Robot attitude processing method and device, electronic equipment and storage medium

Abstract

The invention provides a robot attitude processing method and device, electronic equipment and a storage medium, and relates to the technical field of data processing, calculation is performed according to a current attitude angle of a robot, and the extension length of a mechanical arm of the robot is obtained; when it is determined that the extension length is smaller than or equal to the preset length threshold value, the attitude angle is adjusted to be a first included angle between the robot tail end probe and the first direction; calculating at least two adjusted extension lengths according to the first included angle; determining whether the at least two adjusted extension lengths are within a preset interval range or not; and obtaining a change interval of the first included angle within a preset interval range based on the at least two adjusted extension lengths, and controlling the posture of the mechanical arm according to the change interval. Compared with the prior art, the mechanical arm can move within a certain posture range through double limitation on the extension length of the mechanical arm and the angle of the first included angle, so that the controllability of the mechanical arm is improved, and the safety of the mechanical arm is improved.

Description

Robot posture processing method and device, electronic device and storage medium Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a method and device for robot posture processing, an electronic device, and a storage medium. Background Art

[0002] Robotic-assisted ultrasound examination refers to remote robotic ultrasound examinations. A robotic remote ultrasound diagnostic system consists of two subsystems: the doctor-side system and the patient-side system. Professional ultrasound physicians can remotely control the patient-side ultrasound robot by operating the doctor-side device to perform ultrasound examinations. With technological advancements, robotic remote ultrasound diagnostic systems are becoming increasingly popular. However, when using these robotic remote ultrasound diagnostic systems to examine patients, the controllability of the robotic arm's movement range is limited.

[0003] Summary of the Invention

[0004] The present disclosure provides a method, apparatus, electronic device, and storage medium for robot posture processing. The primary purpose of the method is to limit the range of motion of a robotic arm of a remote ultrasonic diagnostic system, thereby improving the controllability of the range of motion and, in turn, enhancing the safety of ultrasonic examinations performed using the system.

[0005] According to a first aspect of the present disclosure, a method for robot posture processing is provided, wherein the method is applied to a robot and comprises:

[0006] Calculating the extension length of the robot's arm based on the current posture angle of the robot;

[0007] When it is determined that the extended length is less than or equal to a preset length threshold, adjusting the posture angle to a first angle between the robot end probe and the first direction;

[0008] Calculating at least two adjusted stretch lengths according to the first angle;

[0009] determining whether at least two adjusted stretch lengths are within a preset range;

[0010] Based on the at least two adjusted extension lengths being within the preset range, a variation range of the first angle is obtained, and the posture of the robotic arm is controlled according to the variation range.

[0011] According to a second aspect of the present disclosure, a method for robot posture processing is provided, which is applied to a main control device and includes:

[0012] A control instruction for controlling the movement of the robotic arm is sent to the robot, so that the robot calculates the extended length of the robotic arm according to the control instruction for controlling the movement of the robotic arm and the current posture angle of the robot.

[0013] According to a third aspect of the present disclosure, a device for robot posture processing is provided, wherein the device is applied to the robot and comprises:

[0014] a first calculation unit, configured to calculate, based on the current posture angle of the robot, an extension length of the robot's mechanical arm;

[0015] an adjusting unit, configured to adjust the posture angle to a first angle between the robot end probe and the first direction when it is determined that the extended length is less than or equal to a preset length threshold;

[0016] a second calculation unit, configured to calculate at least two adjusted stretch lengths according to the first angle;

[0017] a determining unit, configured to determine whether at least two adjusted stretch lengths are within a preset range;

[0018] A control unit is configured to obtain a variation range of the first angle based on the at least two adjusted extension lengths within the preset range, and control the posture of the robotic arm according to the variation range.

[0019] According to a fourth aspect of the present disclosure, a device for processing a robot posture is provided, the device being applied to a main control device, comprising:

[0020] The sending unit is used to send a control instruction for controlling the movement of the robot arm to the robot, so that the robot calculates the extended length of the robot arm according to the control instruction for controlling the movement of the robot arm and the current posture angle of the robot.

[0021] According to a fifth aspect of the present disclosure, there is provided an electronic device, comprising:

[0022] at least one processor; and

[0023] a memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect or the second aspect.

[0025] According to a sixth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described in the first aspect or the second aspect.

[0026] According to a seventh aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method as described in the first or second aspect above.

[0027] The present disclosure provides a method, device, electronic device and storage medium for robot posture processing, and its main technical solutions include: calculating based on the current posture angle of the robot to obtain the extended length of the robot's robotic arm; when it is determined that the extended length is less than or equal to a preset length threshold, adjusting the posture angle to a first angle between the robot's end probe and a first direction; calculating at least two adjusted extended lengths based on the first angle; determining whether the at least two adjusted extended lengths are within a preset interval; obtaining a change interval of the first angle based on the at least two adjusted extended lengths being within the preset interval, and controlling the posture of the robotic arm according to the change interval. Compared with the related art, the extended length of the robotic arm is limited to limit the moving range of the robotic arm, and the extended length of the robotic arm is calculated by adjusting the first angle. By determining that the extended lengths of at least two robotic arms are within the preset range, the change range of the first angle is obtained, and the moving angle of the robotic arm is limited according to the change range. That is, by dual restrictions on the extended length and the moving angle of the robotic arm, the robotic arm is moved within a certain posture range, thereby improving the controllability of the robot robotic arm and further improving the safety of inspections based on the robotic arm.

[0028] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0030] FIG1 is a schematic flow chart of a method for robot posture processing provided by an embodiment of the present disclosure;

[0031] FIG2 is a schematic diagram of a scenario for limiting a posture range provided by an embodiment of the present disclosure;

[0032] FIG3 is a schematic diagram showing the relationship between the maximum angle relative to the z-axis and the position and posture provided by an embodiment of the present disclosure;

[0033] FIG4 is a schematic diagram of a robot structure provided by an embodiment of the present disclosure;

[0034] FIG5 is a schematic diagram of a robot hardware connection structure provided by an embodiment of the present disclosure;

[0035] FIG6 is a schematic diagram of a mechanical arm structure provided by an embodiment of the present disclosure;

[0036] FIG7 is a schematic diagram of a plane projection of a robotic arm provided by an embodiment of the present disclosure;

[0037] FIG8 is a schematic diagram of a maximum angle limit of a robotic arm provided by an embodiment of the present disclosure;

[0038] FIG9 is a schematic diagram of the structure of a main control device provided by an embodiment of the present disclosure;

[0039] FIG10 is a schematic diagram of a hardware connection structure of a master control device provided by an embodiment of the present disclosure;

[0040] FIG11 is another method for robot posture processing provided by an embodiment of the present disclosure;

[0041] FIG12 is a schematic diagram of a hardware connection between a main control device and a robot according to an embodiment of the present disclosure;

[0042] FIG13 is a schematic structural diagram of a device for processing robot posture provided by an embodiment of the present disclosure;

[0043] FIG14 is a schematic structural diagram of another device for robot posture processing provided by an embodiment of the present disclosure;

[0044] FIG15 is a schematic structural diagram of another device for robot posture processing provided by an embodiment of the present disclosure;

[0045] FIG16 is a schematic structural diagram of another device for robot posture processing provided by an embodiment of the present disclosure;

[0046] FIG17 is a schematic block diagram of an example electronic device 300 provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0047] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0048] The following describes the robot posture processing method, device, electronic device, and storage medium according to the embodiments of the present disclosure with reference to the accompanying drawings.

[0049] FIG1 is a flow chart of a method for robot posture processing provided in an embodiment of the present disclosure.

[0050] As shown in Figure 1, the method includes the following steps:

[0051] Step 101: Calculate the extension length of the robot's robotic arm based on the current posture angle of the robot.

[0052] As a refinement of step 101 above, to obtain the extended length of the robot's mechanical arm at the current attitude angle, the extended length of the robot's mechanical arm is calculated based on the current attitude angle. The attitude angle is the angle between the robot's end probe and a first direction. The first direction can be a vertical direction, which is the direction of the z-axis when the robot's end initial coordinate system is used as the reference coordinate system. For example, when the robot is normally placed on the ground, the vertical direction is the direction of gravity, and the angle between the robot's end probe and the vertical direction is the angle between the robot's end probe and the direction of gravity. The above description is merely exemplary and does not constitute a limitation of the present disclosure. The extended length of the mechanical arm includes, but is not limited to, the straight line length from the root end to the end end of the mechanical arm. The above description of the extended length of the mechanical arm is merely exemplary. The embodiments of the present disclosure do not limit the starting and ending points of the extended length of the mechanical arm to the root end and the end end of the mechanical arm; they may also be two joints on the mechanical arm.

[0053] Step 102: When it is determined that the extended length is less than or equal to a preset length threshold, adjust the posture angle to a first angle between the robot end probe and a first direction.

[0054] As a refinement of step 102 above, after obtaining the extended length of the robotic arm in step 101, the extended length of the robotic arm is judged, that is, the preset length threshold is used to compare with the extended length of the robotic arm, and a judgment result is obtained that the extended length of the robotic arm is greater than the preset length threshold, a judgment result that the extended length of the robotic arm is less than the preset length threshold, and a judgment result that the extended length of the robotic arm is equal to the preset length threshold. If it is determined that the extended length is less than or equal to the preset length threshold, the attitude angle is adjusted to the first angle between the robot end probe and the first direction. The preset length threshold can be set according to the actual scenario, and this embodiment does not limit the specific value of the preset length threshold. The length threshold refers to the extension length limit of the robotic arm. For example, in the process of ultrasonic detection and mapping by the robotic arm probe, in order to prevent the robotic arm from entering a singularity point when two joints are parallel, the preset length threshold at this time is that the extension length of the robotic arm cannot exceed the sum of the lengths of the two joint links, and the preset length threshold is set to be 10mm less than the sum of the lengths of the links; for example, in order to prevent the robotic arm from hitting the trolley, the preset length threshold at this time is that the maximum extension length of the robotic arm cannot touch the trolley, and the preset length threshold is 10mm different from the distance to the trolley. Among them, the preset length threshold refers to the extension length limit of the robotic arm. For example, the preset length threshold of the robotic arm is set to 10mm, which adopts an iterative calculation method and cannot be completely accurate to 10mm. Therefore, the preset length threshold can be set within the range of 10±0.1mm.

[0055] Step 103: Calculate at least two adjusted extension lengths according to the first angle.

[0056] As a refinement of step 103, in order to obtain a qualified extended length of the robotic arm, it is necessary to adjust the first angle based on the relationship between the extended length determined in step 102 and the preset length threshold, and calculate at least two adjusted extended lengths using the adjusted first angle. The two extended lengths are respectively calculated by the sum of the lengths of the two joint links and the distance from the trolley. The first angle mentioned here is the same as the attitude angle mentioned in step 101, which is obtained by adjusting the attitude angle. This embodiment will not be further described.

[0057] Step 104 : Determine whether at least two adjusted stretch lengths are within a preset range.

[0058] As a refinement of the above step 104, in order to limit the posture range of the robotic arm, it is determined whether the extended length adjusted by step 103 is within the preset range. When the extended length of the robotic arm is within the preset range, the extended length of the robotic arm within the preset range is obtained. The preset range can be set according to the actual scenario. This embodiment does not limit the preset range. Based on the obtained extended length of the robotic arm within the preset range, the robotic arm of the robot can be limited to a certain posture range. For example, when the working range of the robotic arm of the robot is the abdomen, the posture range that the robotic arm needs to be limited to is the working range. By limiting the extended length of the robotic arm, the robotic arm is made to work within the working range. The above description is only exemplary. This embodiment does not limit the application scenario of the present disclosure.

[0059] Step 105 : obtaining a variation range of the first angle based on the at least two adjusted extension lengths being within the preset range, and controlling the posture of the robotic arm according to the variation range.

[0060] As a refinement of the above-mentioned step 105, the variation range of the first angle is determined according to the extension length of the robotic arm within the preset range obtained in step 104, that is, the variation range of the angle between the robot end probe and the first direction is determined, so that the robot end probe can only move within the range of the first angle variation range.

[0061] In order to more clearly demonstrate the posture range defined by this embodiment, FIG2 is a schematic diagram of a scenario of a limited posture range provided by the embodiment of the present disclosure. As shown in FIG2 , the rectangular range is the limited posture range of the robotic arm, wherein the main body of the embodiment of the present disclosure is based on the fact that if the posture direction of the robot end probe remains vertical, it can definitely be reached. Therefore, the extension length of the robot arm can be calculated based on the current position and posture of the robot end probe. When the arm extension length exceeds the maximum length, the angle between the posture and the vertical direction is reduced until the arm extension does not exceed the limit. In actual scenarios, the posture range limitation also includes limiting the joints from hitting the trolley and the bed. The limitation method is similar to limiting the arm extension, and will not be repeated in this embodiment.

[0062] To more clearly illustrate the definition of the angle between the robot's end probe and the vertical direction and the extended length of the robotic arm, Figure 3 shows a schematic diagram of the relationship between the maximum angle relative to the z-axis and the position and posture provided by an embodiment of the present disclosure. As shown in Figure 3, L_arm is the extended length of the robotic arm, and the angles corresponding to the near-center direction and the angle corresponding to the far-center direction are the angles between the robot's end probe and the vertical direction. In actual scenarios, the angle that the robot's end probe can reach with the vertical direction is also limited by the robot's own structure and the ultrasonic robot's hardware structure. As can be seen from Figure 3, the maximum angle that the robotic arm can reach with the vertical direction at a certain position is related to the tilt direction and the position of the robotic arm. The farther the robotic arm is extended, the smaller the angle it can reach; at the same position and posture, the angle when it is far from the center direction is smaller than the angle when it is close to the center direction. The limiting condition is the extended length of the robotic arm, which must be less than the maximum length it can reach.

[0063] The present disclosure provides a method for robot posture processing, the main technical solution of which includes: calculating according to the current posture angle of the robot to obtain the extension length of the robot's manipulator arm; if it is determined that the extension length is less than or equal to a preset length threshold, adjusting the posture angle to a first angle between the robot end probe and a first direction; calculating at least two adjusted extension lengths according to the first angle; determining whether the at least two adjusted extension lengths are within a preset interval; obtaining a variation range of the first angle based on the at least two adjusted extension lengths within the preset interval, and controlling the posture of the manipulator arm according to the variation range. Compared with the related art, by limiting the extension length of the manipulator arm to limit the range of movement of the manipulator arm, and by adjusting the first angle, calculating the extension length of the manipulator arm, by determining whether the extension length of at least two manipulator arms is within the preset interval, obtaining a variation range of the first angle, and limiting the movement angle of the manipulator arm according to the variation range, that is, by dually limiting the extension length and the movement angle of the manipulator arm, the manipulator arm is moved within a certain posture range, thereby improving the controllability of the manipulator arm and further improving the safety of inspection based on the manipulator arm.

[0064] To facilitate understanding of the present disclosure, Figure 4 is a schematic diagram of a robot structure provided in an embodiment of the present disclosure, and Figure 5 is a schematic diagram of a robot hardware connection structure provided in an embodiment of the present disclosure. As shown in Figure 4, the robot includes: a robotic arm, a six-dimensional force sensor, a main camera, a secondary camera, a display, a speaker and a host.

[0065] As a refinement of the embodiment of the present disclosure, after executing step 101 to calculate according to the current posture angle of the robot to obtain the extended length of the robot's robotic arm, the method can also adopt but is not limited to the following implementation methods, for example: when it is determined that the extended length of the robotic arm is greater than the preset length threshold, subtract the first preset angle from the first angle between the robot end probe and the first direction to obtain a second angle, and the first preset angle is half of the first angle; recalculate the extended length of the robotic arm according to the second angle to obtain the extended length of the robotic arm corresponding to the second angle.

[0066] In order to adjust the extended length of the robotic arm, when it is determined that the extended length of the robotic arm is greater than the preset length threshold, the first angle is halved to obtain a second angle whose angle is half the size of the first angle. The corresponding extended length of the robotic arm is calculated based on the second angle, and then the judgment with the preset length threshold is performed. The first angle is the angle between the robot end probe and the vertical direction.

[0067] As a refinement of the above embodiment, after recalculating the extended length of the robotic arm based on the second angle to obtain the extended length of the robotic arm corresponding to the second angle, the method can also adopt but is not limited to the following implementation methods, for example: when it is determined that the extended length of the robotic arm corresponding to the second angle is less than the preset length threshold, add a second preset angle on the basis of the second angle, wherein the second preset angle is half of the difference between the second angle and the first angle; recalculate the extended length of the robotic arm based on the second angle after the angle is added to obtain the corresponding extended length of the robotic arm.

[0068] When it is determined that the extended length of the robotic arm calculated based on the second angle is less than the preset length threshold, the second preset angle is added on the basis of the second angle. In order to more intuitively demonstrate the process of adding the second preset angle to the second angle, an exemplary explanation is provided here. For example: the angle of the first angle is A, the angle of the second angle is B, then the second preset angle is (AB) / 2, and the angle value of the preset second preset angle is added to the basis of the second angle as B+(AB) / 2. The extended length of the robotic arm is recalculated based on the second angle after the angle is added to obtain the corresponding extended length of the robotic arm.

[0069] As a refinement of the above embodiment, when performing the calculation according to the current posture angle of the robot in step 102, the following implementation methods can be adopted but not limited to, for example: defining the end posture vector and end position of the robot's end probe according to the posture angle; using the end posture vector and the end position to perform calculations to obtain the extended length of the robot's robotic arm.

[0070] That is, the end posture vector and end position of the robot end probe are determined according to the posture angle, and the extended length of the robot's mechanical arm is calculated based on the end posture vector and the end position. In order to clearly illustrate the calculation process of the extended length of the above-mentioned mechanical arm, Figure 6 is a schematic diagram of a mechanical arm structure provided by an embodiment of the present disclosure, and Figure 7 is a schematic diagram of a plane projection of a mechanical arm provided by an embodiment of the present disclosure, wherein the projection shown in Figure 7 is the projection of the mechanical arm shown in Figure 6 on the plane. According to Figures 6 and 7, the calculation method of the extended length of the mechanical arm is as follows: using the initial coordinate system of the robot end as the reference coordinate system, project each joint of the robot onto the XY plane, and record the projection point of joint 1 as O, the projection point of joint 2 as Q, and the projection point of joint 6 as P. It can be seen from the mechanical arm structure that the length OQ is fixed, the coordinates of point O are known, and the coordinates of point P can be calculated. Therefore, the vector OQ can be obtained. OQ is parallel to the axis between joints 4 and 5, so the vector between joints 4 and 5 can be calculated. Furthermore, because the end-point pose vector, the vector from joint 5 to joint 6, and the vector from joint 4 to joint 5 are perpendicular to each other, the vector between joint 5 and joint 6 can be calculated. Therefore, the positions of joints 6, 5, and 4 can be reversed from the end-point position. This also allows the calculation of the extended length of the robotic arm.

[0071] As a refinement of the above embodiment, when the end posture vector and the end position are used to calculate and obtain the extended length of the robot's mechanical arm, the following implementation methods can be adopted but are not limited to, for example: obtaining a first length from the robot's end probe to the first joint and a second length from the second joint to the third joint; calculating based on the end posture vector, the first length, the second length and the end position to obtain a target angle; calculating based on the target angle and the end posture vector to obtain a third unit vector from the fourth joint to the first joint; obtaining a third length from the fourth joint to the first joint, and calculating based on the third unit vector, the third length and the end position to obtain the extended length of the mechanical arm. The first joint is joint 6 shown in Figure 6, the second joint is joint 1 shown in Figure 6, the third joint is joint 2 shown in Figure 6, and the fourth joint is joint 5 shown in Figure 6.

[0072] As a refinement of the above embodiment, the following description is to be understood in conjunction with FIG6 and FIG7 , and the end-point posture vector is defined as:

[0073] V L6 =[sβ,-cβsγ,cβcγ], where V L6 is the end attitude vector, s is the abbreviation of the trigonometric function sin, c is the abbreviation of the trigonometric function cos, and the rotation angle around the X axis is γ , the rotation angle around the Y axis is β 。

[0074] The end positions are:

[0075] P end (currentPosition.x,currentPosition.y,currentPosition.z), where, P end is the end position of the robot end probe, currentPosition.x, currentPosition.y, currentPosition.z are the coordinates of the robot end probe in the reference coordinate system x-axis, y-axis, and z-axis respectively.

[0076] The first length is L_end; the second length is R; according to the end posture vector V L6 , the first length L_end, the second length R and the end position P end Perform calculations to obtain the target angle θ.

[0077] According to the target angle θ and the end posture vector V L6 Calculate and get the third unit vector V L5 , obtain the third length L_WRIST1, according to the third unit vector V L5 , the third length L_WRIST1 and the end position P end Calculate and obtain the extension length L of the robotic arm arm .

[0078] As a refinement of the above embodiment, when the target angle is calculated based on the end posture vector, the first length, the second length and the end position, the following implementation methods can be adopted but are not limited to, for example: multiplying the first length by the end posture vector to obtain a first operation result; subtracting the first operation result from the end position to obtain the first position information corresponding to the first joint; calculating based on the second length and the modulus of the vector from the second joint to the first joint direction to obtain the target angle, and the modulus of the vector from the second joint to the first joint direction is calculated based on the first position information.

[0079] In order to more intuitively demonstrate the calculation process of the target angle, the following is explained in the form of a formula. Let the first position information be P6, and construct a solution formula for the first position information P6, as shown in Formula 1: P6=P end -L_end*V L6 Formula (1)

[0080] Please refer to Figure 7. Based on the first position information P6, the coordinates of the first joint at the plane projection point P are P(P6(0), P6(1), 0), where P6(0), P6(1), 0 are the coordinates of the point P in the reference coordinate system x-axis, y-axis, and z-axis, respectively. Then, the unit vector in the OQ direction, i.e., the unit vector from the second joint to the third joint, can be regarded as the unit vector in the OP direction, i.e., the unit vector from the second joint to the first joint, obtained by rotating the target angle θ around the z-axis of the reference coordinate system. The solution formula for the target angle is constructed as shown in formula (2):

[0081] As a refinement of the above embodiment, when calculating based on the target angle and the end posture vector to obtain the third unit vector from the fourth joint to the first joint, the following implementation method can be adopted but not limited to, for example: substituting the target angle into the rotation matrix to obtain the target rotation matrix; performing matrix calculation based on the target rotation matrix and the first unit vector from the second joint to the first joint to obtain the second unit vector from the fifth joint to the fourth joint, and the first unit vector is calculated from the first position information; performing cross product calculation based on the second unit vector and the end posture vector to obtain the third unit vector from the fourth joint to the first joint.

[0082] In order to more intuitively demonstrate the calculation process of the third unit vector, the following is explained in the form of a formula: the rotation matrix R of the rotation θ around the Z axis is θ for:

[0083] Let the second unit vector be VL4 , by V L4 The second unit vector V is constructed equal to the unit vector in the OQ direction L4 The solution formula is shown in formula (4):

[0084] Construct the third unit vector V L5 The solution formula is shown in formula (5): V L5 =V L4 ×V L6 Formula (5)

[0085] As a refinement of the above embodiment, when obtaining the third length from the fourth joint to the first joint and calculating according to the third unit vector, the third length and the end position to obtain the extended length of the robotic arm, the following implementation method can be adopted but not limited to, for example: obtaining the third length from the fourth joint to the first joint; multiplying the third length by the third unit vector to obtain a second operation result; subtracting the end position based on the second operation result to obtain the second position information corresponding to the fourth joint; multiplying the second length by the second unit vector to obtain a third operation result; subtracting the position information corresponding to the fourth joint based on the third operation result to obtain the third position information corresponding to the fifth joint; calculating the vector from the fifth joint to the second joint direction based on the third position information; calculating the modulus of the vector from the fifth joint to the second joint direction to obtain the extended length of the robotic arm.

[0086] In order to more intuitively demonstrate the calculation process of the extension length of the robotic arm, the following is explained in the form of a formula. The second position information P5 is recorded and the solution formula for the second position information P5 is constructed, as shown in formula (6): P5 = P6 - L_WRIST1*V L5 Formula (6)

[0087] The extended length of the robot's mechanical arm is the distance from the second joint to the fifth joint. Note the third position information P4, and construct the solution formula for the third position information P4, as shown in formula (7): P4=P5-R*V L4 Formula (7)

[0088] Construct the solution formula (8) for the extension length of the robot's mechanical arm, as shown in formula (8): L arm =|P4-P1|Formula (8)

[0089] Wherein, P1 is the position information of the second joint.

[0090] As a refinement of the above embodiment, after executing the method of obtaining the variation range of the first angle based on the at least two adjusted extension lengths within the preset range, the method can also adopt but is not limited to the following implementation methods, for example: proportionally scaling the end posture vector of the robot end probe according to the first angle to obtain the scaled end posture vector; calculating the scaled end posture vector to obtain the movement angle of the robot manipulator at the first angle.

[0091] In order to more intuitively demonstrate the calculation process of the movement angle of the robot arm under the first angle, FIG8 is a schematic diagram of a maximum angle limit of the robot arm provided by an embodiment of the present disclosure. The following uses FIG8 in combination with the formula for explanation, for example:

[0092] The posture sent by the master device is converted into three angles according to the XY'Z" rotation angle. The rotation angle around the X axis is γ, the rotation angle around the Y axis is β, and the rotation angle around the Z axis is α. In order to limit the posture sent by the master device to the robot to a reasonable posture range, the detailed method is as follows:

[0093] The maximum angle between the probe at the end of the manipulator and the z-axis is θmax. The rotation angles in the X-Y'-Z" format before restriction are α, β, and γ respectively. The rotation angles in the X-Y'-Z" format after restriction are α', β', and γ' respectively. The current posture matrix of the manipulator can be expressed as:

[0094] The direction vector of the Z axis can be expressed as: V z =[sβ,-cβsγ,cβcγ]

[0095] Since the posture vector is independent of α, we know that α' = α. Since the projection of the end posture vector on the XY plane must remain unchanged, the updated posture vector is scaled in the X and Y directions, which is: P' = [sβ', -cβ'sγ', cβ'cγ'] = [k*sβ, -k*cβsγ, cθ max ]

[0096] Calculated,

[0097] Finally, we can get:

[0098] As a refinement of the above embodiment, before calculating according to the current posture angle of the robot to obtain the extended length of the robot's robotic arm, the method can also adopt but is not limited to the following implementation methods, for example: responding to the initialization control instruction sent by the main control device, initializing the robot according to the initialization control instruction.

[0099] In order to ensure the normal operation of the controlled end, after receiving the control instructions sent by the main control device, the robot is initialized according to the control instructions, that is, the robot is controlled to prepare and load related work processes. The control instructions include but are not limited to control instructions for controlling the movement of the robot's mechanical arm, control instructions for controlling the robot's mechanical arm to stop moving, for example, controlling the movement of the robot's mechanical arm based on the control instructions for controlling the movement of the robot's mechanical arm.

[0100] To facilitate understanding of the disclosed solution, FIG9 is a schematic diagram of the structure of a main control device provided in an embodiment of the present disclosure, and FIG10 is a schematic diagram of the hardware connection structure of a main control device provided in an embodiment of the present disclosure. As shown in FIG9 , the main control device includes: the main control device comprises a host computer, a robotic console, dual displays, an ultrasound control panel, a camera, a voice pickup, a speaker, a camera control joystick, and other modules. The doctor can manipulate the robotic console to control the remote robotic arm. The console consists of a contouring probe, a position sensor, and a pressure sensor. The console has six degrees of freedom. The posture sensor has three rotational degrees of freedom, the position sensor has two horizontal degrees of freedom, and the "UP button" and the pressure sensor correspond to one degree of freedom for up and down movement.

[0101] FIG11 is another method for processing robot postures provided by an embodiment of the present disclosure. As shown in FIG11 , the method is applied to a main control device and includes:

[0102] Step 201: Send a control instruction for controlling the movement of the robot arm to the robot, so that the robot can calculate the extension length of the robot arm according to the control instruction for controlling the movement of the robot arm and the current posture angle of the robot.

[0103] As a refinement of the above step 201, a control instruction for controlling the movement of the robot arm is sent to the robot, so that the robot performs calculation based on the control instruction and its current posture angle to obtain the extended length of the robot arm.

[0104] As a refinement of the embodiment of the present disclosure, before sending a control instruction to the robot to control the movement of the robotic arm, the method can also adopt but is not limited to the following implementation method, for example: sending an initialization control instruction to the robot so that the robot initializes the robot according to the initialization control instruction.

[0105] As a refinement of the above embodiment, the main control device sends an initialization control instruction to the robot, so that the robot is initialized before working.

[0106] As a refinement of the above embodiment, after sending a control instruction to control the movement of the robotic arm to the robot, the method can also adopt but is not limited to the following implementation methods, for example: receiving the robot's response information to the control instruction to control the movement of the robotic arm; receiving real-time image information collected by the probe at the end of the robotic arm, the collection range of the probe at the end of the robotic arm is limited to the change interval corresponding to the first angle, the change interval corresponding to the first angle is determined by the first angle and the preset interval range, the first angle is the angle between the robot end probe and the first direction; the real-time image information is visually displayed.

[0107] As a refinement of the above embodiment, in order to enable the user of the main control device to monitor the detection content of the controlled end, the main control device receives the response information of the robot to the control instruction for controlling the movement of the robotic arm; receives real-time image information collected by the probe at the end of the robotic arm, monitors the normal operation of the robot based on the response information, monitors the detection content of the robot based on the real-time image information, and visualizes the image information on the main control device. When the probe at the end of the robot performs ultrasonic detection, its detection range is limited to the change interval corresponding to the first angle. The change interval corresponding to the first angle is determined by the first angle and the preset interval range. The first angle is the angle between the probe at the end of the robot and the first direction. The detection range of the probe at the end of the robot is limited to achieve safe detection of the probe at the end of the robot.

[0108] To more clearly illustrate the connection between the robot and the master control device, Figure 12 is a schematic diagram of the hardware connection between the master control device and the robot provided in this embodiment. As shown in Figure 12, both the master control device and the robot include cameras and voice pickups, and can capture audio and video through the pickups and the main / auxiliary cameras. The robot host can also capture ultrasonic images from the ultrasound machine using a video capture card. Using audio and video transmission technology, the captured audio, video, and ultrasonic images are sent to the remote end via the network, enabling remote audio and video communication. Simultaneously, the master control device can capture robot control commands through the operator system, the ultrasonic control panel, and the camera control stick. These commands can all be sent to the robot via the network. The robot host can receive robot and camera control commands from the master control device via the network. The robot processor processes the robot control commands sent by the master control device and sends them to the manipulator system, enabling real-time control of position, posture, and force. Ultrasonic control commands and main camera control commands are also transmitted in real time to the ultrasound host and main camera via the robot processor, enabling remote control of the ultrasound and camera.

[0109] In summary, this embodiment can achieve the following effects:

[0110] 1. By dually limiting the extension length and the movement angle of the robotic arm, the robotic arm can move within a certain posture range, thereby improving the controllability of the robot arm and further improving the safety of inspections based on the robotic arm.

[0111] 2. By limiting the extension length of the robotic arm, the moving range of the robotic arm is limited, and by determining the adjusted angle corresponding to the final extension length of the robotic arm as the limiting angle of the first angle, the moving angle of the robotic arm is limited.

[0112] Corresponding to the above-mentioned method for processing robot posture, the present invention also provides a device for processing robot posture. Since the device embodiment of the present invention corresponds to the above-mentioned method embodiment, details not disclosed in the device embodiment can be referred to the above-mentioned method embodiment and will not be further described in this invention.

[0113] FIG13 is a schematic diagram of the structure of a device for processing robot posture provided by an embodiment of the present disclosure, as shown in FIG13 , comprising:

[0114] A first calculation unit 31 is configured to calculate, based on the current posture angle of the robot, an extension length of the robot's mechanical arm;

[0115] An adjusting unit 32 is configured to adjust the posture angle to a first angle between the robot end probe and the first direction when it is determined that the extended length is less than or equal to a preset length threshold;

[0116] A second calculation unit 33 is configured to calculate at least two adjusted extension lengths according to the first angle;

[0117] a determining unit 34, configured to determine whether at least two adjusted stretch lengths are within a preset range;

[0118] The control unit 35 is configured to obtain a variation range of the first angle based on the at least two adjusted extension lengths being within the preset range, and control the posture of the robotic arm according to the variation range.

[0119] The present disclosure provides a robot posture processing device, the main technical solution of which includes: calculating according to the current posture angle of the robot to obtain the extension length of the robot's manipulator arm; if it is determined that the extension length is less than or equal to a preset length threshold, adjusting the posture angle to a first angle between the robot end probe and a first direction; calculating at least two adjusted extension lengths according to the first angle; determining whether the at least two adjusted extension lengths are within a preset interval; obtaining a variation range of the first angle based on the at least two adjusted extension lengths within the preset interval, and controlling the posture of the manipulator arm according to the variation range. Compared with the related art, by limiting the extension length of the manipulator arm to limit the range of movement of the manipulator arm, and by adjusting the first angle, calculating the extension length of the manipulator arm, by determining whether the extension length of at least two manipulator arms is within the preset interval, obtaining a variation range of the first angle, and limiting the movement angle of the manipulator arm according to the variation range, that is, by dually limiting the extension length and the movement angle of the manipulator arm, the manipulator arm is moved within a certain posture range, thereby improving the controllability of the manipulator arm and further improving the safety of inspections based on the manipulator arm.

[0120] FIG14 is a schematic structural diagram of another device for robot posture processing provided by an embodiment of the present disclosure. Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the device includes:

[0121] a reducing unit 36 ​​configured to, when determining that the extended length of the robot arm is greater than the preset length threshold, subtract a first preset angle from the first angle between the robot end probe and the vertical direction to obtain a second angle, where the first preset angle is half of the first angle;

[0122] The third calculating unit 37 is configured to recalculate the extended length of the robotic arm according to the second angle to obtain the extended length of the robotic arm corresponding to the second angle.

[0123] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the apparatus further includes:

[0124] an adding unit 38, configured to, when determining that the extended length of the robotic arm corresponding to the second angle is less than the preset length threshold, add a second preset angle based on the second angle, wherein the second preset angle is half of the difference between the second angle and the first angle;

[0125] The fourth calculation unit 39 is configured to recalculate the extended length of the robotic arm according to the increased second included angle to obtain the corresponding extended length of the robotic arm.

[0126] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the first calculating unit 31 includes:

[0127] A definition module 311 is used to define the end posture vector and end position of the robot end probe according to the posture angle;

[0128] The calculation module 312 is configured to calculate the extension length of the robot's mechanical arm using the end posture vector and the end position.

[0129] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the robot's mechanical arm includes a first joint, a second joint, a third joint, and a fourth joint;

[0130] The calculation module 312 is further configured to:

[0131] Obtaining a first length from the robot end probe to the first joint and a second length from the second joint to the third joint;

[0132] Calculate based on the terminal posture vector, the first length, the second length and the terminal position to obtain a target angle;

[0133] Calculating according to the target angle and the end posture vector to obtain a third unit vector in the direction from the fourth joint to the first joint;

[0134] Obtain a third length from the fourth joint to the first joint, and calculate according to the third unit vector, the third length, and the end position to obtain the extended length of the robotic arm.

[0135] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the calculation module 312 is further configured to:

[0136] Performing a multiplication operation on the first length and the terminal posture vector to obtain a first operation result;

[0137] Performing a subtraction operation on the end position based on the first operation result to obtain first position information corresponding to the first joint;

[0138] The target angle is obtained by calculation based on the second length and the modulus of the vector from the second joint to the first joint direction, and the modulus of the vector from the second joint to the first joint direction is calculated based on the first position information.

[0139] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the robot's mechanical arm further includes a fifth joint;

[0140] The calculation module 312 is further configured to:

[0141] Substituting the target angle into the rotation matrix to obtain the target rotation matrix;

[0142] Performing a matrix calculation based on the target rotation matrix and a first unit vector in a direction from the second joint to the first joint to obtain a second unit vector in a direction from the fifth joint to the fourth joint, where the first unit vector is calculated based on the first position information;

[0143] Performing a cross product calculation on the second unit vector and the end posture vector to obtain a third unit vector in the direction from the fourth joint to the first joint;

[0144] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the calculation module 312 is further configured to:

[0145] Obtaining a third length from the fourth joint to the first joint;

[0146] Performing a multiplication operation on the third length and the third unit vector to obtain a second operation result;

[0147] Performing a subtraction operation on the end position based on the second operation result to obtain second position information corresponding to the fourth joint;

[0148] Performing a multiplication operation on the second unit vector using the second length to obtain a third operation result;

[0149] Performing a subtraction operation based on the third operation result and the position information corresponding to the fourth joint to obtain third position information corresponding to the fifth joint;

[0150] Calculate a vector from the fifth joint to the second joint based on the third position information;

[0151] The modulus of the vector from the fifth joint to the second joint is calculated to obtain the extended length of the robotic arm.

[0152] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the apparatus further includes:

[0153] A scaling unit 3101 is configured to scale the end-point posture vector of the robot end-point probe in equal proportion according to the first angle to obtain the scaled end-point posture vector;

[0154] The fifth calculation unit 3102 is used to calculate the scaled end posture vector to obtain the movement angle of the robot arm at the first angle.

[0155] Furthermore, in a possible implementation of this embodiment, as shown in FIG14 , the apparatus further includes:

[0156] The preparation unit 3103 is configured to respond to the initialization control instruction sent by the main control device and initialize the robot according to the initialization control instruction.

[0157] FIG15 is another apparatus for robot posture processing provided by an embodiment of the present disclosure. As shown in FIG15 , the apparatus is applied to a main control device and includes:

[0158] The sending unit 41 is used to send a control instruction for controlling the movement of the robot arm to the robot, so that the robot calculates the extended length of the robot arm according to the control instruction for controlling the movement of the robot arm and the current posture angle of the robot.

[0159] FIG16 is another device for processing robot postures provided by an embodiment of the present disclosure. Furthermore, in a possible implementation of the embodiment of the present disclosure, as shown in FIG16 , the sending unit 41 is further configured to:

[0160] An initialization control instruction is sent to the robot, so that the robot initializes the robot according to the initialization control instruction.

[0161] Furthermore, in a possible implementation of the embodiment of the present disclosure, as shown in FIG16 , the apparatus further includes:

[0162] a receiving unit 42, configured to receive a response message from the robot to the control instruction for controlling the movement of the robotic arm; and

[0163] receiving real-time image information collected by the robot end probe, where the collection range of the robot end probe is limited to a variation range corresponding to a first angle, where the variation range corresponding to the first angle is determined by the first angle and a preset range, where the first angle is the angle between the robot end probe and a first direction;

[0164] The display unit 43 is used to visually display the real-time image information.

[0165] An embodiment of the present disclosure provides a system for robot posture processing, comprising: a robot and a main control device, wherein the robot comprises the above-mentioned apparatus for robot posture processing applied to the robot; the main control device comprises the above-mentioned apparatus for robot posture processing applied to the main control device.

[0166] It should be noted that the above explanation of the method embodiment is also applicable to the device of this embodiment, and the principles are the same, which is not limited in this embodiment.

[0167] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0168] FIG17 shows a schematic block diagram of an example electronic device 500 that can be used to implement an embodiment of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0169] As shown in FIG17 , the device 500 includes a computing unit 501 that can perform various appropriate actions and processes based on a computer program stored in a ROM (Read-Only Memory) 502 or a computer program loaded from a storage unit 508 into a RAM (Random Access Memory) 503. Various programs and data required for the operation of the device 500 can also be stored in the RAM 503. The computing unit 501, the ROM 502, and the RAM 505 are connected to each other via a bus 504. An I / O (Input / Output) interface 505 is also connected to the bus 504.

[0170] Various components in device 500 are connected to I / O interface 505, including: an input unit 506, such as a keyboard, mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, optical disk, etc.; and a communication unit 509, such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows device 500 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0171] The computing unit 501 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), various specialized AI (Artificial Intelligence) computing chips, various computing units that run machine learning model algorithms, a DSP (Digital Signal Processor), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the method for robot posture processing. For example, in some embodiments, the method for robot posture processing can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the method described above can be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to execute the aforementioned robot posture processing method in any other appropriate manner (for example, by means of firmware).

[0172] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System on Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0173] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0174] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0175] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0176] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0177] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0178] It's important to note that artificial intelligence (AI) is the study of how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). This encompasses both hardware and software technologies. AI hardware technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily encompass computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graphs.

[0179] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0180] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for robot posture processing, characterized in that: The method is applied to a robot, comprising: Calculating according to the current posture angle of the robot to obtain the extension length of the robot's mechanical arm; When it is determined that the extended length is less than or equal to a preset length threshold, adjusting the posture angle to a first angle between the robot end probe and a first direction; Calculating at least two adjusted stretch lengths according to the first angle; determining whether at least two adjusted stretch lengths are within a preset interval; Based on the at least two adjusted extension lengths being within the preset range, a variation range of the first angle is obtained, and the posture of the robotic arm is controlled according to the variation range.

2. The method according to claim 1, characterized in that After calculating according to the current posture angle of the robot to obtain the extension length of the robot's mechanical arm, the method further includes: When it is determined that the extended length of the robot arm is greater than the preset length threshold, a second angle is obtained by subtracting a first preset angle from a first angle between the robot end probe and the first direction, wherein the first preset angle is half of the first angle; The extended length of the robotic arm is recalculated according to the second angle to obtain the extended length of the robotic arm corresponding to the second angle.

3. The method according to claim 2, characterized in that After recalculating the extended length of the mechanical arm according to the second angle to obtain the extended length of the mechanical arm corresponding to the second angle, the method further includes: When it is determined that the extension length of the mechanical arm corresponding to the second angle is less than the preset length threshold, a second preset angle is added on the basis of the second angle, wherein the second preset angle is half of the difference between the second angle and the first angle; The extended length of the robotic arm is recalculated according to the increased second angle to obtain the corresponding extended length of the robotic arm.

4. The method according to claim 1, characterized in that: The step of calculating according to the current posture angle of the robot to obtain the extension length of the robot's mechanical arm comprises: Defining the end attitude vector and the end position of the end probe of the robot according to the attitude angle; The end posture vector and the end position are used to perform calculations to obtain the extension length of the robot's mechanical arm.

5. The method according to claim 4, characterized in that The robot's mechanical arm comprises a first joint, a second joint, a third joint, and a fourth joint; The end posture vector and the end position are used to calculate and obtain the robot The extended length of the robot arm includes: Obtaining a first length from the robot end probe to the first joint and a second length from the second joint to the third joint; Calculate based on the terminal posture vector, the first length, the second length and the terminal position to obtain a target angle; Calculate according to the target angle and the end posture vector to obtain a third unit vector from the fourth joint to the first joint; The third length from the fourth joint to the first joint is obtained, and the extended length of the robotic arm is obtained by calculation based on the third unit vector, the third length and the end position.

6. The method according to claim 5, characterized in that The calculation based on the terminal posture vector, the first length, the second length and the terminal position to obtain the target angle includes: Performing a multiplication operation on the first length and the terminal posture vector to obtain a first operation result; Performing a subtraction operation on the first operation result and the end position to obtain first position information corresponding to the first joint; The target angle is obtained by calculating based on the second length and the modulus of the vector from the second joint to the first joint direction, and the modulus of the vector from the second joint to the first joint direction is calculated based on the first position information.

7. The method according to claim 6, characterized in that The robot's mechanical arm also includes a fifth joint; The calculation based on the target angle and the end posture vector to obtain the third unit vector from the fourth joint to the first joint includes: Substituting the target angle into the rotation matrix to obtain a target rotation matrix; Perform matrix calculation based on the target rotation matrix and the first unit vector from the second joint to the first joint to obtain a second unit vector from the fifth joint to the fourth joint, where the first unit vector is calculated based on the first position information; A third unit vector in the direction from the fourth joint to the first joint is obtained based on a cross product calculation between the second unit vector and the end posture vector.

8. The method according to claim 7, characterized in that The step of obtaining the third length from the fourth joint to the first joint and calculating according to the third unit vector, the third length and the end position to obtain the extended length of the robot arm comprises: Acquire a third length from the fourth joint to the first joint; Performing a multiplication operation on the third length and the third unit vector to obtain a second operation result; Based on the subtraction operation of the second operation result and the end position, the fourth level is obtained. The second position information corresponding to the section; Performing a multiplication operation on the second unit vector using the second length to obtain a third operation result; Perform a subtraction operation based on the third operation result and the position information corresponding to the fourth joint to obtain the third position information corresponding to the fifth joint; Calculate a vector from the fifth joint to the second joint based on the third position information; The modulus of the vector from the fifth joint to the second joint direction is calculated to obtain the extended length of the robotic arm.

9. The method according to claim 1, characterized in that: After obtaining the variation range of the first angle based on the at least two adjusted stretching lengths within the preset range, the method includes: Proportionally scaling the end posture vector of the robot end probe according to the first angle to obtain the scaled end posture vector; The scaled end posture vector is calculated to obtain the movement angle of the robotic arm at the first angle.

10. The method according to any one of claims 1 to 9, characterized in that Before calculating according to the current posture angle of the robot to obtain the extension length of the robot's mechanical arm, the method further includes: In response to the initialization control instruction sent by the main control device, the robot is initialized according to the initialization control instruction.

11. A method for robot posture processing, characterized in that: The method is applied to a main control device, comprising: A control instruction for controlling the movement of the mechanical arm is sent to the robot, so that the robot calculates the extension length of the mechanical arm of the robot according to the control instruction for controlling the movement of the mechanical arm and the current posture angle of the robot.

12. The method according to claim 11, characterized in that Before sending a control instruction to the robot to control the movement of the mechanical arm, the method further includes: An initialization control instruction is sent to the robot, so that the robot is initialized according to the initialization control instruction.

13. The method according to claim 11 or 12, characterized in that: After sending a control instruction to the robot to control the movement of the mechanical arm, the method further includes: receiving a response message from the robot to the control instruction for controlling the movement of the robot arm; Receive real-time image information collected by the robot end probe, the collection range of the robot end probe is limited to the change interval corresponding to the first angle, the change interval corresponding to the first angle is determined by the first angle and the preset interval range, and the first angle is the robot end probe An angle with the first direction; The real-time image information is visualized.

14. A robot posture processing device, characterized in that: The device is applied to a robot, comprising: A first calculation unit, configured to calculate according to a current posture angle of the robot to obtain an extended length of a mechanical arm of the robot; An adjustment unit, configured to adjust the posture angle to a first angle between the robot end probe and a first direction when it is determined that the extended length is less than or equal to a preset length threshold; A second calculation unit, configured to calculate at least two adjusted stretch lengths according to the first angle; a determination unit, configured to determine whether at least two adjusted stretch lengths are within a preset range; A control unit is used to obtain a variation interval of the first angle based on the at least two adjusted extension lengths within the preset interval, and control the posture of the robotic arm according to the variation interval.

15. A robot posture processing device, characterized in that: The device is applied to a main control device, comprising: The sending unit sends a control instruction for controlling the movement of the mechanical arm to the robot, so that the robot calculates the extension length of the mechanical arm of the robot according to the control instruction for controlling the movement of the mechanical arm and the current posture angle of the robot.

16. A system for robot posture processing, characterized in that: Including: robots and main control equipment, among which, The robot comprises the device for robot posture processing as claimed in claim 14; The main control device includes the robot posture processing device described in claim 15.

17. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10 or 11-13.

18. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-10 or 11-13.

19. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1-10 or 11-13.

Images