Method and device for determining attitude control boundary of end tool, equipment and medium

Abstract

The invention relates to an end tool attitude control boundary determination method and device, equipment and a medium. When the end tool carries out periodic operation, if the position control point of the current period is located in the posture limiting change area of the end tool, it can be guaranteed that the posture of the end tool is within the posture maximum limiting boundary, and meanwhile the posture limiting boundary corresponding to the end tool in the posture does not exceed the position maximum limiting boundary; and the safety of periodic operation of the end tool is improved. Besides, in combination with the attitude control boundaries corresponding to the position control points of the current period and the position control points of the previous period, the attitude boundary can be accurately determined in the attitude limit change area of the end tool and is used as the attitude control boundary of the end tool in the current period, so that the purpose that the attitude limit is limited by the attitude control boundary of the current period is achieved. And therefore, the periodic operation execution effect of the end tool can be accurately controlled.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motion control of robots, and particularly to a method, apparatus, device, and medium for determining the attitude control boundary of an end effector. Background Art

[0002] In the field of medical robot control, there are extremely high safety requirements for medical robots. Specifically, it is required that the real-time position and real-time attitude of the end effector of the medical robot do not exceed the limit boundary to avoid the end effector from injuring the internal tissues of the user.

[0003] In order to avoid the end effector from injuring the internal tissues of the user, the related art adopts the following methods: restricting the real-time position of the end effector not to exceed the position limit boundary, and restricting the real-time attitude of the axis of the end effector not to exceed the attitude limit boundary.

[0004] However, when the end effector moves within the position limit boundary, the real-time attitude of the axis of the end effector may exceed the position limit boundary, which may cause damage to the internal tissues of the user, resulting in poor safety during the movement of the end effector. Summary of the Invention

[0005] To solve the above technical problems, the present disclosure provides a method, apparatus, device, and medium for determining the attitude control boundary of an end effector.

[0006] In a first aspect, the present disclosure provides a method for determining the attitude control boundary of an end effector, including:

[0007] Obtaining the position control point of the end effector in the current cycle;

[0008] Determining whether the position control point in the current cycle is within the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the maximum position limit boundary of the end effector;

[0009] If the position control point in the current cycle is within the attitude limit change area of the end effector, when the maximum position limit boundary is used as the position control boundary of the end effector in the current cycle, based on the position control point in the current cycle and the attitude control boundary corresponding to the position control point in the previous cycle, determining the attitude control boundary of the end effector in the current cycle from the attitude limit change area.

[0010] In a second aspect, the present disclosure provides a device for determining the attitude control boundary of an end effector, including:

[0011] An obtaining module, configured to obtain the position control point of the end effector in the current cycle;

[0012] A judgment module, configured to determine whether a position control point in the current cycle is within a posture limit change area of the end effector, where the posture limit change area is an area where the posture limit boundary of the end effector changes dynamically within the position maximum limit boundary of the end effector;

[0013] A determination module, configured to, if the position control point in the current cycle is within the posture limit change area of the end effector, and when the position maximum limit boundary is used as the position control boundary of the end effector in the current cycle, determine the posture control boundary of the end effector in the current cycle from the posture limit change area based on the posture control boundary corresponding to the position control point in the current cycle and the position control point in the previous cycle.

[0014] In a third aspect, an embodiment of the present disclosure further provides an electronic device, which includes:

[0015] One or more processors;

[0016] A storage device, configured to store one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the method provided in the first aspect.

[0018] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method provided in the first aspect is implemented.

[0019] The technical solution provided by the embodiment of the present disclosure has the following advantages compared with the prior art:

[0020] A method, apparatus, device, and medium for determining an attitude control boundary of an end effector according to an embodiment of the present disclosure include: obtaining a position control point of the end effector in a current cycle; determining whether the position control point in the current cycle is in an attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the position maximum limit boundary of the end effector; if the position control point in the current cycle is in the attitude limit change area of the end effector, when the position maximum limit boundary is used as the position control boundary of the end effector in the current cycle, based on the attitude control boundary corresponding to the position control point in the current cycle and the attitude control boundary corresponding to the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area. Thus, when the end effector performs periodic operations, if the position control point in the current cycle is in the attitude limit change area of the end effector, it can ensure that the attitude of the end effector is within the attitude maximum limit boundary. At the same time, the attitude limit boundary corresponding to the end effector in this attitude will not exceed the position maximum limit boundary, improving the safety of the periodic operations of the end effector. In addition, by combining the attitude control boundary corresponding to the position control point in the current cycle and the attitude control boundary corresponding to the position control point in the previous cycle, the attitude boundary can be accurately determined in the attitude limit change area of the end effector as the attitude control boundary of the end effector in the current cycle, so as to achieve the effect of accurately controlling the periodic execution of operations of the end effector with the attitude control boundary in the current cycle as the limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 A conical boundary provided by an embodiment of the present disclosure;

[0024] Figure 2 A funnel-shaped boundary provided by an embodiment of the present disclosure;

[0025] Figure 3 A schematic diagram showing that the central axis of the conical boundary provided by an embodiment of the present disclosure coincides with the central axis of the funnel-shaped boundary;

[0026] Figure 4 A flowchart showing a method for determining an attitude control boundary of an end effector provided by an embodiment of the present disclosure;

[0027] Figure 5 A schematic diagram of a posture limit change area composed of multiple boundary lines represented by multiple dotted lines provided by an embodiment of the present disclosure;

[0028] Figure 6 A schematic flowchart of another method for determining the posture control boundary of an end effector provided by an embodiment of the present disclosure;

[0029] Figure 7 An enlarged view of a partial boundary of a conical boundary provided by an embodiment of the present disclosure;

[0030] Figure 8 A schematic structural diagram of an apparatus for determining the posture control boundary of an end effector provided by an embodiment of the present disclosure;

[0031] Figure 9 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0032] In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0033] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0034] Currently, the posture limit boundary mostly adopts Figure 1 the conical boundary shown in Figure 2 , and the position limit boundary mostly adopts Figure 1 the funnel-shaped boundary shown in Figure 2 . Taking Figure 1 and Figure 2 as an example, when a medical robot grinds the acetabulum, the position of the end effector of the medical robot is restricted within the funnel-shaped boundary, and moreover, the posture of the end effector is restricted within the conical boundary. However, in the case shown in Figure 3 , although the posture of the end effector is restricted within Figure 1 the conical boundary shown in Figure 1 , the postures of some points on the end effector exceed the funnel-shaped boundary, and there is still a possibility of damaging the internal tissues of the user in these situations.

[0035] In order to improve the safety of the movement process of the end effector, the following is combined with Figures 4 to 7A method for determining the pose control boundary of an end effector provided by an embodiment of the present disclosure will be described. In an embodiment of the present disclosure, the method for determining the pose control boundary of the end effector can be executed by an electronic device. The electronic device can be a control device of a medical robot.

[0036] Figure 4 FIG. 4 shows a schematic flowchart of a method for determining the pose control boundary of an end effector provided by an embodiment of the present disclosure.

[0037] As Figure 4 shown, the method for determining the pose control boundary of the end effector may include the following steps.

[0038] S410. Obtain the position control point of the end effector in the current cycle.

[0039] In this embodiment, when performing periodic control on the end effector of the medical robot, the electronic device takes any control cycle as the current cycle and obtains the position control point of the end effector in the current cycle, so as to dynamically determine the pose limit boundary of the end effector based on the position control point in the current cycle.

[0040] Wherein, the position control point in the current cycle refers to the working point that actually controls the position of the end effector.

[0041] Specifically, the electronic device first obtains the position planning point of the end effector in the current cycle and obtains the maximum position limit boundary preset for the end effector. Then, the electronic device determines whether the position planning point in the current cycle is outside the maximum position limit boundary. If so, the position planning point in the current cycle is adjusted to the maximum position limit boundary as the position control point in the current cycle. If not, the position planning point in the current cycle is directly used as the position control point in the current cycle.

[0042] In some embodiments, when it is determined that the position planning point in the current cycle is outside the maximum position limit boundary, a perpendicular line is drawn from the position planning point in the current cycle to the central axis corresponding to the maximum position limit boundary, and the intersection point of the perpendicular line and the maximum position limit boundary is used as the position control point in the current cycle.

[0043] In other embodiments, when it is determined that the position planning point in the current cycle is outside the maximum position limit boundary, the point on the maximum position limit boundary that is closest to the position planning point in the current cycle is found as the position control point in the current cycle.

[0044] S420. Determine whether the position control point in the current cycle is within the pose limit change area of the end effector, where the pose limit change area is an area where the pose limit boundary of the end effector changes dynamically within the maximum position limit boundary of the end effector.

[0045] It can be understood that when considering the movement of the end effector within the maximum pose limit boundary, the pose boundaries corresponding to some poses of the end effector may exceed the maximum position limit boundary. When the end effector operates in such a state, there is still a risk of damaging the internal tissues of the user.

[0046] For this reason, the electronic device first obtains, within the maximum position limit boundary of the end effector, the region where the pose limit boundary of the end effector changes dynamically as the pose limit change region. Then, it determines whether the position control point in the current cycle is within the pose limit change region of the end effector, and based on the judgment result, determines the pose control boundary of the end effector from the pose limit change region according to different logics.

[0047] Among them, the maximum position limit boundary is the virtual position wall boundary preset for the end effector. Optionally, the maximum position limit boundary of the end effector is Figure 2 the funnel-shaped boundary shown, or it can also be a virtual position wall boundary of other shapes, which is not limited here.

[0048] Among them, the maximum pose limit boundary is the virtual pose wall boundary preset for the end effector. Optionally, the maximum pose limit boundary of the end effector is Figure 1 the conical boundary shown, or it can also be a virtual pose wall boundary of other shapes, which is not limited here.

[0049] In the case where the maximum pose limit boundary of the end effector is a conical boundary and the maximum position limit boundary of the end effector is a funnel-shaped boundary, the specific determination method of the pose limit change region is as follows: when the central axes of the funnel-shaped boundary and the conical boundary coincide, the region where the angle between the tangent of the funnel-shaped boundary and the central axis is less than the angle between the conical boundary and the central axis is obtained as the pose limit change region.

[0050] For example, the electronic device uses Figure 1 the conical boundary shown as the maximum pose limit boundary and uses Figure 2 the funnel-shaped boundary shown as the maximum position limit boundary. Then, when Figure 2 the central axis of the funnel-shaped boundary shown and Figure 1 the central axis of the conical boundary shown coincide, a tangent is made on the funnel-shaped boundary shown in Figure 2 to obtain the region where the angle between the tangent of the funnel-shaped boundary and the central axis is less than the angle between the conical boundary and the central axis, forming Figure 5 the pose limit change region composed of the tangents represented by the multiple dotted lines shown.

[0051] S430. If the position control point in the current cycle is within the attitude limit change area of the end effector, when the maximum position limit boundary is used as the position control boundary of the end effector in the current cycle, based on the attitude control boundaries corresponding to the position control point in the current cycle and the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area.

[0052] It can be understood that if the position control point in the current cycle is within the attitude limit change area of the end effector, it means that when the end effector moves in the current cycle, it will not exceed the maximum attitude limit boundary nor the maximum position limit boundary, ensuring the safety of the end effector in the current cycle.

[0053] Since the attitude limit change area is a spatial area formed by multiple boundary lines, during the periodic operation of the end effector, while keeping the position virtual wall boundary (i.e., always the maximum position limit boundary) unchanged, the electronic device also needs to accurately determine the specific attitude boundary from the attitude limit change area as the attitude control boundary of the end effector in the current cycle, so that the end effector performs operations within the attitude control boundary of the current cycle.

[0054] Among them, the attitude control boundary in the current cycle refers to the attitude boundary that actually constrains the end effector in the current cycle.

[0055] A method for determining the attitude control boundary of an end effector according to an embodiment of the present disclosure includes: obtaining the position control point of the end effector in the current cycle; determining whether the position control point in the current cycle is within the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the maximum position limit boundary of the end effector; if the position control point in the current cycle is within the attitude limit change area of the end effector, when the maximum position limit boundary is used as the position control boundary of the end effector in the current cycle, based on the attitude control boundaries corresponding to the position control point in the current cycle and the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area. Thus, when the end effector performs periodic operations, if the position control point in the current cycle is within the attitude limit change area of the end effector, it can ensure that the attitude of the end effector is within the maximum attitude limit boundary. At the same time, the attitude limit boundary corresponding to the end effector in this attitude will not exceed the maximum position limit boundary, improving the safety of the periodic operation of the end effector. In addition, by combining the position control point in the current cycle and the attitude control boundaries corresponding to the position control point in the previous cycle, the attitude boundary can be accurately determined in the attitude limit change area of the end effector as the attitude control boundary of the end effector in the current cycle, so as to achieve the effect of accurately controlling the periodic operation of the end effector within the attitude control boundary of the current cycle.

[0056] In other cases, after executing S420, the method further includes: if the position control point in the current cycle is not in the attitude limit change area of the end effector, then the maximum attitude limit boundary is used as the attitude control boundary of the end effector in the current cycle.

[0057] Specifically, continue to refer to Figure 5 After the electronic device determines the attitude limit change area, directly Figure 5 the maximum attitude limit boundary l in max as the attitude limit boundary of the end effector in the current cycle.

[0058] In this way, when it is determined that the position control point in the current cycle is not in the attitude limit change area of the end effector, the maximum attitude limit boundary is directly used as the attitude control boundary of the end effector in the current cycle. When the end effector performs operations within the attitude control boundary, it can ensure that the attitude of the end effector is within the maximum attitude limit boundary. At the same time, the attitude limit boundary corresponding to the end effector in this attitude will not exceed the maximum position limit boundary, improving the safety of the periodic operations of the end effector. At the same time, this method for determining the attitude control boundary is simple and easy to implement.

[0059] In another implementation manner of the present disclosure, the implementation method of S430 is specifically explained.

[0060] Figure 6 Fig. shows a schematic flowchart of another method for determining the attitude control boundary of an end effector provided by an embodiment of the present disclosure.

[0061] S610. Obtain the position control point of the end effector in the current cycle.

[0062] Among them, S610 is similar to S410 and will not be elaborated here.

[0063] S620. Determine whether the position control point in the current cycle is in the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the maximum position limit boundary of the end effector.

[0064] Specifically, when the electronic device determines that the position control point in the current cycle is in the attitude limit change area of the end effector, then execute S630; otherwise, execute S692.

[0065] S630. In the case where the maximum position limit boundary is used as the position control boundary of the end effector in the current cycle, obtain the attitude planning boundary corresponding to the position control point in the current cycle from the attitude limit change area.

[0066] In this embodiment, the specific implementation method of "obtaining the attitude planning boundary corresponding to the position control point of the current cycle from the attitude limit change area" in S630 includes, but is not limited to, the following methods: Based on the position control point of the current cycle, draw a perpendicular line to the central axis of the position control boundary of the current cycle, and obtain the position of the intersection point of the perpendicular line and the position control boundary of the current cycle; take the position of the intersection point as the tangent point to draw the tangent line of the position control boundary of the current cycle; obtain the current included angle between the tangent line and the central axis of the attitude maximum limit boundary; obtain the boundary line corresponding to the current included angle from the attitude limit change area as the attitude planning boundary corresponding to the position control point of the current cycle.

[0067] Specifically, continue to refer to Figure 5 and refer to Figure 7 the enlarged view of a part of the funnel-shaped boundary shown in Figure 5 . Based on the position control point P of the current cycle in Figure 5 , draw a perpendicular line M to the central axis (coinciding with the central axis O 1 of the position control boundary (i.e., the position maximum limit boundary) of the current cycle in Figure 7 . Enlarge this geometric state through 1 . Then, obtain the position N of the intersection point of the perpendicular line M and the position control boundary l of the previous cycle, and take the position N of the intersection point as the tangent point to draw the tangent line L of the position control boundary of the current cycle. Obtain the current included angle θ plan between the tangent line L and the central axis O Figure 5 of the attitude maximum limit boundary shown in plan . Then, from the attitude limit change area formed by the tangent lines represented by the dotted lines shown in plan , obtain the tangent line l

[0068] corresponding to the current included angle θ as the attitude planning boundary corresponding to the position control point of the current cycle.

[0069] Specifically, continue to refer to Figure 5 , obtain the attitude planning boundary corresponding to the position control point of the current cycle, that is, obtain the tangent line l plan corresponding to the current included angle, determine the first included angle between l plan and the central axis O 1 of the attitude maximum limit boundary. Similarly, obtain the second included angle in this way, so as to determine the attitude control boundary of the current cycle in different ways based on the magnitude relationship between the first included angle and the second included angle.

[0070] S650. Determine whether the first included angle is less than the second included angle.

[0071] Specifically, if the electronic device determines that the first included angle is not less than the second included angle, then execute S660; otherwise, execute S670.

[0072] S660. Use the attitude planning boundary corresponding to the position control point in the current cycle as the attitude control boundary of the end effector in the current cycle.

[0073] It can be understood that if the first included angle is not less than the second included angle, it means that the attitude planning boundary corresponding to the position control point in the current cycle is farther from the central axis of the maximum attitude limit boundary compared to the attitude control boundary corresponding to the position control point in the previous cycle. That is to say, the end effector changes from the small boundary in the previous cycle to the large boundary in the current cycle. Directly outputting the attitude planning boundary corresponding to the position control point in the current cycle can also ensure safety. Therefore, the attitude planning boundary corresponding to the position control point in the current cycle can be directly used as the attitude control boundary of the end effector in the current cycle.

[0074] S670. Obtain the actual attitude of the end effector in the current cycle.

[0075] It can be understood that if the first included angle is less than the second included angle, it means that the attitude planning boundary corresponding to the position control point in the current cycle is closer to the central axis of the maximum attitude limit boundary compared to the attitude control boundary corresponding to the position control point in the previous cycle. That is to say, the end effector changes from the large boundary in the previous cycle to the small boundary in the current cycle. Directly outputting the attitude planning boundary corresponding to the position control point in the current cycle may not ensure safety. In this regard, the electronic device also needs to obtain the actual attitude of the end effector in the current cycle and, based on the actual attitude in the current cycle, determine the attitude control boundary in the current cycle in different ways.

[0076] S680. Determine the side corresponding to the actual attitude according to the central axis of the maximum attitude limit boundary.

[0077] Specifically, the electronic device uses the side formed by the included angle corresponding to the actual attitude and the central axis of the maximum attitude limit boundary as the side corresponding to the actual attitude.

[0078] S690. Calculate the absolute value of the angle difference between the side corresponding to the actual attitude and the attitude planning boundary corresponding to the position control point in the current cycle.

[0079] Specifically, the electronic device calculates the absolute value of the angle difference between the side corresponding to the actual attitude and the attitude planning boundary corresponding to the position control point in the current cycle (for example Figure 5 the tangent line l corresponding to the current included angle in plan ) to further determine the attitude control boundary in the current cycle based on the absolute value of the angle difference.

[0080] S691. Determine the attitude control boundary of the end effector in the current cycle based on the magnitude relationship between the absolute value of the angle difference and a preset threshold.

[0081] In this embodiment, the specific implementation method of S691 includes, but is not limited to, the following methods: If the absolute value of the angle difference is less than the preset threshold, then use the attitude planning boundary corresponding to the position control point in the current cycle in the attitude limit change area as the attitude control boundary of the end effector in the current cycle; if the absolute value of the angle difference is not less than the preset threshold, then use the attitude control boundary corresponding to the position control point in the previous cycle in the attitude limit change area as the attitude control boundary of the end effector in the current cycle.

[0082] It can be understood that if the absolute value of the angle difference is less than the preset threshold, it means that the side corresponding to the actual attitude is close to the attitude planning boundary corresponding to the position control point in the current cycle (i.e., close to the small boundary of the current cycle), so the attitude planning boundary corresponding to the position control point in the current cycle (i.e., the small boundary of the current cycle) can be directly used as the attitude control boundary of the end effector in the current cycle; if the absolute value of the angle difference is not less than the preset threshold, it means that the side corresponding to the actual attitude is far from the attitude planning boundary corresponding to the position control point in the current cycle (i.e., far from the small boundary of the current cycle and closer to the large boundary of the previous cycle), then use the attitude control boundary corresponding to the position control point in the previous cycle (i.e., the large boundary of the previous cycle) as the attitude control boundary of the end effector in the current cycle.

[0083] Among them, the preset threshold is an included angle preset based on experience for determining the attitude control boundary in the current cycle.

[0084] In the above manner, when the position control point in the current cycle is in the attitude limit change area of the end effector, the attitude control boundary in the current cycle is specifically determined by comparing the included angle between the attitude control boundary corresponding to the position control point in adjacent cycles and the central axis of the maximum attitude limit boundary, and by comparing the magnitude relationship between the absolute value of the angle difference between the side corresponding to the actual attitude and the attitude planning boundary corresponding to the position control point in the current cycle and the preset threshold. In this way, while ensuring safety, the effect of accurately determining the attitude control boundary of the end effector is achieved. At the same time, a tolerance space is reserved for the operating user. Specifically, how to control the end effector, the operating user can flexibly control the end effector within the limit of the attitude control boundary according to the actual situation.

[0085] S692. Use the maximum attitude limit boundary as the attitude control boundary of the end effector in the current cycle.

[0086] Among them, S692 was specifically explained in the previous embodiment and will not be elaborated here.

[0087] Embodiments of the present disclosure also provide an attitude control boundary determination device for an end effector for implementing the above-mentioned attitude control boundary determination method for an end effector. The device is configured in an electronic device of a robot. The following will be described in conjunction with Figure 8 For illustration. Among them, the electronic device may be a control device of a medical robot.

[0088] Figure 8 FIG. shows a schematic structural diagram of an attitude control boundary determination device for an end effector provided by an embodiment of the present disclosure.

[0089] As Figure 8 shown, the attitude control boundary determination device 800 for an end effector may include:

[0090] An acquisition module 810, configured to acquire a position control point of the end effector in the current cycle;

[0091] A judgment module 820, configured to determine whether the position control point in the current cycle is within the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the position maximum limit boundary of the end effector;

[0092] A determination module 830, configured to, if the position control point in the current cycle is within the attitude limit change area of the end effector, based on the attitude control boundary corresponding to the position control point in the current cycle and the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area when the position maximum limit boundary is used as the position control boundary of the end effector in the current cycle.

[0093] An attitude control boundary determination device for an end effector according to an embodiment of the present disclosure includes: obtaining a position control point of the end effector in the current cycle; determining whether the position control point in the current cycle is within the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the position maximum limit boundary of the end effector; if the position control point in the current cycle is within the attitude limit change area of the end effector, when the position maximum limit boundary is used as the position control boundary of the end effector in the current cycle, based on the attitude control boundary corresponding to the position control point in the current cycle and the attitude control boundary corresponding to the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area. Thus, when the end effector performs periodic operations, if the position control point in the current cycle is within the attitude limit change area of the end effector, it can ensure that the attitude of the end effector is within the attitude maximum limit boundary. At the same time, the attitude limit boundary corresponding to the end effector in this attitude will not exceed the position maximum limit boundary, improving the safety of the periodic operations of the end effector. In addition, by combining the attitude control boundary corresponding to the position control point in the current cycle and the attitude control boundary corresponding to the position control point in the previous cycle, the attitude boundary can be accurately determined within the attitude limit change area of the end effector as the attitude control boundary of the end effector in the current cycle, so as to achieve the effect of accurately controlling the periodic operations of the end effector with the attitude control boundary in the current cycle as the limit.

[0094] In some embodiments of the present disclosure, the determination module 830 includes:

[0095] A first acquisition unit for acquiring the attitude planning boundary corresponding to the position control point in the current cycle from the attitude limit change area;

[0096] A second acquisition unit for acquiring a first included angle between the attitude planning boundary corresponding to the position control point in the current cycle and the central axis of the attitude maximum limit boundary, and acquiring a second included angle between the attitude control boundary corresponding to the position control point in the previous cycle and the central axis of the attitude maximum limit boundary;

[0097] A first determination unit for determining whether the first included angle is less than the second included angle;

[0098] A second determination unit for, if the first included angle is not less than the second included angle, using the attitude planning boundary corresponding to the position control point in the current cycle as the attitude control boundary of the end effector in the current cycle.

[0099] In some embodiments of the present disclosure, the first acquisition unit is specifically configured to:

[0100] Based on the position control point of the current cycle, draw a perpendicular line to the central axis of the position control boundary of the current cycle, and obtain the position of the intersection point of the perpendicular line and the position control boundary of the current cycle;

[0101] Take the position of the intersection point as the tangent point to draw the tangent line of the position control boundary of the current cycle;

[0102] Obtain the current included angle between the tangent line and the central axis of the attitude maximum limit boundary;

[0103] Obtain the boundary line corresponding to the current included angle from the attitude limit change area as the attitude planning boundary corresponding to the position control point of the current cycle.

[0104] In some embodiments of the present disclosure, the determination module 830 further includes:

[0105] A third acquisition unit, configured to acquire the actual attitude of the end effector in the current cycle if the first included angle is less than the second included angle;

[0106] A third determination unit, configured to determine the side corresponding to the actual attitude according to the central axis of the attitude maximum limit boundary;

[0107] A first calculation unit, configured to calculate the absolute value of the angle difference between the side corresponding to the actual attitude and the attitude planning boundary corresponding to the position control point of the current cycle;

[0108] A fourth determination unit, configured to determine the attitude control boundary of the end effector in the current cycle based on the magnitude relationship between the absolute value of the angle difference and a preset threshold.

[0109] In some embodiments of the present disclosure, the fourth determination unit is specifically configured to:

[0110] If the absolute value of the angle difference is less than the preset threshold, use the attitude planning boundary corresponding to the position control point of the current cycle in the attitude limit change area as the attitude control boundary of the end effector in the current cycle;

[0111] If the absolute value of the angle difference is not less than the preset threshold, use the attitude control boundary corresponding to the position control point of the previous cycle in the attitude limit change area as the attitude control boundary of the end effector in the current cycle.

[0112] In some embodiments of the present disclosure, the device further includes:

[0113] A boundary determination module, configured to use the attitude maximum limit boundary as the attitude control boundary of the end effector in the current cycle if the position control point of the current cycle is not in the attitude limit change area of the end effector.

[0114] In some embodiments of the present disclosure, the maximum limit boundary of the posture of the end effector is a conical boundary, and the maximum limit boundary of the position of the end effector is a funnel-shaped boundary;

[0115] In the case where the central axis of the funnel-shaped boundary coincides with the central axis of the conical boundary, the region where the included angle between the tangent of the funnel-shaped boundary and the central axis is less than the included angle between the conical boundary and the central axis is obtained as the posture limit change region.

[0116] It should be noted that Figure 8 The posture control boundary determination device 800 of the end effector shown can execute Figures 4 to 7 each step in the method embodiments shown, and achieve Figures 4 to 7 each process and effect in the method embodiments shown, which will not be elaborated here.

[0117] Figure 9 The structural schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown.

[0118] As Figure 9 shown, the electronic device may include a processor 901 and a memory 902 storing computer program instructions.

[0119] Specifically, the above-mentioned processor 901 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0120] The memory 902 may include a mass storage for information or instructions. By way of example and not limitation, the memory 902 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In a suitable case, the memory 902 may include removable or non-removable (or fixed) media. In a suitable case, the memory 902 may be inside or outside the integrated gateway device. In a specific embodiment, the memory 902 is a non-volatile solid-state memory. In a specific embodiment, the memory 902 includes a read-only memory (ROM). In a suitable case, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0121] The processor 901 reads and executes the computer program instructions stored in the memory 902 to perform the steps of the method for determining the attitude control boundary of the end effector provided by the embodiments of the present disclosure.

[0122] In one example, the electronic device may further include a transceiver 903 and a bus 904. Among them, as Figure 9 shown, the processor 901, the memory 902, and the transceiver 903 are connected through the bus 904 and complete communication with each other.

[0123] The bus 904 includes hardware, software, or both. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable bus or a combination of two or more of these. Where appropriate, the bus 904 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0124] The following are embodiments of a computer-readable storage medium provided by the embodiments of the present disclosure. The computer-readable storage medium and the method for determining the attitude control boundary of the end effector in the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the computer-readable storage medium may refer to the embodiments of the method for determining the attitude control boundary of the end effector.

[0125] This embodiment provides a storage medium containing computer-executable instructions. The computer-executable instructions, when executed by a computer processor, are used to execute a method for determining the attitude control boundary of an end effector. The method includes:

[0126] Obtain the position control point of the end effector in the current cycle;

[0127] Determine whether the position control point in the current cycle is within the attitude limit change area of the end effector, where the attitude limit change area is an area where the attitude limit boundary of the end effector changes dynamically within the position maximum limit boundary of the end effector;

[0128] If the position control point in the current cycle is in the attitude limit change area of the end effector, when the maximum position limit boundary is used as the position control boundary of the end effector in the current cycle, based on the attitude control boundaries corresponding to the position control point in the current cycle and the position control point in the previous cycle, determine the attitude control boundary of the end effector in the current cycle from the attitude limit change area.

[0129] Of course, for a storage medium containing computer-executable instructions provided by an embodiment of the present disclosure, the computer-executable instructions are not limited to the above method operations, and can also execute related operations in the method for determining the attitude control boundary of the end effector provided by any embodiment of the present disclosure.

[0130] From the above description of the implementation manners, those skilled in the art can clearly understand that the present disclosure can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present disclosure, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (FLASH), a hard disk, or an optical disc of a computer, and includes several instructions for causing a computer cloud platform (which can be a personal computer, a server, or a network cloud platform, etc.) to execute the method for determining the attitude control boundary of the end effector provided by each embodiment of the present disclosure.

[0131] Note that the above is only a preferred embodiment of the present disclosure and the applied technical principle. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments here, and various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present disclosure. Therefore, although the present disclosure has been described in detail through the above embodiments, the present disclosure is not limited to the above embodiments. Without departing from the concept of the present disclosure, more other equivalent embodiments can be included, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A method for determining the posture control boundary of an end tool, characterized in that: include: Get the position control point of the end tool in the current cycle; Determine whether the position control point of the current cycle is in a posture restriction change zone of the end tool, wherein the posture restriction change zone is a region where the posture restriction boundary of the end tool changes dynamically within the position maximum restriction boundary of the end tool; If the position control point of the current cycle is in the posture restriction change zone of the end tool, and the maximum position limit boundary is used as the position control boundary of the end tool in the current cycle, the posture control boundary of the end tool in the current cycle is determined from the posture restriction change zone based on the posture control boundaries corresponding to the position control point of the current cycle and the position control point of the previous cycle.

2. The method according to claim 1, characterized in that The step of determining the posture control boundary of the end tool in the current cycle from the posture restriction change area based on the posture control boundary corresponding to the position control point of the current cycle and the position control point of the previous cycle includes: Acquire the attitude planning boundary corresponding to the position control point of the current cycle from the attitude restriction change area; Obtaining a first angle between the attitude planning boundary corresponding to the position control point of the current cycle and the central axis of the attitude maximum limit boundary, and obtaining a second angle between the attitude control boundary corresponding to the position control point of the previous cycle and the central axis of the attitude maximum limit boundary; determining whether the first angle is smaller than the second angle; If the first angle is not less than the second angle, the posture planning boundary corresponding to the position control point of the current cycle is used as the posture control boundary of the end tool in the current cycle.

3. The method according to claim 2, characterized in that The step of obtaining the attitude planning boundary corresponding to the position control point of the current cycle from the attitude restriction change area includes: Based on the position control point of the current cycle, draw a vertical line perpendicular to the central axis of the position control boundary of the current cycle, and obtain the position of the intersection of the vertical line and the position control boundary of the current cycle; Taking the position of the intersection as the tangent point, a tangent line of the position control boundary of the current cycle is drawn; Obtaining a current angle between the tangent and the central axis of the maximum attitude limit boundary; A boundary line corresponding to the current angle is obtained from the attitude restriction change area as an attitude planning boundary corresponding to the position control point of the current cycle.

4. The method according to claim 2, characterized in that: Also includes: If the first angle is smaller than the second angle, obtaining the actual posture of the end tool in the current cycle; Determining the side corresponding to the actual posture according to the central axis of the maximum limit boundary of the posture; Calculate the absolute value of the angle difference between the edge corresponding to the actual posture and the posture planning boundary corresponding to the position control point of the current cycle; Based on the magnitude relationship between the absolute value of the angle difference and a preset threshold, a posture control boundary of the end tool in the current cycle is determined.

5. The method according to claim 4, characterized in that The step of determining the posture control boundary of the end tool in the current cycle based on the magnitude relationship between the absolute value of the angle difference and a preset threshold value includes: If the absolute value of the angle difference is less than the preset threshold, the attitude planning boundary corresponding to the position control point of the current cycle in the attitude restriction change area is used as the attitude control boundary of the end tool in the current cycle; If the absolute value of the angle difference is not less than the preset threshold, the posture control boundary corresponding to the position control point of the previous cycle in the posture restriction change area is used as the posture control boundary of the end tool in the current cycle.

6. The method according to claim 1, characterized in that Also includes: If the position control point of the current cycle is not in the attitude restriction change zone of the end tool, the attitude maximum restriction boundary is used as the attitude control boundary of the end tool in the current cycle.

7. The method according to claim 1, characterized in that The maximum limit boundary of the posture of the end tool is a conical boundary, and the maximum limit boundary of the position of the end tool is a funnel-shaped boundary; When the central axis of the funnel-shaped boundary coincides with the central axis of the conical boundary, an area where the angle between the tangent of the funnel-shaped boundary and the central axis is smaller than the angle between the conical boundary and the central axis is obtained as the posture restriction change area.

8. A device for determining the posture control boundary of an end tool, characterized in that: include: An acquisition module is used to obtain the position control point of the end tool in the current cycle; A judgment module, used to determine whether the position control point of the current cycle is in the posture restriction change zone of the end tool, wherein the posture restriction change zone is an area where the posture restriction boundary of the end tool changes dynamically within the position maximum restriction boundary of the end tool; A determination module is used to determine the posture control boundary of the end tool in the current cycle from the posture restriction change zone based on the posture control boundaries corresponding to the position control point of the current cycle and the position control point of the previous cycle, if the position control point of the current cycle is in the posture restriction change zone of the end tool, with the maximum position restriction boundary being used as the position control boundary of the end tool in the current cycle.

9. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 7.

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