End tool control method and device and computer equipment

Abstract

The invention relates to an end tool control method and device and computer equipment. The relative pose relation between the end tool and the constraint area of the target structure is determined, the current distance between the center point of the end tool and each boundary is determined according to the relative pose relation, and therefore the rotating speed of the end tool is controlled according to each current distance. The constraint region comprises a plurality of sub-constraint regions which are nested together in the same direction, the plurality of sub-constraint regions are adjacent in sequence, and a boundary is formed between every two adjacent sub-constraint regions. As the boundary is the boundary between every two adjacent sub-constraint areas in the constraint area of the target structure, the position relation between the end tool and the target structure can be determined by determining the current distance between the center point of the end tool and each boundary. Therefore, the rotating speed of the end tool is controlled according to the current distance, so that the end tool has different rotating speeds at different positions away from the target structure, and the operation efficiency is considered while the operation safety is ensured.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a method, device and computer equipment for controlling an end tool. Background Art

[0002] Hip replacement is to replace the diseased hip joint with a joint prosthesis. It is necessary to use an end tool such as an acetabular rasp to grind the target structure such as the acetabulum. In the related technology, the end tool is simply controlled by powering on, off, and forward / reverse to control the end tool to grind the bone. The simple control based on human experience increases the risk of over-grinding during the operation. In order to ensure safety, the grinding and filing will be stopped frequently, which affects the smoothness of the operation and the doctor's experience. Therefore, the existing end tool control cannot take into account both surgical safety and efficiency. Summary of the invention

[0003] Based on this, it is necessary to provide a terminal tool control method, device and computer equipment that can take into account both surgical safety and efficiency in order to address the above technical problems.

[0004] In a first aspect, the present application provides a method for controlling an end tool, the method comprising:

[0005] Determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0006] Determining the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship;

[0007] The rotation speed of the end tool is controlled according to each of the current distances.

[0008] In one embodiment, determining the relative position relationship between the end tool and the constraint area of ​​the target structure includes:

[0009] Acquire a first relative position relationship between the end tool and the robot arm base;

[0010] Acquire a second relative position relationship between the robot arm base and the constraint area of ​​the target structure;

[0011] The relative position and posture relationship between the end tool and the constraint area of ​​the target structure is determined according to the first relative position and posture relationship and the second relative position and posture relationship.

[0012] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area are reduced successively.

[0013] In one embodiment, the dividing line includes a deceleration dividing line and a buffer dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; and the prohibited grinding dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0014] In one embodiment, the current distance includes a first current distance between the center point of the end tool and the deceleration boundary line, and controlling the rotation speed of the end tool according to each of the current distances includes:

[0015] Determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line;

[0016] The rotation speed of the end tool is controlled according to a preset rule corresponding to the target sub-constraint area.

[0017] In one embodiment, controlling the rotation speed of the end tool according to a preset rule corresponding to the target sub-constraint area includes:

[0018] If the target sub-constraint area is the first sub-constraint area, controlling the rotation speed of the end tool to be a first preset rotation speed;

[0019] If the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be a second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance;

[0020] If the target sub-constraint area is the third sub-constraint area, controlling the rotation speed of the end tool to be a third preset rotation speed;

[0021] The second preset speed is less than or equal to the first preset speed, and greater than or equal to the third preset speed.

[0022] In one embodiment, the method further comprises:

[0023] If the time that the end tool is located in the third sub-constraint area is greater than a preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than the third preset rotation speed, the end tool is controlled to be powered off.

[0024] In one embodiment, the method further comprises:

[0025] Determining the angle between the axis of the end tool and the axis of the target structure according to the relative posture relationship;

[0026] When the angle is greater than a preset angle, the end tool is controlled to be powered off.

[0027] In a second aspect, the present application further provides an end tool control device, the device comprising:

[0028] A first determination module is used to determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0029] A second determination module is used to determine the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship;

[0030] The first control module is used to control the rotation speed of the end tool according to each current distance.

[0031] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0032] Determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0033] Determining the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship;

[0034] The rotation speed of the end tool is controlled according to each of the current distances.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0037] Determining the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship;

[0038] The rotation speed of the end tool is controlled according to each of the current distances.

[0039] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0040] Determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0041] Determining the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship;

[0042] The rotation speed of the end tool is controlled according to each of the current distances.

[0043] The above-mentioned end tool control method, device and computer equipment determine the relative posture relationship between the end tool and the constraint area of ​​the target structure, and determine the current distance between the center point of the end tool and each dividing line according to the relative posture relationship, so as to control the rotation speed of the end tool according to each current distance. The constraint area includes multiple sub-constraint areas nested together in the same direction, and the multiple sub-constraint areas are adjacent in sequence, and there is a dividing line between every two adjacent sub-constraint areas. Since the dividing line is the dividing line between every two adjacent sub-constraint areas in the constraint area of ​​the target structure, the current distance between the center point of the end tool and each dividing line is determined in the embodiment of the present application, and the positional relationship between the end tool and the target structure can be determined. Therefore, by controlling the rotation speed of the end tool according to the current distance, the end tool can have different rotation speeds at different positions from the target structure, while ensuring the safety of the operation and taking into account the efficiency of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 An application environment diagram of a terminal tool control method in an embodiment;

[0045] Figure 2 is a schematic diagram of an abduction angle in one embodiment;

[0046] Figure 3 is a schematic diagram of a forward-leaning foot in one embodiment;

[0047] Figure 4 A diagram showing an application environment of a method for controlling an end tool in another embodiment;

[0048] Figure 5A schematic diagram of a flow chart of a method for controlling an end tool in one embodiment;

[0049] Figure 6 is a schematic diagram of a constraint area in one embodiment;

[0050] Figure 7 is a schematic diagram of a constraint area in another embodiment;

[0051] Figure 8 Schematic diagram of a flow chart of a method for acquiring relative posture relationship in one embodiment;

[0052] Fig. 9 It is a flowchart of a method for controlling the rotation speed of an end tool in one embodiment;

[0053] Fig.10 A schematic diagram of the speed control principle of the end tool in one embodiment;

[0054] Fig.11 A schematic flow chart of a method for controlling an end tool in another embodiment;

[0055] Fig.12 A schematic flow chart of a method for controlling an end tool in another embodiment;

[0056] Fig.13 It is a structural block diagram of an end tool control device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] The end tool control method provided in the embodiment of the present application can be applied to Figure 1 The purpose of hip replacement is to replace the diseased hip joint with a joint prosthesis. The surgical requirement is to use the end tool to perform bone grinding and rasp operation on the target structure such as the acetabulum, and the installation posture of the joint prosthesis should be as accurate as possible. When performing bone grinding and rasp operation on the target structure of the acetabulum, it is necessary to pay attention to the position of the target structure in the acetabulum; the abduction angle of the target structure of the acetabulum, such as Figure 2 As shown; the anteversion angle of the target structure of the acetabulum, such as Figure 3 shown. Figure 2 The abduction angle data in the figure only gives a possible situation, which can actually be determined by the patient's physiological structure during preoperative planning.

[0059] like Figure 1As shown, the application environment of hip replacement surgery includes an electric drill 3, a constraint area 20, a target structure 10, one end of a connecting rod contains an end tool 4, the end tool 4 is used to grind the target structure 10, and the other end of the connecting rod is connected to the electric drill 3 for driving the connecting rod and the end tool 4 to rotate.

[0060] Figure 4 FIG. 1 is a schematic diagram of an application environment in another embodiment. The application environment includes a computer device, wherein the computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 4 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store terminal tool control related data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a terminal tool control method is implemented. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0061] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0062] In one embodiment, Figure 5 As shown, a method for controlling an end tool is provided, and the method is applied to Figure 4 The computer device in the example is used to illustrate, including the following steps:

[0063] S501, determining the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas.

[0064] Optionally, the end tool is a file for cleaning constrained areas of the target structure.

[0065] Among them, the constraint area of ​​the target structure includes multiple sub-constraint areas nested together in the same direction. Since the constraint area is determined according to the origin and axis of the target structure, the constraint area will change with the position of the target structure, and the origin of the target structure coincides with the vertex of the constraint area, and the axis of the target structure coincides with the axis of the constraint area. Figure 6 As shown, Figure 6 There are three sub-constraint areas, namely the high-speed grinding and filing area, the buffer grinding and filing area and the low-speed grinding and filing area.

[0066] In this embodiment, a first relative posture relationship between the end tool and the robot arm base, and a second relative posture relationship between the robot arm base and the constraint area of ​​the target structure can be obtained, so that the relative posture relationship between the end tool and the constraint area of ​​the target structure can be determined based on the first relative posture relationship and the second relative posture relationship.

[0067] In a possible implementation, a third relative position and posture relationship between the robot arm base and the optical tracking system is obtained through a navigation system, and a fourth relative position and posture relationship between the constraint area of ​​the target structure and the optical tracking system is obtained through a navigation system, and a fifth relative position and posture relationship between the robot arm base and the constraint area of ​​the target structure is determined based on the third relative position and posture relationship and the fourth relative position relationship. Since the end tool is set at the end of the robot arm base, the relative position and posture relationship between the end tool and the constraint area of ​​the target structure is obtained based on the joint value of the end tool.

[0068] It should be noted that the relative posture relationship between the end tool and the constraint area of ​​the target structure is determined based on the center point of the end tool, the axial delay vector of the end tool, and the target structure. Therefore, when end tools of different specifications are selected, the relative posture relationship between the end tool and the constraint area of ​​the target structure will also change.

[0069] S502, determining the current distance between the center point of the end tool and each boundary line according to the relative posture relationship.

[0070] In this embodiment, the distance between each dividing line is preset, such as Figure 7 As shown, the constraint area includes four sub-constraint areas, which are the fourth sub-constraint area, the third sub-constraint area, the second sub-constraint area and the first sub-constraint area, which are arranged in sequence. The first sub-constraint area and the second sub-constraint area are separated by a first dividing line, the second sub-constraint area and the third sub-constraint area are separated by a second dividing line, and the third sub-constraint area and the fourth sub-constraint area are separated by a fourth dividing line. Taking the first dividing line as a reference, that is, the first dividing line is 0, the distance between the second dividing line and the first dividing line is d1, and the distance between the third dividing line and the first dividing line is d2.

[0071] The position of the center point of the end tool can be determined based on the relative position and posture relationship, and the current distance between the center point and each dividing line can be determined based on the position of the center point. For example, if the position of the center point is (3, 2), d1 is 5, and d2 is 8, then the distance between the center point and the first dividing line is 2, the distance between the center point and the second dividing line is 3, and the distance between the center point and the third dividing line is 6.

[0072] S503, controlling the rotation speed of the end tool according to each current distance.

[0073] In this embodiment, the rotation speed of the end tool can be controlled according to the current distance between the center point of the end tool and the boundary line closest to the target structure. For example, as the current distance increases, the rotation speed of the end tool is linearly increased. The target constraint sub-region where the end tool is located can also be determined according to the current distance, and the rotation speed of the end tool is controlled according to the rotation speed of the target constraint sub-region.

[0074] Furthermore, an alarm can be given while controlling the rotation speed of the end tool, such as a buzzer, an interface alarm, an indicator light, etc. The frequency and decibel of the buzzer can change with the rotation speed of the end tool.

[0075] In the above-mentioned end tool control method, the relative posture relationship between the end tool and the constraint area of ​​the target structure is determined, and the current distance between the center point of the end tool and each dividing line is determined according to the relative posture relationship, so that the rotation speed of the end tool is controlled according to each current distance. The constraint area includes multiple sub-constraint areas nested together in the same direction, and the multiple sub-constraint areas are adjacent in sequence, and there is a dividing line between every two adjacent sub-constraint areas. Since the dividing line is the dividing line between every two adjacent sub-constraint areas in the constraint area of ​​the target structure, the current distance between the center point of the end tool and each dividing line is determined in the embodiment of the present application, and the positional relationship between the end tool and the target structure can be determined. Therefore, controlling the rotation speed of the end tool according to the current distance can make the end tool have different rotation speeds at different positions from the target structure, while ensuring the safety of the operation and taking into account the efficiency of the operation.

[0076] Figure 8 FIG. 1 is a flow chart of a method for acquiring relative posture relationship in one embodiment. Figure 8 As shown, the embodiment of the present application relates to a possible implementation method of how to determine the relative posture relationship between the end tool and the constraint area of ​​the target structure, including the following steps:

[0077] S801, obtaining a first relative position relationship between the end tool and the robot arm base.

[0078] S802, obtaining a second relative position and posture relationship between the robot arm base and the constraint area of ​​the target structure.

[0079] In this embodiment, the first relative position and posture relationship between the end tool and the robot arm base can be obtained through the navigation system, and the second relative position and posture relationship between the robot arm base and the constraint area of ​​the target structure can be obtained through the navigation system. Exemplarily, the navigation system includes an image sensor, which uses the image sensor to capture images of the end tool, the robot arm base, and the constraint area of ​​the target structure, and obtains the first relative position and posture relationship between the end tool and the robot arm base and the second relative position and posture relationship between the robot arm base and the constraint area of ​​the target structure based on the captured images.

[0080] S803: Determine a relative posture relationship between the end tool and the constraint area of ​​the target structure according to the first relative posture relationship and the second relative posture relationship.

[0081] In this embodiment, since the first relative posture relationship is the posture relationship between the end tool and the robot arm base, and the second relative posture relationship is the posture relationship between the robot arm base and the constraint area of ​​the target structure, the relative posture relationship between the end tool and the constraint area of ​​the target structure is obtained by using the conversion relationship.

[0082] In an embodiment of the present application, a first relative posture relationship between the end tool and the robot arm base is obtained, and a second relative posture relationship between the robot arm base and the constraint area of ​​the target structure is obtained. Based on the first relative posture relationship and the second relative posture relationship, the relative posture relationship between the end tool and the constraint area of ​​the target structure is determined, thereby improving the efficiency of determining the relative posture relationship between the end tool and the constraint area of ​​the target structure, thereby laying a foundation for controlling the rotational speed of the end tool based on the relative posture relationship.

[0083] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speed of the end tool corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decreases successively.

[0084] In this embodiment, as described above Figure 7 As shown, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside, the bottom of the fourth sub-constraint area is connected to the target structure, the first sub-constraint area is far away from the target structure, the third sub-constraint area is connected to the fourth sub-constraint area, and the second sub-constraint area and the third sub-constraint area are arranged between the first sub-constraint area and the fourth sub-constraint area. Therefore, the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area, the third sub-constraint area and the fourth sub-constraint area are reduced successively.

[0085] It should be noted that, when the target constraint area is divided into four constraint areas, the bottom of the fourth sub-constraint area is connected to the target structure, the fourth sub-constraint area is a prohibited grinding and filing area, and the rotation speed of the fourth sub-constraint area is 0.

[0086] Among them, the dividing lines include a deceleration dividing line, a buffer dividing line and a prohibited grinding and filing dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0087] Fig. 9 FIG. 1 is a flow chart of a method for controlling the rotation speed of an end tool in an embodiment. Fig. 9 As shown, the embodiment of the present application relates to a possible implementation method of how to control the rotation speed of the end tool according to the current distance including the first current distance between the center point of the end tool and the deceleration boundary line, including the following steps:

[0088] S901, determining a target sub-constraint area where the end tool is located according to a first current distance and each preset distance; each preset distance is a distance between each dividing line and a deceleration dividing line.

[0089] In this embodiment, as described above Figure 7 As shown, the preset distance d1 of the buffer boundary is 5, the preset distance d2 of the prohibited grinding boundary is 8, and the position of the center point of the end tool is (3, 2). Then, the first current distance D between the center point and the first boundary is 2, and the first current distance D is less than d1. It can be determined that the target sub-constraint area where the end tool is located is the second sub-constraint area; if the position of the center point of the end tool is (5, 6), then the first current distance D between the center point and the first boundary is 6, and the first current distance D is greater than d1 and less than d2. It can be determined that the target sub-constraint area where the end tool is located is the third sub-constraint area.

[0090] S902, controlling the rotation speed of the end tool according to a preset rule corresponding to the target sub-constraint area.

[0091] Optionally, the preset rule may include a rotation speed rule, a time rule, etc. For example, the rotation speed of the third sub-constraint area is equal to a preset rotation speed, and the end tool is located in the third sub-constraint area for less than a preset time.

[0092] In this embodiment, if the end tool is in the fourth sub-constraint area, the rotation speed of the end tool is controlled to be 0.

[0093] Furthermore, "controlling the rotation speed of the end tool according to the preset rules corresponding to the target sub-constraint area" includes the following situations: if the target sub-constraint area is the first sub-constraint area, the rotation speed of the end tool is controlled to be the first preset rotation speed; if the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be the second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance; if the target sub-constraint area is the third sub-constraint area, the rotation speed of the end tool is controlled to be the third preset rotation speed; wherein the second preset rotation speed is less than or equal to the first preset rotation speed, and greater than or equal to the third preset rotation speed.

[0094] In this embodiment, as described above Figure 7 and Fig.10 As shown, the first sub-constraint area is far away from the target structure. If the target sub-constraint area is the first sub-constraint area, that is, the end tool is located in the first sub-constraint area, and the first sub-constraint area is a high-speed grinding and filing area, then before time t0, the rotation speed of the end tool is controlled to be the first preset rotation speed for high-speed grinding and filing.

[0095] If the target sub-constraint area is the second sub-constraint area, that is, the end tool is located in the second sub-constraint area, and the second sub-constraint area is a low-speed grinding and filing area, then at time t0-t1, the rotation speed of the end tool is controlled to be the second preset rotation speed according to the first current distance. If the first current distance gradually increases, it proves that the end tool is constantly approaching the target structure, and the rotation speed of the end tool is linearly reduced.

[0096] If the target sub-constraint area is the third sub-constraint area, that is, the end tool is located in the third sub-constraint area, and the third sub-constraint area is the buffer grinding and filing area, then at time t1-t2, the speed of the end tool is controlled to be the third preset speed.

[0097] Since the distance between the second sub-constraint area and the target structure is smaller than the distance between the first sub-constraint area and the target structure, and larger than the distance between the third sub-constraint area and the target structure, the second preset speed is smaller than or equal to the first preset speed, and larger than or equal to the third preset speed.

[0098] In the embodiment of the present application, the target sub-constraint area where the end tool is located is determined according to each current distance, and the rotation speed of the end tool is controlled according to the preset rules corresponding to the target sub-constraint area. In the embodiment of the present application, the rotation speed of the end tool is controlled according to the target sub-constraint area where the end tool is located, which improves the grinding efficiency of the end tool while ensuring the safety of the end tool operation.

[0099] In one embodiment, if the end tool is located in the third sub-constraint area for a time greater than a preset time and / or the rotation speed of the end tool in the third sub-constraint area is greater than a third preset rotation speed, the end tool is controlled to be powered off.

[0100] In this embodiment, when the end tool just enters the third sub-constraint area, the power is not immediately turned off, but it is ground and filed at the third preset speed. When it just enters the third sub-constraint area, the system sounds a whistle or displays a prompt to remind the user to stay away from the third sub-constraint area as there is a risk of overgrinding.

[0101] If the end tool stays in the third sub-constraint area for more than the preset time, or enters the third sub-constraint area at a speed greater than the third preset rotational speed, or enters the third sub-constraint area at the third preset rotational speed and during the filing process, the rotational speed of the end tool is greater than the third preset rotational speed, the end tool is controlled to be powered off.

[0102] As mentioned above Figure 7 As shown, at time t1-t2, the time that the end tool is located in the third sub-constraint area does not exceed the preset time, and the rotation speed of the end tool in the third sub-constraint area is not greater than the third preset rotation speed. At time t2-t3, the end tool re-enters the second sub-constraint area, and the rotation speed of the end tool is controlled to be the second preset rotation speed.

[0103] In the embodiment of the present application, when the time when the end tool is in the third sub-constraint area is greater than the preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than the third preset rotation speed, the end tool is controlled to be powered off. If the user receives the prompt and moves the end tool away from the third sub-constraint area within the preset time, the end tool will not be powered off, so the smoothness and safety of the operation can be guaranteed as much as possible under the premise of safe friction.

[0104] Fig.11 FIG. 1 is a flow chart of a method for controlling an end tool in another embodiment. Fig.11 As shown, the following steps are included:

[0105] S1101, determining the angle between the axis of the end tool and the axis of the target structure according to the relative posture relationship.

[0106] S1102, when the angle is greater than a preset angle, the end tool is controlled to be powered off.

[0107] Optionally, the preset angle is 10 degrees, 15 degrees, 20 degrees, etc. Figure 6 The β angle is shown.

[0108] In this embodiment, if the preset angle is 15 degrees, the electric drill is allowed to be powered on only when the angle between the axis of the end tool and the axis of the target structure is less than or equal to 15 degrees. When the angle between the axis of the end tool and the axis of the target structure is greater than 15 degrees, all the above end tool control methods will be ignored, the power supply to the end tool will be stopped immediately and a safety warning will be triggered.

[0109] In the embodiment of the present application, the angle between the axis of the end tool and the axis of the target structure is determined based on the relative posture relationship. When the angle is greater than a preset angle, the end tool is controlled to be powered off to ensure the safety of the operation.

[0110] Fig.12 FIG. 1 is a flow chart of a method for controlling an end tool in another embodiment. Fig.12 As shown, the method comprises the following steps: obtaining a first relative posture relationship between the end tool and the robot arm base; obtaining a second relative posture relationship between the robot arm base and the constraint area of ​​the target structure; determining the relative posture relationship between the end tool and the constraint area of ​​the target structure according to the first relative posture relationship and the second relative posture relationship; determining the angle between the axis of the end tool and the axis of the target structure according to the relative posture relationship; when the angle is less than a preset angle, determining the current distance between the center point of the end tool and each boundary line according to the relative posture relationship; determining the distance between the center point of the end tool and the deceleration boundary line according to the relative posture relationship. The first current distance of the line and each preset distance determine the target sub-constraint area where the end tool is located; each preset distance is the distance between each dividing line and the deceleration dividing line; if the first current distance is less than 0, the rotation speed of the end tool is controlled to be the first preset rotation speed; the first current distance is not less than 0, and is less than the distance d1 between the buffer dividing line and the deceleration dividing line, then the rotation speed of the end tool is controlled to be the second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance; the first current distance is not less than d1, and is less than the distance d2 between the prohibited grinding dividing line and the deceleration dividing line, then the rotation speed of the end tool is controlled to be the third preset rotation speed.

[0111] In the embodiment of the present application, the relative posture relationship between the end tool and the constraint area of ​​the target structure is determined by the first relative posture relationship between the end tool and the robot arm base, and the second relative posture relationship between the robot arm base and the constraint area of ​​the target structure, so that the current distance between the center point of the end tool and each dividing line is determined according to the relative posture relationship, and the positional relationship between the end tool and the target structure can be determined. Therefore, the rotation speed of the end tool is controlled according to the current distance, so that the end tool has different rotation speeds at different positions from the target structure, ensuring the safety of the operation while taking into account the efficiency of the operation.

[0112] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0113] Based on the same inventive concept, the embodiment of the present application also provides an end tool control device for implementing the end tool control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more end tool control device embodiments provided below can refer to the limitations of the end tool control method above, and will not be repeated here.

[0114] In one embodiment, Fig.13 As shown, a terminal tool control device is provided, comprising: a first determination module 11, a second determination module 12 and a first control module 13, wherein:

[0115] The first determination module 11 is used to determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0116] A second determination module 12 is used to determine the current distance between the center point of the end tool and each boundary line according to the relative posture relationship;

[0117] The first control module 13 is used to control the rotation speed of the end tool according to each current distance.

[0118] In one embodiment, the first determining module includes:

[0119] A first acquisition unit, used to acquire a first relative position relationship between the end tool and the robot arm base;

[0120] A second acquisition unit, used to acquire a second relative position and posture relationship between the robot arm base and the constraint area of ​​the target structure;

[0121] The first determining unit is used to determine the relative posture relationship between the end tool and the constraint area of ​​the target structure according to the first relative posture relationship and the second relative posture relationship.

[0122] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decrease successively.

[0123] In one embodiment, the dividing line includes a deceleration dividing line and a buffer dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; and the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0124] In one embodiment, the first control module includes:

[0125] A second determination unit is used to determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line;

[0126] The control unit is used to control the rotation speed of the end tool according to the preset rules corresponding to the target sub-constraint area.

[0127] In one embodiment, the control unit is also used to control the rotation speed of the end tool to be a first preset rotation speed if the target sub-constraint area is the first sub-constraint area; to control the rotation speed of the end tool to be a second preset rotation speed if the target sub-constraint area is the second sub-constraint area; the second preset rotation speed is negatively correlated with the first current distance; if the target sub-constraint area is the third sub-constraint area, the rotation speed of the end tool is controlled to be a third preset rotation speed; wherein the second preset rotation speed is less than or equal to the first preset rotation speed, and greater than or equal to the third preset rotation speed.

[0128] In one embodiment, the control unit is also used to control the end tool to power off if the end tool is located in the third sub-constraint area for a time greater than a preset time and / or the rotation speed of the end tool in the third sub-constraint area is greater than a third preset rotation speed.

[0129] In one embodiment, the end tool control device further includes:

[0130] A third determination module is used to determine the angle between the axis of the end tool and the axis of the target structure according to the relative posture relationship;

[0131] The second control module is used to control the end tool to power off when the angle is greater than a preset angle.

[0132] Each module in the above-mentioned end tool control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0133] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0134] Determine the relative position relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0135] According to the relative posture relationship, determine the current distance between the center point of the end tool and each boundary line;

[0136] The speed of the end tool is controlled according to the current distance.

[0137] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0138] Obtaining a first relative position relationship between the end tool and the robot arm base;

[0139] Acquire a second relative position relationship between the robot arm base and the constraint area of ​​the target structure;

[0140] The relative position and posture relationship between the end tool and the constraint area of ​​the target structure is determined according to the first relative position and posture relationship and the second relative position and posture relationship.

[0141] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decrease successively.

[0142] In one embodiment, the dividing line includes a deceleration dividing line and a buffer dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; and the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0143] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0144] Determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line;

[0145] The rotation speed of the end tool is controlled according to the preset rules corresponding to the target sub-constraint area.

[0146] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0147] If the target sub-constraint area is the first sub-constraint area, controlling the rotation speed of the end tool to be a first preset rotation speed;

[0148] If the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be a second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance;

[0149] If the target sub-constraint area is the third sub-constraint area, the rotation speed of the end tool is controlled to be a third preset rotation speed;

[0150] The second preset speed is less than or equal to the first preset speed, and greater than or equal to the third preset speed.

[0151] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0152] If the time that the end tool is located in the third sub-constraint area is greater than a preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than a third preset rotation speed, the end tool is controlled to be powered off.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0154] According to the relative posture relationship, determine the angle between the axis of the end tool and the axis of the target structure;

[0155] When the angle is greater than the preset angle, the end tool is controlled to be powered off.

[0156] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0157] Determine the relative position relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0158] According to the relative posture relationship, determine the current distance between the center point of the end tool and each boundary line;

[0159] The speed of the end tool is controlled according to the current distance.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] Obtaining a first relative position relationship between the end tool and the robot arm base;

[0162] Acquire a second relative position relationship between the robot arm base and the constraint area of ​​the target structure;

[0163] The relative position and posture relationship between the end tool and the constraint area of ​​the target structure is determined according to the first relative position and posture relationship and the second relative position and posture relationship.

[0164] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decrease successively.

[0165] In one embodiment, the dividing line includes a deceleration dividing line and a buffer dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; and the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0166] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0167] Determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line;

[0168] The rotation speed of the end tool is controlled according to the preset rules corresponding to the target sub-constraint area.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] If the target sub-constraint area is the first sub-constraint area, controlling the rotation speed of the end tool to be a first preset rotation speed;

[0171] If the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be a second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance;

[0172] If the target sub-constraint area is the third sub-constraint area, the rotation speed of the end tool is controlled to be a third preset rotation speed;

[0173] The second preset speed is less than or equal to the first preset speed, and greater than or equal to the third preset speed.

[0174] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0175] If the time that the end tool is located in the third sub-constraint area is greater than a preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than a third preset rotation speed, the end tool is controlled to be powered off.

[0176] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0177] According to the relative posture relationship, determine the angle between the axis of the end tool and the axis of the target structure;

[0178] When the angle is greater than the preset angle, the end tool is controlled to be powered off.

[0179] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0180] Determine the relative position relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas;

[0181] According to the relative posture relationship, determine the current distance between the center point of the end tool and each boundary line;

[0182] The speed of the end tool is controlled according to the current distance.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] Obtaining a first relative position relationship between the end tool and the robot arm base;

[0185] Acquire a second relative position relationship between the robot arm base and the constraint area of ​​the target structure;

[0186] The relative position and posture relationship between the end tool and the constraint area of ​​the target structure is determined according to the first relative position and posture relationship and the second relative position and posture relationship.

[0187] In one embodiment, the multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from the inside to the outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decrease successively.

[0188] In one embodiment, the dividing line includes a deceleration dividing line and a buffer dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; and the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] Determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line;

[0191] The rotation speed of the end tool is controlled according to the preset rules corresponding to the target sub-constraint area.

[0192] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0193] If the target sub-constraint area is the first sub-constraint area, controlling the rotation speed of the end tool to be a first preset rotation speed;

[0194] If the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be a second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance;

[0195] If the target sub-constraint area is the third sub-constraint area, the rotation speed of the end tool is controlled to be a third preset rotation speed;

[0196] The second preset speed is less than or equal to the first preset speed, and greater than or equal to the third preset speed.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0198] If the time that the end tool is located in the third sub-constraint area is greater than a preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than a third preset rotation speed, the end tool is controlled to be powered off.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] According to the relative posture relationship, determine the angle between the axis of the end tool and the axis of the target structure;

[0201] When the angle is greater than the preset angle, the end tool is controlled to be powered off.

[0202] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0203] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0204] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0205] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling an end tool, characterized in that: The method comprises: Determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas; Determining the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship; The rotation speed of the end tool is controlled according to each of the current distances.

2. The method according to claim 1, characterized in that The determining of the relative position relationship between the end tool and the constraint area of ​​the target structure includes: Acquire a first relative position relationship between the end tool and the robot arm base; Acquire a second relative position relationship between the robot arm base and the constraint area of ​​the target structure; The relative position and posture relationship between the end tool and the constraint area of ​​the target structure is determined according to the first relative position and posture relationship and the second relative position and posture relationship.

3. The method according to claim 1, characterized in that The multiple sub-constraint areas include a first sub-constraint area, a second sub-constraint area, a third sub-constraint area and a fourth sub-constraint area from inside to outside; the rotation speeds of the end tools corresponding to the first sub-constraint area, the second sub-constraint area and the third sub-constraint area decrease successively.

4. The method according to claim 3, characterized in that The dividing lines include a deceleration dividing line, a buffer dividing line and a prohibited grinding and filing dividing line; the deceleration dividing line is located between the first sub-constraint area and the second sub-constraint area; the buffer dividing line is located between the second sub-constraint area and the third sub-constraint area; the prohibited grinding and filing dividing line is located between the third sub-constraint area and the fourth sub-constraint area.

5. The method according to claim 4, characterized in that The current distance includes a first current distance between the center point of the end tool and the deceleration boundary line, and controlling the rotation speed of the end tool according to each of the current distances includes: Determine the target sub-constraint area where the end tool is located according to the first current distance and each preset distance; each preset distance is the distance between each dividing line and the deceleration dividing line; The rotation speed of the end tool is controlled according to a preset rule corresponding to the target sub-constraint area.

6. The method according to claim 5, characterized in that The controlling the rotation speed of the end tool according to the preset rule corresponding to the target sub-constraint area includes: If the target sub-constraint area is the first sub-constraint area, controlling the rotation speed of the end tool to be a first preset rotation speed; If the target sub-constraint area is the second sub-constraint area, the rotation speed of the end tool is controlled to be a second preset rotation speed; the second preset rotation speed is negatively correlated with the first current distance; If the target sub-constraint area is the third sub-constraint area, controlling the rotation speed of the end tool to be a third preset rotation speed; The second preset speed is less than or equal to the first preset speed, and greater than or equal to the third preset speed.

7. The method according to claim 6, characterized in that The method further comprises: If the time that the end tool is located in the third sub-constraint area is greater than a preset time, and / or the rotation speed of the end tool in the third sub-constraint area is greater than the third preset rotation speed, the end tool is controlled to be powered off.

8. The method according to claim 1, characterized in that The method further comprises: Determining the angle between the axis of the end tool and the axis of the target structure according to the relative posture relationship; When the angle is greater than a preset angle, the end tool is controlled to be powered off.

9. An end tool control device, characterized in that: The device comprises: A first determination module is used to determine the relative position and posture relationship between the end tool and the constraint area of ​​the target structure; the constraint area includes a plurality of sub-constraint areas nested together in the same direction, the plurality of sub-constraint areas are adjacent to each other in sequence, and there is a dividing line between every two adjacent sub-constraint areas; A second determination module is used to determine the current distance between the center point of the end tool and each of the dividing lines according to the relative posture relationship; The first control module is used to control the rotation speed of the end tool according to each current distance.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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