Mechanical arm falling detection method, device and apparatus

Abstract

The application relates to a mechanical arm falling detection method, device and equipment. The mechanical arm falling detection method comprises the following steps: acquiring at least one distance data of a detection ball arranged at the end of a mechanical arm under the condition that the end of the mechanical arm falls; wherein the distance data is measured when a laser matrix range finder emits laser to the detection ball placed in the detection range of the laser matrix range finder; fitting at least one current position of the detection ball according to the at least one distance data; wherein the current position refers to the spatial position of the ball center of the detection ball in the detection range; acquiring a detection requirement of the end of the mechanical arm for falling detection, and generating a detection result according to the at least one current position and the detection requirement. The method provided by the application reduces the detection cost and improves the usability under the premise of ensuring the detection precision.

Description

Technical Field

[0001] This application relates to the field of robotic arm drop detection technology, and in particular to a method, apparatus and equipment for robotic arm drop detection. Background Technology

[0002] Before being used in practice, robotic arms need to undergo rigorous testing to ensure their safety and reliability. Drop testing is a crucial test to ensure proper functioning of the robotic arm, designed to assess its positional changes when falling due to unexpected events such as power outages or sudden stops.

[0003] Currently, the methods for measuring position changes are relatively limited, with laser trackers often used to track the position of the end effector of a robotic arm. However, laser trackers are expensive, and if used specifically for relatively small detection projects such as position change measurement, the detection cost is high. In addition, laser trackers require professional operation, making them less usable. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a method, apparatus, and device for detecting robotic arm falls.

[0005] In a first aspect, embodiments of this disclosure provide a method for detecting a robotic arm fall, including:

[0006] In the event of a fall at the end of the robotic arm, at least one distance data of a detection ball positioned at the end of the robotic arm is acquired; wherein, the distance data is measured when a laser matrix rangefinder emits a laser to the detection ball placed within its detection range;

[0007] At least one current position of the detection ball is fitted based on the at least one distance data; wherein, the current position refers to the spatial position of the center of the detection ball within the detection range;

[0008] The detection requirement for drop detection at the end of the robotic arm is obtained, and a detection result is generated based on the at least one current position and the detection requirement.

[0009] Secondly, embodiments of this disclosure provide a robotic arm drop detection device, which includes a laser matrix rangefinder and a detection device. The laser matrix rangefinder includes a laser emitter and a transmission device, wherein:

[0010] The laser emitter is used to emit a laser at a detection ball positioned at the end of the robotic arm within its detection range in the event of a fall from the end of the robotic arm, and to measure at least one distance data of the detection ball.

[0011] The transmission device is used to transmit at least one distance data to the host computer;

[0012] The detection device is used to perform the method described in the first aspect above.

[0013] Thirdly, embodiments of this disclosure provide a robotic arm fall detection device, the device comprising:

[0014] An acquisition unit is configured to acquire at least one distance data of a detection ball disposed at the end of the robotic arm in the event of a fall at the end of the robotic arm; wherein the distance data is measured by a laser matrix rangefinder emitting a laser at the detection ball placed within its detection range;

[0015] A fitting unit is configured to fit at least one current position of the detection ball based on the at least one distance data; wherein the current position refers to the spatial position of the center of the detection ball within the detection range;

[0016] A generation unit is used to obtain the detection requirements for drop detection at the end of the robotic arm, and generate detection results based on the at least one current position and the detection requirements.

[0017] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robotic arm fall detection method described above.

[0018] The drop detection method for a robotic arm disclosed herein includes: acquiring at least one distance data of a detection ball configured at the end of the robotic arm in the event of a drop; wherein the distance data is measured by a laser matrix rangefinder emitting a laser at the detection ball placed within its detection range; fitting at least one current position of the detection ball based on the at least one distance data; wherein the current position refers to the spatial position of the center of the detection ball within the detection range; acquiring the detection requirements for drop detection at the end of the robotic arm; and generating a detection result based on the at least one current position and the detection requirements. The method provided in this application, by installing a detection ball adapted to the end of the robotic arm and completing drop detection by measuring the position of the detection requirement, reduces detection costs and improves usability while ensuring detection accuracy. Attached Figure Description

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

[0020] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a robotic arm drop detection device provided in an embodiment of the present disclosure;

[0022] Figure 2 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of the present disclosure;

[0023] Figure 3 This is a scene diagram of a robotic arm falling, provided by an embodiment of the present disclosure.

[0024] Figure 4 This is a schematic diagram of the structure of a laser emitter provided in an embodiment of the present disclosure;

[0025] Figure 5 A flowchart illustrating the use of a laser matrix rangefinder provided in this embodiment of the present disclosure;

[0026] Figure 6 This is a flowchart illustrating a method for detecting a robotic arm fall, as provided in an embodiment of this disclosure.

[0027] Figure 7 A flowchart for calculating the center position of a sphere is provided as an embodiment of this disclosure;

[0028] Figure 8 A schematic diagram of a plane and a sphere provided for an embodiment of this disclosure;

[0029] Figure 9 This is a schematic diagram of the structure of a robotic arm fall detection device provided in an embodiment of the present disclosure;

[0030] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0032] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0033] Specifically, before a surgical robot enters the market, it must undergo a series of tests, each of which is crucial. In particular, the type testing test has many items, and the fall test of the robotic arm is an important one to ensure the normal use of the machine. The fall test of the robotic arm includes both static position changes and dynamic position changes during the fall.

[0034] Among them, static position change refers to the change in data measured statically before and after the power failure of the robotic arm; that is, the robotic arm remains stationary at its current position and a position is measured; after the power failure, the robotic arm falls, and when the falling motion stops, another position is measured. By calculating the position change before and after the power failure, the static position change of the robotic arm can be obtained.

[0035] Dynamic position change refers to the change in dynamic data during the fall of the robotic arm after power failure. Since the robotic arm will be in a repeated motion of falling, rebounding, falling, rebounding, etc. for a short period of time after power failure, a device is needed to measure the dynamic coordinate data of the robotic arm end during the fall process in order to calculate the dynamic position change of the robotic arm during the fall.

[0036] Currently, the methods for measuring dynamic position changes are relatively limited, with most methods using laser trackers to track the position of the robotic arm's end effector. This method requires attaching the tracker's reflective ball to the robotic arm's end effector, but removing the ball can damage the end effector surface. In addition, this device is expensive, making it costly for such a small detection item as dynamic position change detection. Furthermore, the device requires professional operation, making it difficult to use and promote.

[0037] To address the aforementioned technical problems, this disclosure provides a method for detecting falls by a robotic arm. This will be described in detail through one or more of the following embodiments.

[0038] The robotic arm drop detection method provided in this disclosure is applicable to robotic arm drop detection scenarios. This method can be executed by a robotic arm drop detection device, which can be implemented in software and / or hardware and can be integrated into an electronic device. The electronic device can include, but is not limited to, mobile terminals such as smartphones, laptops, digital radio receivers, personal digital assistants (PDAs), tablet computers (Tablet PCs), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), wearable devices, etc., as well as fixed terminals such as digital televisions, desktop computers, smart home devices, etc.

[0039] Figure 1This is a schematic diagram of a robotic arm drop detection device provided in an embodiment of the present disclosure. The robotic arm drop detection device includes a detection device and a laser matrix rangefinder. The laser matrix rangefinder includes a laser emitter and a transmission device, wherein:

[0040] The laser emitter is used to emit a laser at a detection ball positioned at the end of the robotic arm within its detection range in the event of a fall from the end of the robotic arm, and to measure at least one distance data of the detection ball.

[0041] The transmission device is used to transmit at least one distance data to the host computer;

[0042] The detection device is used to perform a robotic arm drop detection method.

[0043] Understandably, a laser matrix rangefinder is designed based on the principle of laser ranging. It includes a laser emitter and a transmission device. The laser emitter is used for laser emission and distance measurement calculation. Specifically, the end effector of a robotic arm is placed within the detection range of the laser matrix rangefinder and will repeatedly move within this range due to sudden stops and falls. The detection range refers to the range of the laser emitted by the laser emitter. The laser emitter emits laser light towards a detection ball placed within the detection range and measures at least one distance from the ball. The detection ball is mounted on the end effector of the robotic arm and moves repeatedly with it, i.e., the end effector carries the detection ball and repeatedly falls within the detection range. The detection ball reflects the falling motion of the end effector. The distance data refers to the distance from the laser emitted by the laser emitter to the surface of the ball. Figure 1The laser range shown consists of numerous laser lines. When the detection ball is placed within the laser range, at least one laser line will illuminate the surface of the detection ball, forming at least one laser point / obstruction point. At this point, the distance from the laser line to the surface can be used to obtain at least one distance data point. One possible scenario is that only one laser line illuminates the surface and forms a single laser point, allowing for the measurement of one distance data point. This laser point can then be used to represent the detection ball, and its spatial position within the laser range can be used as the spatial position of the detection ball's center. Detecting changes in this laser point allows for the detection of the ball's movement, and consequently, the movement of the robotic arm's end effector due to a fall. Another possible scenario is that two laser lines illuminate the surface and form two laser points. The centers of these two laser points can be calculated based on the two measured distance data points, and this center can be used as the center of the detection ball for fall detection of the robotic arm's end effector. Yet another possible scenario is that three laser lines illuminate the surface and form three laser points. The centers of these three laser points can be calculated based on the three measured distance data points, and this center can be used as the center of the detection ball for fall detection of the robotic arm's end effector. In another possible scenario, if at least four laser lines illuminate the sphere and form at least four laser points, the center of the detection sphere can be calculated based on the measured distance data of at least four points, and this center can be used as the detection sphere for drop detection at the end of the robotic arm.

[0044] For example, see Figure 2 , Figure 2 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of this disclosure. The surgical robot includes a trolley, a robotic arm, an end effector device, and a detection ball. The end effector device can be the end of the robotic arm mentioned above. Figure 2 As shown, the detection ball is mainly mounted on the end effector device. Preferably, the diameter of the detection ball can be set at around 20mm, and it can be made of a metal material suitable for laser ranging. For example, the detection ball can be a reflective metal ball. Furthermore, the detection ball can be customized to fit the end effector device; fitting means ensuring that the detection ball and the end effector move synchronously. In one possible scenario, the end effector device structures of surgical robots for different purposes differ, such as probes. Therefore, the detection ball can be mounted on the end effector device via a connector. The connector can be customized according to the end effector device, and the detection ball can be set as a standard detection ball, further reducing the cost of drop detection.

[0045] Understandably, the laser matrix rangefinder also includes a transmission device for transmitting at least one distance data measured by the laser emitter to the host computer. The host computer executes a robotic arm drop detection method, specifically fitting at least one current position of the detection ball based on the at least one distance data. The current position refers to the spatial position of the ball's center within the detection range, and the spatial position refers to the coordinates on the xyz axes. Subsequently, the detection requirements for drop detection at the robotic arm's end effector are obtained, and a detection result is generated based on the at least one current position and the detection requirements. For a detailed explanation of the robotic arm drop detection performed by the host computer based on the distance data measured by the laser matrix rangefinder, please refer to the following embodiments.

[0046] For example, see Figure 3 , Figure 3 This is a scene diagram of a robotic arm falling, provided in an embodiment of this disclosure. Figure 3 As shown, Figure 2 The end effector is placed within the detection range / laser range of the laser matrix rangefinder, and carries the detection ball, moving repeatedly within the rangefinder. Additionally, in actual operation scenarios, the end effector will experience some displacement due to emergency stops or power outages, until it stops at the joint limits. Because the robotic arm has joint limits, the range of motion of the end effector is limited. Figure 3 In the scenario shown, the entire laser matrix rangefinder can be set to a smaller size to improve ease of use.

[0047] Optionally, the laser matrix rangefinder further includes a frame and a light shield. The laser emitter and the light shield are respectively installed on both sides of the frame. The frame also houses the transmission device and the emergency stop recognition device. The light shield is used to block outward laser radiation and provide safety protection. The emergency stop recognition device is used to generate a collection signal when the robotic arm stops suddenly and feeds the collection signal back to the laser emitter, so that the laser emitter emits a laser towards the detection ball that has fallen due to the sudden stop and collects distance data.

[0048] Understandably, laser matrix rangefinders also include the overall frame and light shield, such as... Figure 1 As shown, a laser emitter is mounted on one side of the machine frame, and a light-shielding plate is mounted on the other side. The space between the laser emitter and the light-shielding plate is the detection range. The machine frame also houses a power supply device, an emergency stop recognition device, and the aforementioned transmission device. The emergency stop recognition device can also be understood as a power failure signal capture device, mainly used to generate a data acquisition signal when the robotic arm loses power or stops suddenly, to notify the laser emitter to begin data acquisition. This data refers to distance data, such as... Figure 1As shown, an emergency stop power failure recognition interface for the emergency stop recognition device is located on one side of the overall frame (the side where the light shield is located). Specifically, the overall frame is used to respond promptly when the robotic arm loses power, sending a feedback signal to the laser emitter to initiate data acquisition and transmission. Figure 1 As shown, on the other side of the frame (the side where the laser emitter is located), there are HDMI and Ethernet ports for the transmission device. The Ethernet port is used to acquire data, and the HDMI port is connected to the display for displaying and processing data, as well as operation control.

[0049] Understandably, the light shield serves two purposes: firstly, it blocks the outward reflection of the laser emitted by the laser emitter and prevents interference from external objects, ensuring the accuracy of data acquisition; secondly, it shields the laser to prevent injury and provide safety protection. Additionally, depending on the testing requirements, laser receivers can be used instead of the light shield, with each receiver in the laser receiver system corresponding one-to-one with each emitting device in the laser emitter.

[0050] Optionally, the laser emitter includes multiple laser emitting devices and a control device, wherein: the laser emitting devices are used to emit lasers toward the detection ball; the control device is used to control the laser emission of at least some of the multiple laser emitting devices and to measure at least one distance data of the detection ball.

[0051] Understandably, each laser emitter can function as a miniature rangefinder. A laser emitter comprises multiple laser emitting devices and a control unit. The multiple laser emitting devices emit lasers onto a light-shielding plate, and the resulting laser matrix constitutes the detection range. The laser emitter contains a control unit, which can be understood as a central control board. This central control board is equipped with a high-performance computing chip used to control laser emission and distance measurement calculations.

[0052] Optionally, the plurality of laser emitting devices are arranged in a laser matrix according to a preset spacing, the diameter of the detection ball is larger than the preset spacing, the detection range is within the range of the laser matrix, and the movement range of the detection ball during repeated movement during the fall is within the detection range.

[0053] One possible setup involves setting the laser emitter frequency to 60Hz. The laser emitter consists of 23 groups horizontally and 25 groups vertically, with each group spaced 5mm apart, forming a laser matrix 110mm horizontally and 120mm vertically. This means the laser emitter contains over 500 laser emitters, each spaced 5mm apart, arranged in a horizontal and vertical pattern (23 horizontally and 25 vertically). The detection ball's diameter can be set to 20mm, greater than the preset spacing of 5mm but less than the detection range. The detection range is the area defined within the laser matrix, and the range of motion of the detection ball during repeated drops should be smaller than the detection range. Alternatively, the detection range can be customized within the laser matrix according to detection requirements. For example, if the end effector of a robotic arm is a probe, its detection range can be smaller, defining the area comprised of 20 horizontally and vertically oriented laser emitters within the laser matrix.

[0054] For example, see Figure 4 , Figure 4 This is a schematic diagram of the structure of a laser emitter provided in an embodiment of the present disclosure, as shown below. Figure 4 The laser emitter shown forms an XYZ three-axis coordinate system within the entire laser matrix. The distance between the laser emitter and the light-shielding plate is the x-axis, the horizontal axis of the laser emitter is the Y-axis, and the vertical axis is the Z-axis. When the detection ball at the end of the robotic arm enters the laser matrix, the laser emitter can fit the center position of the ball based on the distance measured by the blocked beam. When the robotic arm loses power, the ball will undergo a short-term up-and-down drop and bounce motion, mainly repetitive motion along the Z-axis. When the laser emitter receives the power-off signal / acquisition signal from the robotic arm, it begins to collect and transmit the collected real-time data to the host computer. The host computer processes the data, analyzes the real-time change of the ball's center position along the Z-axis over time, and calculates the change in distance between the highest and lowest points. It can also calculate changes in the X, Y, and Z directions or spatial coordinates according to detection requirements, and then calculate and output the data results based on those requirements.

[0055] For example, see Figure 5 , Figure 5 A flowchart illustrating the use of a laser matrix rangefinder, provided in this disclosure, using a surgical robot as an example, specifically includes the following steps:

[0056] 1) Position and fix the robotic arm trolley, and install the detection ball at its end; 2) Initially position the laser matrix rangefinder in the commonly used surgical area of ​​the surgical robot, and place it stably; 3) Perform the wiring operation of the laser matrix rangefinder to ensure normal operation; 4) Drag the detection ball at the end of the robotic arm into the laser matrix; 5) Run the pre-set program for the robotic arm's repeated up-and-down movements, ensuring that the detection ball at the end of the robotic arm is always within the detection range; 6) Stop the robotic arm by pressing the emergency stop button or cutting off the power; 7) The laser matrix rangefinder monitors the position in real time during the robotic arm's stop and transmits the data to the host computer; 8) The host computer selects the required change amount according to the test requirements and processes the data; 9) Output a data report.

[0057] Understandably, the wiring operations for the aforementioned laser matrix rangefinder include: ① connecting the power cord; ② connecting the emergency stop / power failure identification interface of the surgical robot; ③ connecting the external data transmission line, which can be connected to the computer on the surgical robot itself or to other computers; ④ powering on and checking the operating status of the machine (robotic arm and laser matrix rangefinder).

[0058] Understandably, after ensuring the robotic arm and laser matrix rangefinder are operating normally, the detection ball is dragged to the center of the laser matrix (or to another position within the laser matrix). While dragging, the host computer can be consulted to determine the position information of the detection ball. This is only to define the detection range. If the position is not suitable, appropriate adjustments should be made to ensure that the detection ball is always within the detection range.

[0059] Understandably, in a program that involves repeated up-and-down movements, test cases can be used to set the maximum distance the robotic arm can move up and down, thereby defining the detection range within the laser matrix.

[0060] The laser matrix rangefinder provided in this application places the end of the robotic arm within the detection range of the laser matrix rangefinder and completes the distance test of the robotic arm end falling by laser ranging. It is simple to use and easy to promote. In addition, installing a metal detection ball at the end of the robotic arm reduces the detection cost to a certain extent compared with existing detection devices.

[0061] Based on the above embodiments, Figure 6 This is a flowchart illustrating a robotic arm drop detection method provided in an embodiment of this disclosure, applied to a host computer, and specifically includes the following: Figure 6 The following steps are shown:

[0062] S601. In the event of a fall at the end of the robotic arm, acquire at least one distance data of the detection ball configured at the end of the robotic arm.

[0063] The distance data is measured when the laser matrix rangefinder emits a laser to the detection sphere placed within its detection range.

[0064] Understandably, when the robotic arm loses power or stops abruptly, its end effector may fall. In this situation, the emergency stop detection device generates a signal and sends it to the laser emitter. Based on this signal, the laser emitter emits a laser towards a detection ball positioned at the end effector and measures at least one distance from the ball. A scenario where a laser matrix rangefinder is used to perform a drop test on the robotic arm's end effector is as follows: Figure 3 As shown. Subsequently, the host computer acquires at least one distance data point from the detection ball via a transmission device. This distance data refers to the distance between the laser emitting device and the blocking point when the laser beam is blocked on the surface of the detection ball, forming a laser point / blocking point. Specifically, the time from laser beam emission to reception can be measured using a timer, and the distance from the rangefinder to the blocking point can be calculated. Based on the above example, the detection ball diameter is 20mm, and the preset spacing between the laser emitting devices is 5mm. This means that four laser emitting devices will emit beams to the surface of the detection ball simultaneously, and there are four blocking points. The at least one distance data point refers to the four distance data points between the four blocking points and their corresponding laser emitting devices.

[0065] Understandably, the robotic arm's end effector may be stationary or in motion before it falls. Regardless of its state before falling, the distance data after the fall or during the fall can be measured using a laser matrix rangefinder.

[0066] S602. Fit at least one current position of the detection ball based on the at least one distance data.

[0067] The current position refers to the spatial position of the center of the detection ball within the detection range.

[0068] Understandably, based on the above S601, after obtaining at least one distance data point of the detection ball at at least one moment during the fall, at least one current position of the detection ball is fitted based on the at least one distance data point. The current position refers to the spatial position of the center of the detection ball within the detection range. For example, data is measured at four moments, with each moment corresponding to four distance data points. The center position of the ball at each moment can be calculated based on the four distance data points. Thus, the center positions of the ball at all four moments can be calculated. The center position is the current position on the three axes (XYZ). Based on the center positions of the ball at the four moments, the changes in the three axes caused by the fall at the end of the robotic arm can be analyzed.

[0069] Optionally, in step S602 above, fitting at least one current position of the detection ball based on the at least one distance data can be achieved through the following steps:

[0070] Identify at least one obstruction point formed on the surface of the detection ball by at least one laser emitted by the laser matrix rangefinder; wherein each obstruction point has a corresponding distance; calculate the target position of each obstruction point within the detection range based on the target distance corresponding to each obstruction point in the at least one distance data; fit at least one current position of the detection ball through the target position of each obstruction point.

[0071] Understandably, the detection range is defined by a laser matrix composed of multiple laser beams emitted by the laser emitter. Within this range, multiple laser beams may strike the surface of the detection sphere, creating multiple obstruction points, each with a corresponding target distance. The target position of each obstruction point within the detection range is then estimated based on these target distances; the target position refers to its spatial coordinates on the XYZ axis. After determining the spatial coordinates of each obstruction point, the current position of the detection sphere is fitted using multiple spatial coordinates.

[0072] The target position includes multiple coordinate values ​​on multiple coordinate axes, including a first axis, a second axis, and a third axis.

[0073] Understandably, multiple coordinate axes refer to the XYZ axes. The following embodiment uses the first axis as the Z-axis, the second axis as the X-axis, and the third axis as the Y-axis as an example to explain in detail the process of calculating the center position of the sphere.

[0074] Optionally, fitting at least one current position of the detection ball using the target position of each blocking point can be achieved through the following steps:

[0075] A first arc on a first plane is fitted using a first coordinate value on the first axis and a second coordinate value on the second axis; wherein the first plane refers to the plane formed by the first axis and the second axis; a second arc on a second plane is fitted using the first coordinate value and a third coordinate value on the third axis; wherein the second plane refers to the plane formed by the first axis and the third axis; the plurality of coordinate values ​​include the first coordinate value, the second coordinate value, and the third coordinate value; a virtual sphere of the detection ball is fitted using the first arc and the second arc, and at least one current position of the virtual sphere is calculated.

[0076] Understandably, for a given obstruction point, the first arc of the first plane is fitted using the first coordinate value on the first axis and the second coordinate value on the second axis; that is, the arc of the XZ plane is fitted based on the (x, z) coordinates of the obstruction point. Similarly, the second arc of the second plane is fitted using the first coordinate value and the third coordinate value on the third axis; that is, the arc of the YZ plane is fitted based on the (y, z) coordinates of the obstruction point. Each obstruction point can have both an XZ plane arc and a YZ plane arc fitted. Using the XZ plane arcs and YZ plane arcs of all obstruction points at the current moment, the sphere of the detected ball is fitted, and the coordinates (x, y, z) of the sphere's center at the current moment are calculated. Understandably, the least squares method can be used for the fitting algorithm; other fitting algorithms will not be elaborated upon here.

[0077] For example, see Figure 7 , Figure 7 A flowchart for calculating the center position of a sphere, provided as an embodiment of this disclosure, specifically includes, as follows: Figure 7 The following steps are shown:

[0078] 1) Receive the emergency stop signal generated after the robotic arm's end effector stops suddenly; 2) Use laser recognition to obtain the spatial coordinates of the obstruction point on the surface of the detection sphere; 3) Fit the arc of the XY plane using the (x, y) coordinates of the obstruction point; 4) Fit the arc of the XZ plane using the (x, z) coordinates of the obstruction point; 5) Fit the sphere using the arcs of the XY plane and the XZ plane, and calculate the coordinates (x, y, z) of the sphere's center; 6) Upload the center coordinates of the sphere in real time, reflecting the changes in the sphere's position; 7) Select the required coordinate data according to the needs and output the detection data.

[0079] Understandable Figure 7 The specific implementation steps of 1)-7) shown above are described in the above embodiments and will not be repeated here.

[0080] For example, see Figure 8 , Figure 8 This is a schematic diagram of a plane and a sphere provided in an embodiment of the present disclosure. Figure 8 The planes shown are the XY plane and the XZ plane. In the XY plane, points 1 to 4 refer to the blocking points 1 to 4. The coordinates of blocking point 1 are (x1, y1). The arc between points 1 and 2 in the XY plane is denoted as arc 1, the arc between points 2 and 3 is denoted as arc 2, and so on, determining four arcs. Based on these four arcs, a circle in the XY plane can be determined. Similarly, a circle in the XZ plane can be determined. Finally, a sphere is fitted using the circles in the XY and XZ planes, and the coordinates (x, y, z) of the sphere are calculated.

[0081] S603. Obtain the detection requirement for drop detection at the end of the robotic arm, and generate a detection result based on the at least one current position and the detection requirement.

[0082] Understandably, based on the above S602, the detection requirements for drop detection of the robotic arm's end effector are obtained. These detection requirements include dynamic requirements for detecting dynamic position changes or static requirements for detecting static position changes. Dynamic requirements refer to detecting dynamic data changes during the fall of the robotic arm's end effector, while static requirements refer to detecting static data changes before and after the fall. After determining the detection requirements, a detection result is generated based on at least one current position and the detection requirements. Specific implementation steps are described in the following embodiments.

[0083] Optionally, the detection ball and the robotic arm end effector have the same motion state, the detection requirements include static and dynamic requirements, and the method further includes: before the robotic arm end effector falls.

[0084] When the robotic arm is powered on, the current state of the detection ball is determined; when the current state is a stationary state, the initial position of the detection ball is measured; generating a detection result based on the at least one current position and the detection requirement includes: calculating the static position change of the detection ball based on the initial position and the current position, and generating a detection result that meets the static requirement; wherein, the initial position refers to the static position of the ball's center within the detection range when the detection ball is stationary, and the current position is measured after the detection ball has fallen and come to rest; or, when the current state is in motion, generating a detection result based on the at least one current position and the detection requirement includes: calculating the dynamic position change of the detection ball based on the at least one current position, and generating a detection result that meets the dynamic requirement; wherein, the at least one current position refers to the dynamic position of the ball's center when the detection ball repeatedly moves during the fall.

[0085] Understandably, when the robotic arm is powered on, before performing drop detection, the current state of the detection ball or the robotic arm's end effector needs to be determined. This current state can be either static or dynamic. A static state means the robotic arm is held in a certain position, while a dynamic state means the robotic arm is in motion. One possible scenario is that, if the current state is static, the initial position of the detection ball is measured before drop detection. The initial position refers to the spatial position of the ball's center within the detection range when the ball is stationary. After the ball falls and comes to a stop, its current position is measured using a laser matrix rangefinder. In this case, the current position is measured after the ball has fallen and come to a stop. Subsequently, based on the initial and current positions, the static position change of the robotic arm's end effector can be analyzed. Another possible scenario is when the current state is one of motion, i.e., the robotic arm moves repeatedly at its maximum working speed (the direction and position are not explicitly required, only the speed is required). After an emergency stop or power failure, during the process of the detection ball falling, the current position of the detection ball is measured in real time using a laser matrix rangefinder. That is, from the moment the power is cut off until the robotic arm stops moving, the position change of the robotic arm's end effector is recorded throughout the entire process. In this case, the current position is measured in real time during the fall of the detection ball. Subsequently, based on the current position at each moment during the fall, the dynamic position change of the robotic arm's end effector can be analyzed.

[0086] Optionally, the step of calculating the dynamic position change of the detection ball based on the at least one current position and generating a detection result that meets the dynamic requirements can be achieved through the following steps:

[0087] Analyze the movement of the ball's center along the target axis over time based on at least one current position, and determine the maximum and minimum coordinate values ​​of the ball's center along the target axis; calculate the difference between the maximum and minimum coordinate values ​​to obtain the dynamic position change of the detection ball, and generate a detection result that meets the dynamic requirements.

[0088] Understandably, taking the detection of dynamic position changes at the end effector of a robotic arm as an example, based on a series of current positions calculated during the fall, the movement of the ball's center along the target axis over time is analyzed. The detection requirement includes the target axis from which the changes are analyzed. After completing the time-varying analysis along the target axis, the maximum and minimum coordinate values ​​of the ball's center along the target axis are determined, and the difference between the maximum and minimum coordinate values ​​is calculated to obtain the dynamic position change. For example, after obtaining all the positions calculated during the fall, the highest and lowest values ​​of the end effector's movement in the vertical direction (Z-axis) are extracted, and the difference is calculated to obtain the dynamic position change of the robotic arm during the fall.

[0089] Understandably, a table of position changes can also be generated based on a series of current coordinates to visually display the fall status of the robotic arm.

[0090] The robotic arm drop detection method provided in this application can be used for static position change measurement and dynamic position change measurement. By using a flexible and easy-to-use laser matrix rangefinder, the dynamic coordinate data of the center of the detection ball installed at the end of the robotic arm is calculated during the drop process by measuring the distance data of the detection ball in real time. Then, the dynamic position change of the robotic arm during the drop is calculated, which reduces the detection cost while ensuring detection accuracy.

[0091] Figure 9 A schematic diagram of the structure of a robotic arm fall detection device provided in this embodiment of the present disclosure. Figure 9 The robotic arm fall detection device provided in this disclosure embodiment can execute the processing flow provided in the robotic arm fall detection method embodiment, such as... Figure 9 As shown, the device 900 includes an acquisition unit 901, a fitting unit 902, and a generation unit 903, wherein:

[0092] Acquisition unit 901 is used to acquire at least one distance data of a detection ball disposed at the end of the robotic arm in the event of a fall; wherein the distance data is measured by a laser matrix rangefinder emitting a laser at the detection ball placed within its detection range;

[0093] Fitting unit 902 is used to fit at least one current position of the detection ball based on the at least one distance data; wherein, the current position refers to the spatial position of the center of the detection ball within the detection range;

[0094] The generation unit 903 is used to obtain the detection requirements for drop detection at the end of the robotic arm, and generate detection results based on the at least one current position and the detection requirements.

[0095] Optional, fitting unit 902:

[0096] Identify at least one obstruction point formed on the surface of the detection sphere by at least one laser emitted by the laser matrix rangefinder; wherein each obstruction point has a corresponding distance;

[0097] Calculate the target position of each blocking point within the detection range based on the target distance corresponding to each blocking point in the at least one distance data;

[0098] At least one current position of the detection ball is fitted by the target position of each blocking point.

[0099] The target position includes multiple coordinate values ​​on multiple coordinate axes, including a first axis, a second axis, and a third axis.

[0100] Optional, fitting unit 902:

[0101] A first circular arc on a first plane is fitted using the first coordinate value on the first axis and the second coordinate value on the second axis; wherein, the first plane refers to the plane formed by the first axis and the second axis;

[0102] A second circular arc on a second plane is fitted using the first coordinate value and the third coordinate value on the third axis; wherein, the second plane refers to the plane formed by the first axis and the third axis; the plurality of coordinate values ​​include the first coordinate value, the second coordinate value, and the third coordinate value;

[0103] A virtual sphere is fitted to the detection ball using the first and second arcs, and at least one current position of the virtual sphere is calculated.

[0104] The detection ball and the end effector of the robotic arm have the same motion state.

[0105] Optionally, device 900 is also used for:

[0106] When the robotic arm is powered on, determine the current state of the detection ball;

[0107] When the current state is a stationary state, the initial position of the detection ball is measured; generating a detection result based on the at least one current position and the detection requirement includes: calculating the static position change of the detection ball based on the initial position and the current position, and generating a detection result that satisfies the static requirement; wherein, the initial position refers to the static position of the ball's center within the detection range when the detection ball is stationary, and the current position is measured after the detection ball has fallen and come to rest; or,

[0108] When the current state is in motion, generating a detection result based on the at least one current position and the detection requirement includes: calculating the dynamic position change of the detection ball based on the at least one current position, and generating a detection result that meets the dynamic requirement; wherein, the at least one current position refers to the dynamic position of the center of the ball when the detection ball moves repeatedly during the fall.

[0109] Optionally, the generating unit 903 is used for:

[0110] Analyze the movement of the ball's center along the target axis over time based on the at least one current position, and determine the maximum and minimum coordinate values ​​of the ball's center along the target axis.

[0111] The difference between the maximum and minimum coordinate values ​​is calculated to obtain the dynamic position change of the detection ball, and a detection result that meets the dynamic requirements is generated.

[0112] Figure 9 The robotic arm fall detection device shown in the embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0113] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. See below for details. Figure 10 The diagram illustrates a structural schematic suitable for implementing the electronic device 1000 in the embodiments of this disclosure. The electronic device 1000 in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), wearable electronic devices, etc., as well as fixed terminals such as digital TVs, desktop computers, smart home devices, etc. Figure 10 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0114] like Figure 10 As shown, the electronic device 1000 may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003 to implement the robotic arm fall detection method as described in the embodiments of this disclosure. The RAM 1003 also stores various programs and data required for the operation of the electronic device 1000. The processing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0115] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows electronic device 1000 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 10An electronic device 1000 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0116] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts, thereby implementing the robotic arm fall detection method as described above. In such embodiments, the computer program can be downloaded and installed from a network via communication device 1009, or installed from storage device 1008, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0117] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0118] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0119] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0120] Optionally, when one or more of the above-described procedures are executed by the electronic device, the electronic device may also perform other steps described in the above embodiments.

[0121] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0123] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0124] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0125] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0126] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or gateway that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or gateway. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or gateway that includes said element.

[0127] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting a robotic arm fall, characterized in that, The method includes: In the event of a fall at the end of the robotic arm, at least one distance data of a detection ball positioned at the end of the robotic arm is acquired; wherein, the distance data is measured when a laser matrix rangefinder emits a laser to the detection ball placed within its detection range; At least one current position of the detection ball is fitted based on the at least one distance data; wherein, the current position refers to the spatial position of the center of the detection ball within the detection range; The detection requirement for drop detection at the end of the robotic arm is obtained, and a detection result is generated based on the at least one current position and the detection requirement; Wherein, the detection ball and the robotic arm end effector have the same motion state, the detection requirements include static requirements and dynamic requirements, and before the robotic arm end effector falls, the method further includes: When the robotic arm is powered on, determine the current state of the detection ball; When the current state is a stationary state, the initial position of the detection ball is measured; generating a detection result based on the at least one current position and the detection requirement includes: calculating the static position change of the detection ball based on the initial position and the current position, and generating a detection result that satisfies the static requirement; wherein, the initial position refers to the static position of the ball's center within the detection range when the detection ball is stationary, and the current position is measured after the detection ball has fallen and come to rest; or, When the current state is in motion, generating a detection result based on the at least one current position and the detection requirement includes: calculating the dynamic position change of the detection ball based on the at least one current position, and generating a detection result that meets the dynamic requirement; wherein, the at least one current position refers to the dynamic position of the center of the ball when the detection ball moves repeatedly during the fall.

2. The method according to claim 1, characterized in that, The step of fitting at least one current position of the detection ball based on the at least one distance data includes: Identify at least one obstruction point formed on the surface of the detection sphere by at least one laser emitted by the laser matrix rangefinder; wherein each obstruction point has a corresponding distance; Calculate the target position of each blocking point within the detection range based on the target distance corresponding to each blocking point in the at least one distance data; At least one current position of the detection ball is fitted by the target position of each blocking point.

3. The method according to claim 2, characterized in that, The target position includes multiple coordinate values ​​on multiple coordinate axes, including a first axis, a second axis, and a third axis. Fitting at least one current position of the detection ball using the target position of each blocking point includes: A first circular arc on a first plane is fitted using the first coordinate value on the first axis and the second coordinate value on the second axis; wherein, the first plane refers to the plane formed by the first axis and the second axis; A second circular arc on a second plane is fitted using the first coordinate value and the third coordinate value on the third axis; wherein, the second plane refers to the plane formed by the first axis and the third axis; the plurality of coordinate values ​​include the first coordinate value, the second coordinate value, and the third coordinate value; A virtual sphere is fitted to the detection ball using the first and second arcs, and at least one current position of the virtual sphere is calculated.

4. The method according to claim 1, characterized in that, The step of calculating the dynamic position change of the detection ball based on the at least one current position and generating a detection result that meets the dynamic requirements includes: Analyze the movement of the ball's center along the target axis over time based on the at least one current position, and determine the maximum and minimum coordinate values ​​of the ball's center along the target axis. The difference between the maximum and minimum coordinate values ​​is calculated to obtain the dynamic position change of the detection ball, and a detection result that meets the dynamic requirements is generated.

5. A robotic arm fall detection device, characterized in that, The robotic arm fall detection device includes a laser matrix rangefinder and a detection device. The laser matrix rangefinder includes a laser emitter and a transmission device, wherein: The laser emitter is used to emit a laser at a detection ball positioned at the end of the robotic arm within its detection range in the event of a fall from the end of the robotic arm, and to measure at least one distance data of the detection ball. The transmission device is used to transmit the at least one distance data to the detection device; The detection device is used to perform the method as described in any one of claims 1-4.

6. The device according to claim 5, characterized in that, The laser matrix rangefinder also includes a frame and a light shield. The laser emitter and the light shield are respectively mounted on both sides of the frame. The frame also houses the transmission device and the emergency stop recognition device. The light shield is used to block out laser radiation and provide safety protection. The emergency stop recognition device is used to generate a collection signal when the end of the robotic arm stops suddenly, and feeds the collection signal back to the laser emitter so that the laser emitter emits a laser towards the detection ball that has fallen due to the emergency stop and collects distance data.

7. The device according to claim 5, characterized in that, The laser emitter includes multiple laser emitting devices and control devices, wherein: The laser emitting device is used to emit a laser towards the detection ball; The control device is used to control the laser emission of at least some of the plurality of laser emitting devices and to measure at least one distance data of the detection ball.

8. The device according to claim 7, characterized in that, The multiple laser emitting devices are arranged in a laser matrix at a preset interval. The diameter of the detection ball is larger than the preset interval. The detection range is within the laser matrix. The movement range of the detection ball during repeated movements during the fall is within the detection range.

9. A fall detection device for a robotic arm, characterized in that, The device includes: An acquisition unit is configured to acquire at least one distance data of a detection ball disposed at the end of the robotic arm in the event of a fall at the end of the robotic arm; wherein the distance data is measured by a laser matrix rangefinder emitting a laser at the detection ball placed within its detection range; A fitting unit is configured to fit at least one current position of the detection ball based on the at least one distance data; wherein the current position refers to the spatial position of the center of the detection ball within the detection range; A generation unit is used to obtain the detection requirements for drop detection at the end of the robotic arm, and generate detection results based on the at least one current position and the detection requirements; The detection ball and the robotic arm end effector have the same motion state. The detection requirements include both static and dynamic requirements. Before the robotic arm end effector falls, the device is further used for: When the robotic arm is powered on, determine the current state of the detection ball; The generation unit is used for: When the current state is a stationary state, the initial position of the detection ball is measured; based on the initial position and the current position, the static position change of the detection ball is calculated, generating a detection result that meets the static requirements; wherein, the initial position refers to the static position of the ball's center within the detection range when the detection ball is stationary, and the current position is measured after the detection ball has fallen and come to rest; or, When the current state is in motion, the dynamic position change of the detection ball is calculated based on the at least one current position, and a detection result that meets the dynamic requirements is generated; wherein, the at least one current position refers to the dynamic position of the center of the ball when the detection ball moves repeatedly during the fall.

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