Dental composite robot

Abstract

The utility model relates to the field of auxiliary instrument, concretely relates to a dental composite robot, including AGV chassis, the AGV chassis top surface is installed with the connecting casing, the connecting casing top surface one side is installed with the collaborative mechanical arm, be equipped with the material box buffer area and porcelain dish buffer area on the connecting casing, the movable end of collaborative mechanical arm is installed with servo electric claw and 3D camera, collaborative mechanical arm, servo electric claw, 3D camera are electrically connected with control system. The utility model discloses through control AGV chassis moves to the corresponding position, can realize the feeding of material and the transfer of material, has brought great convenience on actual operation.

Description

Technical Field

[0001] This utility model relates to the field of assistive devices, specifically to a dental composite robot. Background Technology

[0002] Dentistry generally refers to the dental profession. It is a medical discipline, usually included within the Department of Stomatology. Dentistry primarily treats diseases of the teeth and periodontium. In actual treatment, different materials are needed for different dental lesions. However, due to the wide variety of materials available, and the complex classification of materials during tooth fabrication, the materials need to be categorized and supplied to meet manufacturing requirements. Inevitably, errors can occur during manual operation. Utility Model Content

[0003] The purpose of this invention is to provide a dental composite robot to solve the above-mentioned problems and technical issues.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] A dental composite robot includes an AGV chassis, a connecting shell mounted on the top surface of the AGV chassis, a collaborative robotic arm mounted on one side of the top surface of the connecting shell, a material box buffer area and a ceramic disc buffer area provided on the connecting shell, a servo electric gripper and a 3D camera mounted on the movable end of the collaborative robotic arm, and the collaborative robotic arm, the servo electric gripper and the 3D camera electrically connected to a control system.

[0006] Preferably, the AGV chassis includes a base, auxiliary omnidirectional wheels are installed at the four corners of the base bottom surface, two drive wheels are installed in the middle of the base, and a navigation camera is installed on the base bottom surface, the navigation camera being electrically connected to the control system.

[0007] Preferably, the material box buffer area includes a stepped storage slot formed on the top surface of the connecting housing, and material box storage plates are placed sequentially from top to bottom in the stepped storage slot.

[0008] Preferably, the ceramic disc buffer area includes a ceramic disc storage plate installed on the top surface of the connecting housing, and the ceramic disc storage plate is provided with five storage positions and one photo-taking position.

[0009] Preferably, the storage location includes a storage slot formed on the top surface of the porcelain plate storage plate, the porcelain plate holder is placed in the storage slot, and the photography location includes a photography placement slot formed on the top surface of the porcelain plate storage plate, with a background plate provided between the storage slot and the photography placement slot.

[0010] Preferably, lidar is installed on the front and rear sides of the AGV chassis.

[0011] This utility model has the following technical effects:

[0012] This invention utilizes a collaborative robotic arm to drive a servo-driven electric gripper, which simultaneously moves a D-camera. When a ceramic disc needs to be grasped, the D-camera takes a picture in the corresponding image area to identify the disc's position. Then, the control system controls the collaborative robotic arm to move the servo-driven electric gripper to the corresponding position to grasp the disc. The same method is used to grasp the material boxes stored in the material box buffer area. In this way, by controlling the AGV chassis to move to the corresponding position, material loading and material transfer can be realized, bringing great convenience to actual operation. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the porcelain plate storage plate of this utility model;

[0016] Figure 3 This is a schematic diagram of the bottom structure of the AGV chassis of this utility model.

[0017] The components include: 1. AGV chassis; 101. Drive wheel; 102. Auxiliary caster wheel; 2. Material box buffer area; 3. Collaborative robotic arm; 4. Servo electric gripper; 5. 3D camera; 6. Ceramic disc buffer area; 7. Connecting housing; 8. Ceramic disc frame; 801. Background plate; 9. Ceramic disc storage plate; 901. Storage slot; 10. Ceramic disc; 11. Stepped storage slot; 12. Material box storage plate. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] A dental composite robot includes an AGV chassis 1, a connecting housing 7 mounted on the top surface of the AGV chassis 1, a collaborative robotic arm 3 mounted on one side of the top surface of the connecting housing 7, a material box buffer area 2 and a ceramic disc buffer area 6 provided on the connecting housing 7, a servo electric gripper 4 and a 3D camera 5 mounted on the movable end of the collaborative robotic arm 3, and the collaborative robotic arm, the servo electric gripper 4 and the 3D camera 5 are electrically connected to a control system.

[0021] This invention utilizes a collaborative robotic arm to drive a servo-driven electric gripper 4, which in turn moves a 3D camera 5 synchronously. When a ceramic disc needs to be grasped, the 3D camera 5 takes a picture in the corresponding image area to identify the disc's position. Then, the control system controls the collaborative robotic arm 3 to move the servo-driven electric gripper 4 to the corresponding position to grasp the disc. The same method is used to grasp the material boxes stored in the material box buffer area 2. In this way, by controlling the AGV chassis 1 to move to the corresponding position, material loading and material transfer can be realized, bringing great convenience to actual operation.

[0022] The AGV chassis 1 is further optimized by including a base, auxiliary casters 102 are installed at the four corners of the base, two drive wheels 101 are installed in the middle of the base, and a navigation camera is installed on the bottom of the base. The navigation camera is electrically connected to the control system.

[0023] The navigation camera is used to capture and detect the surrounding environment and obstacles, and transmits the relevant information to the control system to build a map model. When turning, the rotational speed difference of the two drive wheels 101 is used to achieve steering. The auxiliary universal wheel 102 is used to provide support for the base 1 and ensure its stability when walking.

[0024] Further optimization of the design includes a stepped storage slot 11 on the top surface of the connecting housing 7, within which storage plates 12 are placed sequentially from top to bottom. This arrangement allows for the storage of more storage boxes, thereby increasing the overall carrying capacity of the device.

[0025] The design is further optimized so that the ceramic plate buffer area 6 includes a ceramic plate storage plate 9 installed on the top surface of the connecting housing 7. The ceramic plate storage plate 9 has five storage positions and one photo-taking position.

[0026] The design is further optimized. The storage location includes a storage slot 901 on the top surface of the ceramic disc storage plate 9, with the ceramic disc holder 8 placed inside the storage slot 901 and the ceramic disc 10 installed inside the ceramic disc holder 8. The photography location includes a photography placement slot 902 on the top surface of the ceramic disc storage plate 9, with a background plate 801 positioned between the storage slot 901 and the photography placement slot 902. The background plate 801 at the photography location isolates the disk 8 being photographed, preventing interference during photography.

[0027] The design was further optimized by installing lidar on the front and rear sides of the AGV chassis 1.

[0028] Specifically, the navigation camera and lidar scan the surrounding environment to acquire multimodal environmental data;

[0029] Environmental data is input into the SLAM (Simultaneous Localization and Mapping) algorithm model to build and update a 3D environmental map in real time;

[0030] The optimal movement path is calculated by optimizing path planning using reinforcement learning algorithms.

[0031] High-resolution images of the porcelain plate and the material box are acquired using the 3D camera;

[0032] The images are input into a pre-trained deep learning model to identify the location, type, and state of the materials.

[0033] Based on the material identification results and task priorities, the optimal grabbing order is generated using a decision tree algorithm.

[0034] Real-time monitoring of the robotic arm's movement trajectory, and dynamic adjustment of gripping force and angle through PID control algorithm;

[0035] Record operation data and upload it to the cloud for continuous optimization of the algorithm model.

[0036] The dental composite robot uses multi-sensor fusion technology to collect environmental data in real time through navigation cameras, lidar, and IMU (inertial measurement unit);

[0037] Data Acquisition and Preprocessing

[0038] Navigation camera: Employs a 2-megapixel global shutter camera to capture ambient RGB images at 30fps for feature point extraction and visual odometry calculation.

[0039] LiDAR: Employs 2D / 3D LiDAR (such as SICK or Velodyne), with a scanning frequency of 10Hz and a measurement accuracy of ±5mm, for high-precision obstacle detection and contour modeling.

[0040] IMU: Provides acceleration and angular velocity data for the robot to compensate for drift errors in vision and laser SLAM.

[0041] SLAM algorithm implementation

[0042] High-precision positioning and mapping can be achieved by employing a graph-optimized SLAM framework (such as Cartographer or LOAM) combined with vision-laser inertial odometry (V-LIO):

[0043] Front-end processing: Extract visual feature points (ORB, SIFT) and laser point cloud features (edges, planar points), perform inter-frame matching, and calculate pose changes.

[0044] Backend optimization: Use GTSAM or Ceres Solver to optimize the pose graph, combine IMU data to eliminate accumulated errors, and build a 3D grid map (OctoMap).

[0045] Dynamic environment update: Identify dynamic objects (such as moving people) through semantic segmentation networks (such as Mask R-CNN) and update the map in real time to avoid collisions.

[0046] Traditional path planning algorithms are inefficient in complex environments. This system uses deep reinforcement learning (DRL) to optimize the movement strategy.

[0047] State space definition: robot's current position, target point coordinates;

[0048] LiDAR acquires point cloud data of the surrounding environment;

[0049] Assign weights based on the urgency of materials to set task priorities;

[0050] Action space definition:

[0051] Training methods:

[0052] The PPO (Proximity Policy Optimization) algorithm is used to train for 1 million iterations in a simulation environment (such as Gazebo) to optimize the movement strategy.

[0053] Reward function design:

[0054] Reaching the target point: +100

[0055] Collision to obstacles: -50

[0056] Path length optimization: +5 for every 1m reduction in distance

[0057] Online adaptive optimization:

[0058] The robot continuously collects data during actual operation and updates the policy network through federated learning to adapt to different factory layouts.

[0059] For material identification:

[0060] A 3D camera (such as Intel RealSense D455) acquires high-resolution RGB-D images of porcelain plates and containers, which are then input into a multimodal vision recognition system. For porcelain plate recognition, the YOLOv7 model is used, and the training data includes 5,000 labeled porcelain plate images, achieving a recognition accuracy of >99%.

[0061] 3D pose estimation: PVNet (Pixel-wise Voting Network) is used to calculate the 6D pose (X / Y / Z + rotation) of the ceramic disk in the robot coordinate system.

[0062] Defect detection: Detect denture manufacturing defects (such as cracks and air bubbles) using the ResNet-50+ attention mechanism.

[0063] Material box classification, based on EfficientNetV2, identifies 16 common dental materials (such as resin and metal alloys).

[0064] Quantity statistics: Instance segmentation (Mask R-CNN) is used to calculate the remaining material quantity in the bin.

[0065] This invention employs machine learning to improve environmental perception accuracy: positioning error < ±2cm, adapting to dynamic environments.

[0066] Intelligent path planning: Saves 35% of travel time compared to traditional algorithms.

[0067] Accurate material identification: Porcelain plate recognition rate >99.5%, supports incremental learning with small samples.

[0068] Continuous evolution capability: trained with big data in the cloud, the model is iterated once a month, and the accuracy continues to improve.

[0069] This invention fully covers the entire process from environmental perception and decision-making to execution optimization, ensuring that dental composite robots have high intelligence and reliability in actual production.

[0070] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0071] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A dental composite robot, characterized in that, The system includes an AGV chassis (1), a connecting housing (7) is mounted on the top surface of the AGV chassis (1), a collaborative robotic arm (3) is mounted on one side of the top surface of the connecting housing (7), a material box buffer area (2) and a ceramic plate buffer area (6) are provided on the connecting housing (7), a servo electric gripper (4) and a 3D camera (5) are mounted on the movable end of the collaborative robotic arm (3), and the collaborative robotic arm, the servo electric gripper (4) and the 3D camera (5) are electrically connected to a control system.

2. The dental composite robot according to claim 1, characterized in that, The AGV chassis (1) includes a base, with auxiliary universal wheels (102) installed at the four corners of the base bottom surface, two drive wheels (101) installed in the middle of the base, and a navigation camera installed on the bottom surface of the base. The navigation camera is electrically connected to the control system.

3. The dental composite robot according to claim 1, characterized in that, The material box buffer area (2) includes a stepped storage groove (11) opened on the top surface of the connecting housing (7), and material box storage plates (12) are placed in the stepped storage groove (11) from top to bottom.

4. The dental composite robot according to claim 1, characterized in that, The ceramic plate buffer area (6) includes a ceramic plate storage plate (9) installed on the top surface of the connecting housing (7). The ceramic plate storage plate (9) has five storage positions and one photo-taking position.

5. A dental composite robot according to claim 4, characterized in that, The storage location includes a storage slot (901) on the top surface of the porcelain plate storage plate (9), and the porcelain plate rack (8) is placed in the storage slot (901). The photography location includes a photography placement slot (902) on the top surface of the porcelain plate storage plate (9), and a background plate (801) is provided between the storage slot (901) and the photography placement slot (902).

6. A dental composite robot according to claim 5, characterized in that, The AGV chassis (1) is equipped with lidar on the front and rear sides respectively.

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