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1. WO2022012337 - MOVING ARM SYSTEM AND CONTROL METHOD

Publication Number WO/2022/012337
Publication Date 20.01.2022
International Application No. PCT/CN2021/103719
International Filing Date 30.06.2021
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
G01B 11/00 2006.1
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
CPC
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
B25J 9/1697
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
1697Vision controlled systems
G01B 11/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
Applicants
  • 北京术锐技术有限公司 BEIJING SURGERII TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 徐凯 XU, Kai
  • 吴百波 WU, Baibo
  • 杨皓哲 YANG, Haozhe
  • 刘旭 LIU, Xu
Priority Data
202010665741.711.07.2020CN
Publication Language Chinese (zh)
Filing Language Chinese (ZH)
Designated States
Title
(EN) MOVING ARM SYSTEM AND CONTROL METHOD
(FR) SYSTÈME DE BRAS MOBILE ET PROCÉDÉ DE COMMANDE
(ZH) 运动臂系统以及控制方法
Abstract
(EN) The present disclosure relates to the field of robotic equipment. Disclosed is a control method for a moving arm. The control method comprises: obtaining an image collected by an image collection device, wherein the image comprises an image of a marker configured on the tail end of a moving arm, and the marker comprises a plurality of marker corner points; identifying the marker corner points in the collected image; and on the basis of the identified marker corner points, determining the current relative posture of the tail end of the moving arm relative to the image collection device. On the basis of a closed-loop control method for visual tracking, and a configured marker, the posture of the tail end of a moving arm is detected in real time, thereby effectively reducing the trajectory tracking error of the moving arm, such that the movement control error can be reduced.
(FR) La présente divulgation se rapporte au domaine des équipements robotiques. Est divulgué, un procédé de commande d'un bras mobile. Le procédé de commande consiste : à obtenir une image collectée par un dispositif de collecte d'images, l'image comprenant une image d'un marqueur configuré sur l'extrémité de queue d'un bras mobile, et le marqueur comprenant une pluralité de points d'angle de marqueur; à identifier les points d'angle de marqueur dans l'image collectée; et sur la base des points d'angle de marqueur identifiés, à déterminer la position relative actuelle de l'extrémité de queue du bras mobile par rapport au dispositif de collecte d'images. Sur la base d'un procédé de commande en boucle fermée permettant le suivi visuel, et d'un marqueur configuré, la position de l'extrémité de queue d'un bras mobile est détectée en temps réel, ce qui permet de réduire efficacement l'erreur de suivi de trajectoire du bras mobile, de telle sorte que l'erreur de commande de mouvement peut être réduite.
(ZH) 本公开涉及机器人器械领域,公开一种运动臂的控制方法,包括获得由图像采集设备采集的图像,图像包括设置在运动臂末端上的标记物的图像,标记物包括多个标记物角点,识别采集的图像中的标记物角点,以及基于识别的标记物角点,确定运动臂末端相对于图像采集设备的当前相对位姿。基于视觉跟踪的闭环控制方法及设置的标记物,实时检测运动臂末端的姿态,有效降低运动臂的轨迹跟踪误差,可降低运动控制误差。
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