Methods, apparatus, equipment and media for determining the attitude control boundaries of end-effectors

Abstract

This disclosure relates to a method, apparatus, device, and medium for determining the attitude control boundary of an end-effector tool. When the end-effector tool performs periodic operations, if the position control point of the current cycle is within the attitude limitation change zone of the end-effector tool, it can ensure that the attitude of the end-effector tool is within the maximum attitude limitation boundary. Simultaneously, the attitude limitation boundary corresponding to the end-effector tool in this attitude will not exceed the maximum position limitation boundary, thus improving the safety of periodic operations. Furthermore, by combining the position control point of the current cycle with the attitude control boundary corresponding to the position control point of the previous cycle, the attitude boundary can be accurately determined within the attitude limitation change zone of the end-effector tool, serving as the attitude control boundary of the end-effector tool in the current cycle. This achieves the effect of precisely controlling the periodic execution of operations by using the attitude control boundary of the current cycle as a limit.

Description

Technical Field

[0001] This disclosure relates to the field of robot motion control technology, and in particular to a method, apparatus, device and medium for determining the posture control boundary of an end effector. Background Technology

[0002] In the field of medical robot control, there are extremely high safety requirements for medical robots. Specifically, the real-time position and real-time posture of the end effector of the medical robot must not exceed the limit boundaries in order to avoid the end effector from injuring the user's internal tissues.

[0003] To prevent end-effectors from damaging the user's internal organs, the relevant technologies employ the following methods: limiting the real-time position of the end-effector to within the position limit boundary, and limiting the real-time attitude of the end-effector's axis to within the attitude limit boundary.

[0004] However, when the end-effector moves within the positional constraint boundaries, the real-time orientation of the end-effector axis may exceed the positional constraint boundaries, potentially damaging the user's internal tissues and resulting in poor safety during the end-effector movement process. Summary of the Invention

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

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

[0007] Obtain the position control point of the end tool in the current cycle;

[0008] Determine whether the position control point of the current cycle is within the attitude restriction change zone of the end effector, wherein the attitude restriction change zone is the area where the attitude restriction boundary of the end effector dynamically changes within the maximum position restriction boundary of the end effector;

[0009] If the position control point of the current cycle is located in the attitude restriction change zone of the end effector, and the maximum position restriction boundary is used as the position control boundary of the end effector in the current cycle, the attitude control boundary of the end effector in the current cycle is determined from the attitude restriction change zone based on the attitude control boundary corresponding to the position control point of the current cycle and the position control point of the previous cycle.

[0010] Secondly, this disclosure provides an attitude control boundary determination device for an end effector, comprising:

[0011] The acquisition module is used to acquire the position control point of the end effector in the current cycle;

[0012] The judgment module is used to determine whether the position control point of the current cycle is within the attitude restriction change zone of the end tool, wherein the attitude restriction change zone is the area where the attitude restriction boundary of the end tool dynamically changes within the maximum position restriction boundary of the end tool;

[0013] The determination module is used to determine the attitude control boundary of the end tool in the current cycle from the attitude restriction change zone if the position control point of the current cycle is located in the attitude restriction change zone of the end tool, and the maximum position restriction boundary is used as the position control boundary of the end tool in the current cycle.

[0014] Thirdly, embodiments of this disclosure also provide an electronic device, the device comprising:

[0015] One or more processors;

[0016] Storage device for storing one or more programs.

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

[0018] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method provided in the first aspect.

[0019] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0020] This disclosure discloses a method, apparatus, device, and medium for determining the attitude control boundary of an end-effector tool. The method includes: acquiring the position control point of the end-effector tool in the current cycle; determining whether the position control point in the current cycle is within the attitude limitation change zone of the end-effector tool, wherein the attitude limitation change zone is the area where the attitude limitation boundary of the end-effector tool dynamically changes within the maximum position limitation boundary of the end-effector tool; if the position control point in the current cycle is within the attitude limitation change zone, and the maximum position limitation boundary is used as the position control boundary of the end-effector tool in the current cycle, the attitude control boundary of the end-effector tool in the current cycle is determined from the attitude limitation change zone 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. Therefore, when the end-effector tool performs periodic operations, if the position control point in the current cycle is within the attitude limitation change zone, it can ensure that the attitude of the end-effector tool is within the maximum attitude limitation boundary. Simultaneously, the attitude limitation boundary corresponding to the end-effector tool in this attitude will not exceed the maximum position limitation boundary, thus improving the safety of periodic operations of the end-effector tool. Furthermore, by combining the position control point of the current cycle with the attitude control boundary corresponding to the position control point of the previous cycle, the attitude boundary can be accurately determined in the attitude limitation change area of ​​the end tool, which serves as the attitude control boundary of the end tool in the current cycle. This achieves the effect of accurately controlling the periodic execution of the end tool with the attitude control boundary of the current cycle as the limit. Attached Figure Description

[0021] 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.

[0022] 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.

[0023] Figure 1 A conical boundary provided in an embodiment of this disclosure;

[0024] Figure 2 A funnel-shaped boundary provided in an embodiment of this disclosure;

[0025] Figure 3 A schematic diagram showing the central axis of the conical boundary coinciding with the central axis of the funnel-shaped boundary, provided in an embodiment of this disclosure;

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

[0027] Figure 5 A schematic diagram of an attitude restriction change zone composed of multiple boundary lines represented by multiple dashed lines, provided in an embodiment of this disclosure;

[0028] Figure 6 A flowchart illustrating another method for determining the attitude control boundary of an end effector provided in this embodiment of the present disclosure;

[0029] Figure 7 An enlarged view of a portion of the boundary of a conical boundary provided in an embodiment of this disclosure;

[0030] Figure 8 A schematic diagram of the structure of an attitude control boundary determination device for an end effector provided in an embodiment of this disclosure;

[0031] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] Currently, attitude constraint boundaries are mostly adopted Figure 1 The conical boundary shown is often used for positional constraints. Figure 2 The funnel-shaped boundary is shown. Combined with... Figure 1 and Figure 2 For example, when using a medical robot to grind the acetabulum, the position of the robot's end effector is restricted within a funnel-shaped boundary, and the orientation of the end effector is restricted within a conical boundary. However, in Figure 3 In the case shown, although the pose of the end effector is restricted to Figure 1 Within the conical boundary shown, however, the orientation of certain points on the end effector exceeds the funnel-shaped boundary, and these situations still pose a possibility of damaging the user's internal tissues.

[0035] To improve the safety of the end-effector's movement process, the following is combined with... Figures 4 to 7This disclosure describes a method for determining the attitude control boundaries of an end effector according to embodiments of the present disclosure. In these embodiments, the method for determining the attitude control boundaries of the end effector can be executed by an electronic device. The electronic device can be a control device for a medical robot.

[0036] Figure 4 A flowchart illustrating a method for determining the attitude control boundary of an end effector according to an embodiment of this disclosure is shown.

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

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

[0039] In this embodiment, when periodically controlling 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 attitude limit boundary of the end effector based on the position control point of the current cycle.

[0040] The current cycle's position control point refers to the work point where the actual position of the end-effector tool is controlled.

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

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

[0043] In other embodiments, if it is determined that the location planning point of the current cycle is outside the maximum location limit boundary, the point closest to the location planning point of the current cycle is found on the maximum location limit boundary and used as the location control point of the current cycle.

[0044] S420. Determine whether the position control point of the current cycle is within the attitude limitation change zone of the end-effector, whereby the attitude limitation change zone is the area where the attitude limitation boundary of the end-effector dynamically changes within the maximum position limitation boundary of the end-effector.

[0045] It is understandable that, considering that when the end-effector moves within the limits of the maximum attitude limit, some attitude boundaries of the end-effector may exceed the maximum position limit, so that when the end-effector is operating in this state, there is still a risk of damaging the user's internal tissues.

[0046] For this reason, the electronic device first obtains the area of ​​dynamic change of the attitude limit boundary of the end tool within the maximum position limit boundary of the end tool, as the attitude limit change zone, and then determines whether the position control point of the current cycle is within the attitude limit change zone of the end tool. Based on the judgment result, the attitude control boundary of the end tool is determined from the attitude limit change zone according to different logics.

[0047] The maximum position limit boundary is a virtual wall boundary pre-set for the end effector's position. Optionally, the maximum position limit boundary of the end effector is... Figure 2 The funnel-shaped boundary shown can also be other shapes of virtual wall boundaries, which are not limited here.

[0048] The maximum attitude limit boundary is a virtual attitude wall boundary pre-set for the end effector. Optionally, the maximum attitude limit boundary of the end effector is... Figure 1 The conical boundary shown can also be other shapes of virtual wall boundaries, which are not limited here.

[0049] When the maximum limit boundary for the attitude of the end-effector is a conical boundary and the maximum limit boundary for the position of the end-effector is a funnel-shaped boundary, the specific method for determining the attitude limitation change zone is as follows: when the central axis of the funnel-shaped boundary and the central axis of the conical boundary coincide, the region 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, is taken as the attitude limitation change zone.

[0050] For example, electronic devices will Figure 1 The conical boundary shown serves as the maximum attitude limit boundary, Figure 2 The funnel-shaped boundary shown is used as the maximum positional constraint boundary, then in Figure 2 The central axis of the funnel-shaped boundary shown and Figure 1 When the central axes of the conical boundaries shown coincide, in Figure 2 Draw a tangent line on the funnel-shaped boundary shown, and obtain the region where the angle between the tangent line of the funnel-shaped boundary and the central axis is smaller than the angle between the conical boundary and the central axis, forming... Figure 5 The multiple dashed lines shown represent the tangents that form the attitude restriction change zone.

[0051] S430. If the position control point of the current cycle is located in the attitude restriction change zone of the end tool, and the maximum position restriction boundary is used as the position control boundary of the end tool in the current cycle, the attitude control boundary of the end tool in the current cycle is determined from the attitude restriction change zone based on the position control point of the current cycle and the attitude control boundary corresponding to the position control point of the previous cycle.

[0052] It is understandable that if the position control point of the current cycle is within the attitude limitation change zone of the end effector, it means that the end effector will not exceed the maximum attitude limit boundary or the maximum position limit boundary when moving in the current cycle, thus ensuring the safety of the end effector in the current cycle.

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

[0054] The attitude control boundary for the current cycle refers to the actual attitude boundary that constrains the end effector in the current cycle.

[0055] This disclosure discloses a method for determining the attitude control boundary of an end effector, comprising: acquiring 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 limitation change zone of the end effector, wherein the attitude limitation change zone is the area where the attitude limitation boundary of the end effector dynamically changes within the maximum position limitation boundary of the end effector; if the position control point in the current cycle is within the attitude limitation change zone of the end effector, and the maximum position limitation boundary is used as the position control boundary of the end effector in the current cycle, the attitude control boundary of the end effector in the current cycle is determined from the attitude limitation change zone 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. Therefore, when the end effector performs periodic operations, if the position control point in the current cycle is within the attitude limitation change zone of the end effector, it can ensure that the attitude of the end effector is within the maximum attitude limitation boundary, and at the same time, the attitude limitation boundary corresponding to the end effector in this attitude will not exceed the maximum position limitation boundary, thus improving the safety of periodic operations of the end effector. Furthermore, by combining the position control point of the current cycle with the attitude control boundary corresponding to the position control point of the previous cycle, the attitude boundary can be accurately determined in the attitude limitation change area of ​​the end tool, which serves as the attitude control boundary of the end tool in the current cycle. This achieves the effect of accurately controlling the periodic execution of the end tool with the attitude control boundary of the current cycle as the limit.

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

[0057] For details, please refer to [link / reference]. Figure 5 After the electronic equipment determines the attitude limitation change zone, it directly... Figure 5 Maximum Boundary Limitation of Attitude l max , which serves as the attitude constraint boundary for the end-effector in the current cycle.

[0058] In this way, if it is determined that the position control point of the current cycle is not within the attitude limitation change zone of the end-effector, the maximum attitude limitation boundary can be directly used as the attitude control boundary of the end-effector in the current cycle. This ensures that when the end-effector performs operations within the attitude control boundary, its attitude remains within the maximum attitude limitation boundary. At the same time, the attitude limitation boundary of the end-effector under this attitude will not exceed the maximum position limitation boundary, thus improving the safety of the end-effector's periodic operations. Furthermore, this method of determining the attitude control boundary is simple and easy to implement.

[0059] In another embodiment of this disclosure, the implementation method of S430 will be explained in detail.

[0060] Figure 6 A schematic diagram of the process for determining the attitude control boundary of another end-effector provided in an embodiment of this disclosure is shown.

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

[0062] S610 is similar to S410, so it will not be described in detail here.

[0063] S620. Determine whether the position control point of the current cycle is within the attitude limitation change zone of the end-effector, wherein the attitude limitation change zone is the area where the attitude limitation boundary of the end-effector dynamically changes within the maximum position limitation boundary of the end-effector.

[0064] Specifically, if the electronic device determines that the position control point of the current cycle is within the attitude restriction change zone of the end tool, then execute S630; otherwise, execute S692.

[0065] S630. When the maximum position limit boundary is used as the end tool in the position control boundary of the current cycle, obtain the attitude planning boundary corresponding to the position control point of 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 restriction 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; draw a tangent line to the position control boundary of the current cycle with the position of the intersection point as the tangent point; obtain the current angle between the tangent line and the central axis of the maximum attitude restriction boundary; obtain the boundary line corresponding to the current angle from the attitude restriction change area, as the attitude planning boundary corresponding to the position control point of the current cycle.

[0067] For details, please refer to [link / reference]. Figure 5 , and see Figure 7 The enlarged view of a portion of the funnel-shaped boundary shown is based on the electronic device. Figure 5 The current cycle's position control point P is perpendicular to... Figure 5 The perpendicular line M to the centerline of the current cycle's position control boundary (i.e., the maximum position limit boundary), which coincides with the centerline O1 of the maximum attitude limit boundary, passes through... Figure 7 Zoom in on this geometry, 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 draw the tangent line L of the position control boundary of the current cycle with the intersection point N as the tangent point. Obtain the current angle θ between the tangent line L and the central axis O1 of the maximum attitude limit boundary. plan , and then, from Figure 5 Within the attitude constraint change region formed by the tangents indicated by dashed lines, the current included angle θ is obtained. plan The corresponding tangent l plan This serves as the attitude planning boundary corresponding to the position control point in the current cycle.

[0068] S640. Obtain the first included angle between the central axis of the attitude planning boundary and the attitude maximum limit boundary corresponding to the position control point of the current cycle, and obtain the second included angle between the central axis of the attitude control boundary and the attitude maximum limit boundary corresponding to the position control point of the previous cycle.

[0069] For details, please refer to [link / reference]. Figure 5 Obtain the attitude planning boundary corresponding to the position control point of the current cycle, that is, obtain the tangent l corresponding to the current included angle. plan Determine l plan The first included angle between the central axis O1 and the maximum attitude limit boundary is obtained in the same way as the second included angle. Based on the relationship between the size of the first included angle and the second included angle, different methods are used to determine the attitude control boundary of the current cycle.

[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 of the current cycle as the attitude control boundary of the end effector in the current cycle.

[0073] Understandably, 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 further away 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. In other words, 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] Understandably, if the first included angle is smaller 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. In other words, the end effector changes from a large boundary in the previous cycle to a small boundary in the current cycle. Directly outputting the attitude planning boundary corresponding to the position control point in the current cycle may not guarantee safety. Therefore, the electronic device also needs to obtain the actual attitude of the end effector in the current cycle and determine the attitude control boundary of the current cycle using different methods based on the actual attitude of the current cycle.

[0076] S680. Determine the edge corresponding to the actual attitude based on the centerline of the maximum attitude limit boundary.

[0077] Specifically, the edge formed by the included angle corresponding to the actual posture and the central axis of the maximum posture limit boundary of the electronic device is used as the edge corresponding to the actual posture.

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

[0079] Specifically, the edge corresponding to the actual attitude of the electronic device and the attitude planning boundary corresponding to the position control point of the current cycle (e.g.) Figure 5 The tangent line l corresponding to the current included angle plan The absolute value of the angle difference between the two angles is used to further determine the attitude control boundary for the current cycle.

[0080] S691. Based on the relationship between the absolute value of the angle difference and the preset threshold, determine the attitude control boundary of the end effector in the current cycle.

[0081] In this embodiment, the specific implementation method of S691 includes, but is not limited to, the following method: if the absolute value of the angle difference is less than a preset threshold, the attitude planning boundary corresponding to the position control point of the current cycle in the attitude restriction change zone 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 attitude control boundary corresponding to the position control point of the previous cycle in the attitude restriction change zone is used as the attitude control boundary of the end tool in the current cycle.

[0082] Understandably, if the absolute value of the angle difference is less than the preset threshold, it means that the edge corresponding to the actual posture is close to the posture planning boundary corresponding to the position control point of the current cycle (i.e., close to the small boundary of the current cycle). Therefore, the posture planning boundary corresponding to the position control point of the current cycle (i.e., the small boundary of the current cycle) can be directly used as the posture 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 edge corresponding to the actual posture is far away from the posture planning boundary corresponding to the position control point of the current cycle (i.e., far away from the small boundary of the current cycle and closer to the large boundary of the previous cycle). Therefore, the posture control boundary corresponding to the position control point of the previous cycle (i.e., the large boundary of the previous cycle) can be used as the posture control boundary of the end effector in the current cycle.

[0083] The preset threshold is an angle that is pre-set based on experience to determine the attitude control boundary of the current cycle.

[0084] By employing the above method, when the position control point of the current cycle is within the attitude restriction change zone of the end effector, the attitude control boundary of the current cycle is further determined by comparing the angle between the central axis of the attitude control boundary corresponding to the position control point of the adjacent cycle and the maximum attitude restriction boundary. Additionally, the attitude control boundary of the current cycle is further determined by comparing the absolute value of the angle difference between the edge corresponding to the actual attitude and the attitude planning boundary corresponding to the position control point of the current cycle with a preset threshold. This approach ensures both safety and accurate determination of the end effector's attitude control boundary. Furthermore, it provides flexibility for the operator, allowing them to control the end effector flexibly within the attitude control boundary limits, based on the actual situation.

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

[0086] S692 was explained in detail in the previous embodiment and will not be repeated here.

[0087] This disclosure also provides an end-effector attitude control boundary determination device for implementing the above-described end-effector attitude control boundary determination method, the device being configured in the robot's electronic equipment. The following is in conjunction with... Figure 8 This will be explained. The electronic device can be the control device for a medical robot.

[0088] Figure 8 A schematic diagram of the structure of an attitude control boundary determination device for an end effector provided in an embodiment of the present disclosure is shown.

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

[0090] The acquisition module 810 is used to acquire the position control point of the end effector in the current cycle;

[0091] The judgment module 820 is used to determine whether the position control point of the current cycle is within the attitude restriction change zone of the end tool, wherein the attitude restriction change zone is the area where the attitude restriction boundary of the end tool dynamically changes within the maximum position restriction boundary of the end tool;

[0092] The determination module 830 is configured to determine the attitude control boundary of the end tool in the current cycle from the attitude restriction change zone if the position control point of the current cycle is located in the attitude restriction change zone of the end tool, and if the maximum position restriction boundary is used as the position control boundary of the end tool in the current cycle, based on the attitude control boundary corresponding to the position control point of the current cycle and the position control point of the previous cycle.

[0093] An embodiment of this disclosure provides an end-effector attitude control boundary determination device, comprising: acquiring 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 limitation change zone of the end-effector, wherein the attitude limitation change zone is the area where the attitude limitation boundary of the end-effector dynamically changes within the maximum position limitation boundary of the end-effector; if the position control point in the current cycle is within the attitude limitation change zone of the end-effector, and the maximum position limitation boundary is used as the position control boundary of the end-effector in the current cycle, the attitude control boundary of the end-effector in the current cycle is determined from the attitude limitation change zone 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. Therefore, when the end-effector performs periodic operations, if the position control point in the current cycle is within the attitude limitation change zone of the end-effector, it can ensure that the attitude of the end-effector is within the maximum attitude limitation boundary, and at the same time, the attitude limitation boundary corresponding to the end-effector in this attitude will not exceed the maximum position limitation boundary, thus improving the safety of periodic operations of the end-effector. Furthermore, by combining the position control point of the current cycle with the attitude control boundary corresponding to the position control point of the previous cycle, the attitude boundary can be accurately determined in the attitude limitation change area of ​​the end tool, which serves as the attitude control boundary of the end tool in the current cycle. This achieves the effect of accurately controlling the periodic execution of the end tool with the attitude control boundary of the current cycle as the limit.

[0094] In some embodiments of this disclosure, the determining module 830 includes:

[0095] The first acquisition unit is used to acquire the attitude planning boundary corresponding to the position control point of the current cycle from the attitude restriction change area;

[0096] The second acquisition unit is used to acquire the first included 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 to acquire the second included 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.

[0097] The first determining unit is used to determine whether the first included angle is smaller than the second included angle;

[0098] The second determining unit is used to take the attitude planning boundary corresponding to the position control point of the current cycle as the attitude control boundary of the end effector in the current cycle if the first included angle is not less than the second included angle.

[0099] In some embodiments of this disclosure, the first acquisition unit is specifically used for:

[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] Draw a tangent line to the position control boundary of the current cycle, using the position of the intersection point as the tangent point;

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

[0103] The boundary line corresponding to the current included angle is obtained from the attitude restriction change area and used as the attitude planning boundary corresponding to the position control point of the current cycle.

[0104] In some embodiments of this disclosure, the determining module 830 further includes:

[0105] The third acquisition unit is used to acquire the actual posture of the end effector in the current cycle if the first included angle is less than the second included angle;

[0106] The third determining unit is used to determine the edge corresponding to the actual posture based on the central axis of the maximum posture limit boundary;

[0107] The first calculation unit is used to 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.

[0108] The fourth determining unit is used to determine the attitude control boundary of the end effector in the current cycle based on the relationship between the absolute value of the angle difference and a preset threshold.

[0109] In some embodiments of this disclosure, the fourth determining unit is specifically used for:

[0110] If the absolute value of the angle difference is less than the preset threshold, then the attitude planning boundary corresponding to the position control point of the current cycle in the attitude restriction change zone is used as the attitude control boundary of the end tool in the current cycle.

[0111] If the absolute value of the angle difference is not less than the preset threshold, then the attitude control boundary corresponding to the position control point of the previous cycle in the attitude restriction change zone is taken as the attitude control boundary of the end tool in the current cycle.

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

[0113] The boundary determination module is used to take the maximum attitude limit boundary as the attitude control boundary of the end tool in the current cycle if the position control point of the current cycle is not in the attitude restriction change zone of the end tool.

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

[0115] When the central axis of the funnel-shaped boundary and the central axis of the conical boundary coincide, the region 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 identified as the attitude restriction change zone.

[0116] It should be noted that, Figure 8 The end-effector attitude control boundary determination device 800 shown can perform... Figures 4 to 7 The various steps in the method embodiment shown are implemented. Figures 4 to 7 The processes and effects in the method embodiments shown are not described in detail here.

[0117] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown.

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

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

[0120] Memory 902 may include a large-capacity storage for information or instructions. For example, and not limitingly, memory 902 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 902 may include removable or non-removable (or fixed) media. Where appropriate, memory 902 may be internal or external to the integrated gateway device. In a particular embodiment, memory 902 is a non-volatile solid-state memory. In a particular embodiment, memory 902 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

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

[0122] In one example, the electronic device may also include a transceiver 903 and a bus 904. Wherein, as... Figure 9 As shown, the processor 901, memory 902 and transceiver 903 are connected via bus 904 and communicate with each other.

[0123] Bus 904 includes hardware, software, or both. For example, and not limitingly, a 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 Infinite Bandwidth 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 buses, or a combination of two or more of these. Where appropriate, bus 904 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.

[0124] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium and the end-effector attitude control boundary determination method of the above embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the end-effector attitude control boundary determination method described above.

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

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

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

[0128] If the position control point of the current cycle is located in the attitude restriction change zone of the end effector, and the maximum position restriction boundary is used as the position control boundary of the end effector in the current cycle, the attitude control boundary of the end effector in the current cycle is determined from the attitude restriction change zone based on the attitude control boundary corresponding to the position control point of the current cycle and the position control point of the previous cycle.

[0129] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also execute related operations in the end-effector attitude control boundary determination method provided in any embodiment of this disclosure.

[0130] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the attitude control boundary determination method for the end effector provided in the various embodiments of this disclosure.

[0131] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.

Claims

1. A device for determining the attitude control boundary of an end effector, characterized in that, include: The acquisition module is used to acquire the position control point of the end effector in the current cycle; The judgment module is used to determine whether the position control point of the current cycle is within the attitude restriction change zone of the end tool, wherein the attitude restriction change zone is the area where the attitude restriction boundary of the end tool dynamically changes within the maximum position restriction boundary of the end tool; The determination module is used to determine the attitude control boundary of the end tool in the current cycle from the attitude restriction change zone if the position control point of the current cycle is located in the attitude restriction change zone of the end tool, and the maximum position restriction boundary is used as the position control boundary of the end tool in the current cycle. The determining module includes: The first acquisition unit is used to acquire the attitude planning boundary corresponding to the position control point of the current cycle from the attitude restriction change area; The second acquisition unit is used to acquire the first included angle between the central axis of the attitude planning boundary and the attitude maximum limit boundary corresponding to the position control point of the current cycle, and to acquire the second included angle between the central axis of the attitude control boundary and the attitude maximum limit boundary corresponding to the position control point of the previous cycle. The first determining unit is used to determine whether the first included angle is smaller than the second included angle; The second determining unit is used to, if the first included angle is not less than the second included angle, take the attitude planning boundary corresponding to the position control point of the current cycle as the attitude control boundary of the end effector in the current cycle.

2. The apparatus of claim 1, wherein, The first acquisition unit is specifically used for: 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; Draw a tangent line to the position control boundary of the current cycle, using the position of the intersection point as the tangent point; Obtain the current angle between the tangent and the central axis of the maximum attitude limit boundary; Obtain the boundary line corresponding to the current included angle from the attitude restriction change area, and use it as the attitude planning boundary corresponding to the position control point of the current cycle.

3. The apparatus of claim 1, wherein, The module also includes: The third acquisition unit is used to acquire the actual posture of the end effector in the current cycle if the first included angle is less than the second included angle; The third determining unit is used to determine the edge corresponding to the actual posture based on the central axis of the maximum posture limit boundary; The first calculation unit is used to 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. The fourth determining unit is used to determine the attitude control boundary of the end effector in the current cycle based on the relationship between the absolute value of the angle difference and a preset threshold.

4. The apparatus of claim 3, wherein, The fourth determining unit is specifically used for: If the absolute value of the angle difference is less than the preset threshold, then the attitude planning boundary corresponding to the position control point of the current cycle in the attitude restriction change zone 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, then the attitude control boundary corresponding to the position control point of the previous cycle in the attitude restriction change zone is taken as the attitude control boundary of the end effector in the current cycle.

5. The apparatus of claim 1, wherein, Also includes: The boundary determination module is used to take the maximum attitude limit boundary as the attitude control boundary of the end tool in the current cycle if the position control point of the current cycle is not in the attitude restriction change zone of the end tool.

6. The apparatus of claim 1, wherein, The maximum limit boundary for the attitude of the end effector is a conical boundary, and the maximum limit boundary for the position of the end effector is a funnel-shaped boundary; When the central axis of the funnel-shaped boundary and the central axis of the conical boundary coincide, the region 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 identified as the attitude restriction change zone.

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