Robot braking time acquisition method, robot braking time control method, robot braking time acquisition system and robot braking time control equipment

Abstract

The invention provides a robot braking time obtaining method, a robot braking time control method, a robot braking time obtaining system and robot braking time control equipment. The robot comprises a driver and a brake, and the obtaining method comprises the steps that in response to a received brake signal, first delay time responded by the driver is obtained; wherein the first delay time comprises signal delay time when the driver receives the brake signal, turn-off time of the STO circuit and communication time when the brake signal is sent to the brake through the driver; acquiring second delay time of brake response; and calculating the braking time of the robot based on the first delay time and the second delay time. Generation of delay time of a safety stop link of the surgical robot is subdivided, the delay time of a driver and the delay time of a brake in the safety stop link are counted, the surgical robot is adjusted based on the delay time, and optimal safety stop link setting of the surgical robot is achieved. The delay risk of emergency stop of the surgical robot is reduced, and the operation safety of the surgical robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and in particular to a method for obtaining robot braking time, a control method, a system, a device and a medium thereof. Background Art

[0002] Surgical robot systems are gradually being used in people's medical environment. Their high-precision multi-degree-of-freedom robotic arms have high flexibility, and with the real-time display of high-definition images from endoscopes, they can greatly reduce the size of the wound and shorten the operation time compared to ordinary manual surgical operations. Since the application scenarios of surgical robot systems are closely related to human life safety, it is extremely important to ensure their safety performance. Once any unexpected situation occurs, the emergency stop button needs to be pressed to ensure that all surgical joints are shut down in a very short time, and there should not be an excessive safety stop distance to avoid causing excessive surgical wounds or other personal injuries.

[0003] Existing surgical robot systems mostly use commercial drivers to control joint motors and are combined with brakes for safe stop control. Existing surgical robot systems focus more on qualitative functional analysis, practical applications and testing methods, but lack detailed quantitative analysis of the time of each link in the entire safety chain. The quantitative and precise adjustment of the entire safety stop chain leads to the risk of braking delay in the safety stop chain of the surgical robot. Summary of the invention

[0004] The technical problem to be solved by the present application is to overcome the defect in the prior art that there is a risk of braking delay in the safety stop link of the surgical robot, and to provide a method for obtaining the braking time of the robot, a control method, a system, a device and a medium thereof.

[0005] This application solves the above technical problems through the following technical solutions:

[0006] In a first aspect, a method for obtaining braking time of a robot is provided, wherein the robot comprises a driver and a brake, wherein the driver is used to control an STO (safe torque off) circuit, and the brake is used to stop the robot from working, and the obtaining method comprises:

[0007] In response to receiving a brake signal, obtaining a first delay time of a response of the driver;

[0008] Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver;

[0009] Acquiring a second delay time of the brake response;

[0010] The braking time of the robot is calculated based on the first delay time and the second delay time.

[0011] Preferably, the step of obtaining the first delay time of the driver response comprises:

[0012] Acquire the level signal change time corresponding to the braking signal as the signal delay time for the driver to receive the braking signal;

[0013] In response to the level signal changing, obtaining the time length for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold as the shutdown time;

[0014] In response to the STO circuit being triggered, acquiring the communication time;

[0015] The first delay time is obtained based on the signal delay time, the shutdown time, and the communication time.

[0016] Preferably, the step of obtaining the time duration for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold as the shutdown time includes:

[0017] Acquiring a first input voltage of the STO circuit;

[0018] The first input voltage and the corresponding preset voltage threshold are input into a preset shutdown circuit model, and the corresponding shutdown time is output.

[0019] Preferably, the step of obtaining the second delay time of the brake response comprises:

[0020] Obtaining the activation time of the brake;

[0021] The activation time represents the time length from when the brake receives the braking signal to when the brake outputs the preset torque;

[0022] Obtaining the braking time from when the brake stops outputting a preset torque to when the robot stops working;

[0023] The second delay time is obtained based on the starting time and the braking time.

[0024] Preferably, the step of obtaining the second delay time of the brake response comprises:

[0025] Obtaining a brake simulation model corresponding to the brake;

[0026] The second input voltage of the brake is input into the brake simulation model, and the corresponding second delay time is output.

[0027] In a second aspect, a robot braking control method is provided, the control method comprising:

[0028] Acquire a first delay time of the driver, a second delay time of the brake, and the corresponding braking time;

[0029] The first delay time, the second delay time and the braking time are obtained based on the method for obtaining the braking time of the robot described in the first aspect;

[0030] In response to the braking time being above a preset delay threshold, adjusting a first electrical parameter of the driver based on the first delay time, and adjusting a second electrical parameter of the brake based on the second delay time;

[0031] Based on the first electrical parameter and the second electrical parameter, returning to the step of obtaining a first delay time of the driver, a second delay time of the brake, and the corresponding braking time;

[0032] In response to a braking time of the robot being less than a preset delay threshold, taking the corresponding first electrical parameter as a first target electrical parameter, and taking the corresponding second electrical parameter as a second target electrical parameter;

[0033] The first target electrical parameter is used to control the driver, and the second target electrical parameter is used to control the brake.

[0034] In a third aspect, a system for acquiring braking time of a robot is provided, wherein the robot comprises a driver and a brake, wherein the driver is used to control an STO circuit, and the brake is used to stop the robot from working, and the acquisition system comprises a first delay acquisition module, a second delay acquisition module and a braking time calculation module;

[0035] The first delay acquisition module is used to acquire a first delay time of the driver response in response to receiving a braking signal;

[0036] Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver;

[0037] The second delay acquisition module is used to acquire a second delay time of the brake response;

[0038] The braking time calculation module is used to calculate the braking time of the robot based on the first delay time and the second delay time.

[0039] In a fourth aspect, a control system for robot braking is provided, the control system comprising an acquisition module, a parameter adjustment module, an iteration module, a parameter determination module and a control module;

[0040] The acquisition module is used to acquire the first delay time of the driver, the second delay time of the brake, and the corresponding braking time;

[0041] The first delay time, the second delay time and the braking time are obtained based on the robot braking time acquisition system described in the third aspect;

[0042] The parameter adjustment module is configured to adjust a first electrical parameter of the driver based on the first delay time and adjust a second electrical parameter of the brake based on the second delay time in response to the braking time being above a preset delay threshold;

[0043] The iteration module is used for returning to the acquisition module to execute the step of acquiring the first delay time of the driver, the second delay time of the brake, and the corresponding braking time based on the first electrical parameter and the second electrical parameter;

[0044] The parameter determination module is used for, in response to the braking time of the robot being less than a preset delay threshold, using the corresponding first electrical parameter as a first target electrical parameter and the corresponding second electrical parameter as a second target electrical parameter;

[0045] The control module is used to control the driver based on the first target electrical parameter, and to control the brake based on the second target electrical parameter.

[0046] In a fifth aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for obtaining the braking time of a robot as described in the first aspect, or the method for controlling the braking of a robot as described in the second aspect is implemented.

[0047] In a sixth aspect, a computer storage medium stores a computer program thereon, wherein when the computer program is executed by a processor, the method for obtaining the braking time of a robot as described in the first aspect, or the method for controlling the braking of a robot as described in the second aspect is implemented.

[0048] On the basis of conforming to the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present application.

[0049] The positive progressive effect of the present application is that by subdividing the delay time of the surgical robot's safety stop link, targeted identification and calculation of each delay part, statistically analyzing the delay time of the driver and brake in the safety stop link, and adjusting the surgical robot based on the delay time, the optimal safety stop link setting of the surgical robot in a limited hardware environment is achieved, the delay risk of the surgical robot's emergency stop is reduced, and the operational safety of the surgical robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a flow chart of a method for obtaining the braking time of a robot according to Embodiment 1 of the present application;

[0051] Figure 2 This is a flowchart of step S101 in the method for obtaining the braking time of a robot in Example 1 of the present application;

[0052] Figure 3 This is a schematic diagram of the voltage drop of the STO circuit in the method for obtaining the braking time of the robot in Example 1 of the present application;

[0053] Figure 4 This is a flowchart of step S102 in the method for obtaining the braking time of a robot in Example 1 of the present application;

[0054] Figure 5 Schematic diagram of a brake simulation model in a method for obtaining a robot's braking time in Example 1 of the present application;

[0055] Figure 6 This is a schematic diagram of the braking process parameters of the brake in the method for obtaining the braking time of the robot in Example 1 of the present application;

[0056] Figure 7 This is a flow chart of a robot braking control method according to Embodiment 2 of the present application;

[0057] Figure 8 This is a module schematic diagram of a system for acquiring the braking time of a robot according to Embodiment 3 of the present application;

[0058] Fig. 9 This is a module schematic diagram of a control system for robot braking according to Example 4 of the present application;

[0059] Fig.10 This is a schematic diagram of the hardware structure of the electronic device of Example 5 of the present application. DETAILED DESCRIPTION

[0060] The present application is further described below by way of examples, but the present application is not limited to the scope of the examples.

[0061] In the description of this application, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0062] Example 1

[0063] This embodiment provides a method for obtaining the braking time of a robot. Figure 1 As shown, the robot includes a driver and a brake, the driver is used to control the STO circuit, and the brake is used to stop the robot from working. The acquisition method includes:

[0064] S101, in response to receiving a braking signal, obtaining a first delay time of the driver response;

[0065] Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver;

[0066] S102, obtaining a second delay time of the brake response;

[0067] S103: Calculate the braking time of the robot based on the first delay time and the second delay time.

[0068] In this solution, the safety stop link in the robot is disassembled, and the first delay time characterizing the driver delay is disassembled into the signal delay time of the driver for the braking signal, the time for the STO circuit to shut down after receiving the braking signal, and the communication time for the braking signal to be sent to the brake through the driver's circuit board. The precise time of the safety stop link is calculated by combining the disassembled time with the response delay of the brake, providing reliable data for the adjustment of the robot's safety stop link to achieve the robot's braking safety and stability.

[0069] As a feasible approach, Figure 2 As shown, the step S101 includes:

[0070] S1011, acquiring a level signal change time corresponding to the braking signal as the signal delay time for the driver to receive the braking signal;

[0071] S1012, in response to the level signal changing, obtaining the time length for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold as the shutdown time;

[0072] S1013, in response to the level signal changing, acquiring the communication time;

[0073] S1014. Obtain the first delay time based on the signal delay time, the shutdown time, and the communication time.

[0074] In the present scheme, when a braking operation occurs, the emergency stop component (such as an emergency stop button) that generates a braking signal generates a corresponding level signal change during the activation process; illustratively, the emergency stop component is normally a high-level signal, and when activated, the high-level signal changes to a low-level signal, and in response to the emergency stop component being in a low-level signal, a braking signal is sent to the driver; in one embodiment, based on the communication link between the emergency stop signal and the driver, the signal delay time for the driver to receive the braking signal includes the communication time for sending the braking signal to the driver through the communication link, so as to characterize the overall delay time from the emergency stop component being activated by the braking operation to the driver receiving the braking signal to trigger the STO circuit.

[0075] In this solution, when the STO circuit is triggered, the corresponding electrical parameters react quickly to cut off the power supply of the robot torque output; illustratively, the STO circuit input voltage is 24V, and after receiving the braking signal, the STO mechanism is triggered when the voltage of the STO circuit drops below 2V, where 2V is used as the preset electrical parameter for triggering the STO mechanism, and the time when the voltage of the STO circuit drops to 2V is used as the shutdown time. According to actual work requirements, the electrical parameters include at least one of voltage, current and power.

[0076] In this solution, the response delay of the driver is subdivided based on the response process, and each delay part is acquired separately to obtain the total delay time of the driver during the emergency braking process, thereby obtaining an accurate first delay time.

[0077] As an implementable manner, step S1012 includes:

[0078] Acquiring a first input voltage of the STO circuit;

[0079] The first input voltage and the corresponding preset voltage threshold are input into a preset shutdown circuit model, and the corresponding shutdown time is output.

[0080] In this solution, the STO input voltage loop mainly includes a resistor, a capacitor and a diode; preferably, the driver also includes a redundant STO circuit. After receiving the braking signal, if the main STO circuit does not trigger the STO mechanism within the preset trigger event, the redundant STO circuit is started; or, after receiving the braking signal, the main STO circuit and the redundant STO circuit are activated at the same time to trigger the STO mechanism with the shortest event; illustratively, it is known that i is the current, C is the capacitance, U is the input voltage, U1 is the voltage on both sides of the diode, and R is the resistance, through the following relationship:

[0081]

[0082] like Figure 3 As shown in the figure, based on the mathematical modeling of the STO circuit voltage drop obtained by matlab (matrix laboratory), the shutdown circuit model is used for calculation. In the figure, the vertical axis is the input voltage and the horizontal axis is the time. The calculation is based on the capacitor design value of 0.1uF and the resistor design value of 4.7K ohms. The input voltage of STO is 24V. If the disconnection voltage of STO is 2V, the STO function is triggered when the voltage drops below 2V. When the input voltage drops to 2.017V, the shutdown time used is 1.288 milliseconds.

[0083] In this scheme, through the preset shutdown circuit model, the shutdown time of the STO circuit from receiving the braking signal to triggering the STO mechanism is adaptively calculated, so as to accurately obtain the shutdown time of STO circuits of different designs, and provide reliable data for the adjustment of the robot's safe stop link, so as to achieve the braking safety and stability of the robot.

[0084] As a feasible approach, Figure 4 As shown, step S102 includes:

[0085] S1021, obtaining the activation time of the brake;

[0086] The activation time represents the time length from when the brake receives the braking signal to when the brake outputs the preset torque;

[0087] S1022, obtaining the braking time from when the brake stops outputting a preset torque to when the robot stops working;

[0088] S1023. Obtain the second delay time based on the starting time and the braking time.

[0089] In this solution, the brake delay time is decomposed into start time and braking time, and the two are acquired and calculated separately to obtain the second delay time when the brake responds to the braking signal, providing reliable data for the adjustment of the robot's safe stop link to achieve the robot's braking safety and stability.

[0090] As an implementable manner, step S102 includes:

[0091] S1024, obtaining a brake simulation model corresponding to the brake;

[0092] S1025. Input the second input voltage of the brake into the brake simulation model, and output the corresponding second delay time.

[0093] In this solution, the second delay time corresponding to the brake is realized by simplifying the brake into a simulation model; illustratively, the brake is an electromagnetic brake, and based on the working principle of the electromagnetic brake, the electromagnetic brake is simplified into an LR (Logistic regression) model, such as Figure 5 As shown in the figure, the opening and closing of the brake can be controlled by turning on and off the MOS tube (positive channel Metal Oxide Semiconductor, metal oxide semiconductor field effect transistor). When a 24V voltage is input at the input end, the MOS tube is in the on state, and there is current in the LR (inductor resistance) loop, and the brake is opened at this time; when the input voltage drops from 24V to 0V, the MOS tube is in the off state, and diodes are connected in parallel at both ends of the LR loop to discharge current.

[0094] By establishing a corresponding simulation model, the current drop curve at both ends of the brake during the braking process is calculated. When the current drops to a certain value, the brake is closed. The brake response delay time is analyzed through this process. The brake resistance R can be measured by a multimeter, and the brake inductance L can be calculated by the voltage and current curve data of the brake during the 0V to 24V power-on brake opening process collected by an oscilloscope. The inductance L can be calculated by parameter identification through the data, or the brake inductance L can be measured by a high-precision inductance test instrument. For example, Figure 6 As shown in the figure, from top to bottom are the brake voltage and time coordinate diagram, the brake current and time coordinate diagram, the brake output braking torque and time coordinate diagram, and the robot output torque motor speed and time coordinate diagram. It can be seen from the figure that after the brake signal communication time of t0, in response to the brake signal, the brake starts to start; after t 11 After t, the output braking torque requirement is met, which affects the motor speed. The braking torque of the brake increases in a linear trend similar to line A.12 After time, the rated braking torque M 额 , t 11 With t 12 The sum is the brake activation time; after the brake reaches the rated braking torque, the motor speed decreases in a linear trend until it stops working. The time spent in this braking process is the braking time.

[0095] In this scheme, by establishing a simulation model of the brake, the voltage and current curve data of the brake during the braking process is obtained based on the input voltage of the brake, and the accurate braking time is obtained, providing reliable data for the adjustment of the robot's safe stop link to achieve the robot's braking safety and stability.

[0096] The method for obtaining the robot braking time provided in this embodiment subdivides the delay time generated by the safety stop link of the surgical robot, specifically identifies and calculates each delay part, counts the delay time of the driver and brake in the safety stop link, and adjusts the surgical robot based on the delay time, thereby achieving the optimal safety stop link setting of the surgical robot in a limited hardware environment, reducing the delay risk of the surgical robot's emergency stop, and improving the operational safety of the surgical robot.

[0097] Example 2

[0098] This embodiment provides a robot braking control method, such as Figure 7 As shown, the control method includes:

[0099] S201, obtaining a first delay time of the driver, a second delay time of the brake, and the corresponding braking time;

[0100] The first delay time, the second delay time and the braking time are obtained based on the method for obtaining the braking time of the robot described in Example 1;

[0101] S202, in response to the braking time being above a preset delay threshold, adjusting a first electrical parameter of the driver based on the first delay time, and adjusting a second electrical parameter of the brake based on the second delay time;

[0102] S203, based on the first electrical parameter and the second electrical parameter, returning to the step of obtaining the first delay time of the driver, the second delay time of the brake, and the corresponding braking time;

[0103] S204, in response to the braking time of the robot being less than a preset delay threshold, taking the corresponding first electrical parameter as a first target electrical parameter, and taking the corresponding second electrical parameter as a second target electrical parameter;

[0104] S205 . Control the driver based on the first target electrical parameter, and control the brake based on the second target electrical parameter.

[0105] As an achievable manner, the control method further includes:

[0106] Get the number of loops returning to step S201;

[0107] In response to the number of cycles being greater than a preset number of cycles, an alarm message is sent.

[0108] In this solution, the delay time corresponding to the driver and the brake in the robot is obtained to evaluate the braking time of the robot as a whole, and the electrical parameters are adjusted based on the delay results; illustratively, the first delay time of the driver or the second delay time of the brake can also be independently evaluated to adjust the corresponding first electrical parameters and second electrical parameters; illustratively, the input voltage or current of the driver can be adjusted, or the starting voltage or current of the brake can be adjusted to adjust the braking time. Among them, the electrical parameters include but are not limited to voltage, current, resistance, capacitance and inductance. So that the braking time of the robot meets the corresponding application scenario. If it cannot be met by adjusting the electrical parameters, the user is prompted that there is a braking risk, or the user is prompted to replace the driver or brake with the corresponding electrical parameters to meet the current application requirements, reduce the braking risk of the robot, and improve the safety and stability of the robot.

[0109] The robot braking control method provided in this embodiment determines the safety of the robot's safety link by obtaining the delay time of the driver and brake in the robot, and adjusts the electrical parameters corresponding to the driver and brake in the robot that do not meet the braking requirements, so that the robot meets the safety and stability requirements in the surgical scenario, reduces the delay risk of the surgical robot's emergency stop, and improves the user experience.

[0110] Example 3

[0111] This embodiment provides a robot braking time acquisition system 100, such as Figure 8 As shown, the robot includes a driver and a brake, the driver is used to control the STO circuit, the brake is used to stop the robot from working, and the acquisition system includes a first delay acquisition module 101, a second delay acquisition module 102 and a braking time calculation module 103;

[0112] The first delay acquisition module 101 is used to acquire a first delay time of the driver response in response to receiving a braking signal;

[0113] Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver;

[0114] The second delay acquisition module 102 is used to acquire a second delay time of the brake response;

[0115] The braking time calculation module 103 is used to calculate the braking time of the robot based on the first delay time and the second delay time.

[0116] As an implementable manner, the first delay acquisition module 101 includes a signal delay unit, a shutdown time unit, a communication time unit and a first calculation unit;

[0117] The signal delay unit is used to obtain the level signal change time corresponding to the braking signal as the signal delay time for the driver to receive the braking signal;

[0118] The shut-off time unit is used for obtaining the time length for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold value in response to the change of the level signal as the shut-off time;

[0119] The communication time unit is used to obtain the communication time in response to the STO circuit being triggered;

[0120] The first calculation unit is used to obtain the first delay time based on the signal delay time, the shutdown time and the communication time.

[0121] As an implementable manner, the shutdown time unit is further used to obtain a first input voltage of the STO circuit; input the first input voltage and a corresponding preset voltage threshold into a preset shutdown circuit model, and output the corresponding shutdown time.

[0122] As an implementable manner, the second delay acquisition module 102 includes a starting unit, a braking unit and a second calculation unit:

[0123] The starting unit is used to obtain the starting time of the brake; the starting time represents the time from when the brake receives the braking signal to when the preset torque is output;

[0124] The braking unit is used to obtain the braking time from when the brake stops outputting the preset torque to when the robot stops working;

[0125] The second calculation unit is used to obtain the second delay time based on the starting time and the braking time.

[0126] As an implementable manner, the second delay acquisition module 102 is further used to acquire a brake simulation model corresponding to the brake; input the second input voltage of the brake into the brake simulation model, and output the corresponding second delay time.

[0127] It should be noted that the implementation principle of the robot braking time acquisition system of this embodiment is the same as the implementation principle of the robot braking time acquisition method in Example 1, so it will not be repeated here.

[0128] The robot braking time acquisition system provided in the present embodiment subdivides the delay time generated by the safety stop link of the surgical robot, specifically identifies and calculates each delay part, counts the delay time of the driver and brake in the safety stop link, and adjusts the surgical robot based on the delay time, thereby achieving the optimal safety stop link setting of the surgical robot in a limited hardware environment, reducing the delay risk of the surgical robot's emergency stop, and improving the operational safety of the surgical robot.

[0129] Example 4

[0130] This embodiment provides a robot braking control system 200, such as Fig. 9 As shown, the control system 200 includes an acquisition module 201, a parameter adjustment module 202, an iteration module 203, a parameter determination module 204 and a control module 205;

[0131] The acquisition module 201 is used to acquire the first delay time of the driver, the second delay time of the brake, and the corresponding braking time;

[0132] The first delay time, the second delay time and the braking time are obtained based on the robot braking time acquisition system described in Example 3;

[0133] The parameter adjustment module 202 is configured to adjust a first electrical parameter of the driver based on the first delay time and adjust a second electrical parameter of the brake based on the second delay time in response to the braking time being above a preset delay threshold;

[0134] The iteration module 203 is used for returning to the acquisition module to execute the step of acquiring the first delay time of the driver, the second delay time of the brake, and the corresponding braking time based on the first electrical parameter and the second electrical parameter;

[0135] The parameter determination module 204 is used for, in response to the braking time of the robot being less than a preset delay threshold, using the corresponding first electrical parameter as a first target electrical parameter and the corresponding second electrical parameter as a second target electrical parameter;

[0136] The control module 205 is used to control the driver based on the first target electrical parameter, and to control the brake based on the second target electrical parameter.

[0137] It should be noted that the implementation principle of the robot braking control system of this embodiment is the same as the implementation principle of the robot braking control method in Example 1, so it will not be repeated here.

[0138] The robot braking control system provided in this embodiment determines the safety of the robot's safety link by obtaining the delay time of the driver and brake in the robot, and adjusts the electrical parameters corresponding to the driver and brake in the robot that do not meet the braking requirements, so that the robot meets the safety and stability requirements in the surgical scenario, reduces the delay risk of the surgical robot's emergency stop, and improves the user experience.

[0139] Example 5

[0140] like Fig.10 FIG. 5 is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present application, including a memory, a processor, and a computer program stored in the memory and used to run on the processor, and when the processor executes the computer program, the method for obtaining the CT system correction coefficient described in Embodiment 1 or the method for correcting the CT system described in Embodiment 2 is implemented. Fig.10 The electronic device 30 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0141] The electronic device 30 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including the memory 32 and the processor 31).

[0142] The bus 33 includes a data bus, an address bus, and a control bus.

[0143] The memory 32 may include a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0144] The memory 32 may also include a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0145] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the method for obtaining the CT system correction coefficient described in Example 1 of the present application or the correction method of the CT system described in Example 2.

[0146] The electronic device 30 may also be connected to one or more external devices 34 (e.g., a keyboard, a pointing device, etc.). ) The model generating device 30 may communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 36. As shown, the network adapter 36 communicates with other modules of the model generating device 30 via a bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the model generating device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0147] It should be noted that although the units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0148] Example 6

[0149] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the method for obtaining the CT system correction coefficient described in Example 1 or the method for correcting the CT system described in Example 2 is implemented.

[0150] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0151] In a possible implementation, the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the method for obtaining the CT system correction coefficient described in Example 1 or the correction method for the CT system described in Example 2.

[0152] Among them, the program code for executing the present application can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0153] Although the specific implementation methods of the present application are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present application is defined by the appended claims. Those skilled in the art may make various changes or modifications to these implementation methods without departing from the principles and essence of the present application, but these changes and modifications all fall within the protection scope of the present application.

Claims

1. A method for obtaining the braking time of a robot, characterized in that: The robot includes a driver and a brake, the driver is used to control the STO circuit, and the brake is used to stop the robot from working. The acquisition method includes: In response to receiving a brake signal, obtaining a first delay time of a response of the driver; Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver; Acquiring a second delay time of the brake response; The braking time of the robot is calculated based on the first delay time and the second delay time.

2. The method for obtaining the braking time of a robot according to claim 1, characterized in that: The step of obtaining the first delay time of the driver response comprises: Acquire the level signal change time corresponding to the braking signal as the signal delay time for the driver to receive the braking signal; In response to the level signal changing, obtaining the time length for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold as the shutdown time; In response to the STO circuit being triggered, acquiring the communication time; The first delay time is obtained based on the signal delay time, the shutdown time, and the communication time.

3. The method for obtaining the robot braking time according to claim 2, characterized in that: The step of obtaining the time duration for the electrical parameter of the STO circuit to change to the corresponding preset electrical parameter threshold as the shutdown time comprises: Acquiring a first input voltage of the STO circuit; The first input voltage and the corresponding preset voltage threshold are input into a preset shutdown circuit model, and the corresponding shutdown time is output.

4. The method for obtaining the braking time of a robot according to claim 1, characterized in that: The step of obtaining the second delay time of the brake response comprises: Obtaining the activation time of the brake; The activation time represents the time length from when the brake receives the braking signal to when the brake outputs the preset torque; Obtaining the braking time from when the brake stops outputting a preset torque to when the robot stops working; The second delay time is obtained based on the starting time and the braking time.

5. The method for obtaining the braking time of a robot according to claim 1, characterized in that: The step of obtaining the second delay time of the brake response comprises: Obtaining a brake simulation model corresponding to the brake; The second input voltage of the brake is input into the brake simulation model, and the corresponding second delay time is output.

6. A robot braking control method, characterized in that: The control method comprises: Acquire a first delay time of the driver, a second delay time of the brake, and the corresponding braking time; The first delay time, the second delay time and the braking time are obtained based on the method for obtaining the braking time of the robot according to any one of claims 1 to 5; In response to the braking time being above a preset delay threshold, adjusting a first electrical parameter of the driver based on the first delay time, and adjusting a second electrical parameter of the brake based on the second delay time; Based on the first electrical parameter and the second electrical parameter, returning to the step of obtaining a first delay time of the driver, a second delay time of the brake, and the corresponding braking time; In response to a braking time of the robot being less than a preset delay threshold, taking the corresponding first electrical parameter as a first target electrical parameter, and taking the corresponding second electrical parameter as a second target electrical parameter; The first target electrical parameter is used to control the driver, and the second target electrical parameter is used to control the brake.

7. A robot braking time acquisition system, characterized in that: The robot includes a driver and a brake, the driver is used to control the STO circuit, the brake is used to stop the robot from working, and the acquisition system includes a first delay acquisition module, a second delay acquisition module and a braking time calculation module; The first delay acquisition module is used to acquire a first delay time of the driver response in response to receiving a braking signal; Wherein, the first delay time includes the signal delay time of the driver receiving the brake signal, the shut-off time of the STO circuit and the communication time of the brake signal being sent to the brake through the driver; The second delay acquisition module is used to acquire a second delay time of the brake response; The braking time calculation module is used to calculate the braking time of the robot based on the first delay time and the second delay time.

8. A robot braking control system, characterized in that: The control system includes an acquisition module, a parameter adjustment module, an iteration module, a parameter determination module and a control module; The acquisition module is used to acquire the first delay time of the driver, the second delay time of the brake, and the corresponding braking time; The first delay time, the second delay time and the braking time are obtained based on the robot braking time acquisition system according to claim 7; The parameter adjustment module is configured to adjust a first electrical parameter of the driver based on the first delay time and adjust a second electrical parameter of the brake based on the second delay time in response to the braking time being above a preset delay threshold; The iteration module is used for returning to the acquisition module to execute the step of acquiring the first delay time of the driver, the second delay time of the brake, and the corresponding braking time based on the first electrical parameter and the second electrical parameter; The parameter determination module is used for, in response to the braking time of the robot being less than a preset delay threshold, using the corresponding first electrical parameter as a first target electrical parameter and the corresponding second electrical parameter as a second target electrical parameter; The control module is used to control the driver based on the first target electrical parameter, and to control the brake based on the second target electrical parameter.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for obtaining the braking time of a robot as described in any one of claims 1 to 5 or the method for controlling the braking of a robot as described in claim 6 is implemented.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for obtaining the braking time of a robot as described in any one of claims 1 to 5 or the method for controlling the braking of a robot as described in claim 6 is implemented.

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