

4. The Luer connector automated insertion system according to claim 1, characterized in that: Monitoring modules, including: Monitoring unit: monitors the motion parameters of the robot arm in real time based on the laser rangefinder and inertial measurement unit; Comparison unit: compares the real-time motion parameters with the preset parameters, and determines whether the working state of the robot arm is abnormal according to the comparison result; A seventh acquisition unit is used for acquiring the process progress of the automatic insertion of the Luer connector according to the real-time motion parameters; Visual display unit: The real-time working status of the robot arm and the progress of the automated insertion of the Luer connector are visualized through the human-computer interaction interface.

5. The Luer connector automated insertion system according to claim 3, characterized in that: The fourth acquisition unit includes: The first acquisition subunit is used to acquire a plurality of measurement points of the optimal path of the robot arm; The first determination subunit: determines the space coordinates corresponding to the robot arm at multiple measurement points and uses an adaptive polynomial to fit the key points to obtain a continuous curve equation of the robot arm angle, speed, and acceleration with respect to time; The second determination subunit: determines the posture parameters and joint torque of the robot arm at each measurement point according to the continuous curve equation; The first subunit is to obtain the structural information of the robot arm and establish the spatial double arc constraint equation of the robot arm according to the structural information; The second establishing subunit: establishing the first constraint equation of the manipulator and the second constraint equation of the manipulator respectively according to the spatial double arc constraint equation; A third establishing subunit: establishing a robot arm global constraint equation for representing an arc curve of a super redundant linkage robot arm according to the first constraint equation and the second constraint equation; Solving subunit: Solve the global constraint equation of the robot arm to obtain the driving joint angle of each arm segment; Evaluation and correction subunit: evaluates and corrects the posture parameters and joint torque of the robot arm at each measurement point according to the driving joint angles of each arm segment; Construct subunit: Construct the motion trajectory of the robot arm according to the corrected posture parameters and joint torque of the robot arm at each measurement point and the positional relationship between multiple measurement points.

6. The control method of the Luer connector automated insertion system according to claim 1, characterized in that: include: Step 1: Obtain the structure and working principle of the Luer connector, and obtain the corresponding sensor according to the structure and working principle; Step 2: monitoring multiple parameters of the pipeline in real time based on the sensor, and determining the positioning of the transported material and the Luer connector according to the multiple parameters; Step 3: Determine the size and shape of different conveyed materials and Luer connectors, and automatically generate the optimal path of the robot arm based on the control algorithm; Step 4: Automated insertion of the Luer connector is performed based on the optimal path of the robotic arm according to the positioning of the conveyed material and the Luer connector; Step 5: Monitor the automated insertion process in real time, and display the working status and insertion progress of the robotic arm in real time through the human-computer interaction interface.

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