CN114366132A - A position control method, breast machine, control device, and storage medium - Google Patents

Abstract

The invention discloses a swing position control method, a mammary machine, a control device and a storage medium, which are applied to the mammary machine, wherein the mammary machine comprises a rack, a detection arm, a clamping component and a driving component, the detection arm and the clamping component are both rotationally arranged on the rack, a first clutch component is arranged between the detection arm and the clamping component, and when the first clutch components are combined with each other, the relative rotation between the detection arm and the clamping component can be limited, and the swing position control method comprises the following steps: s100, controlling the first clutch assemblies to be combined with each other, and driving the detection arm and the clamping assembly to synchronously rotate along a first time hand direction relative to the rack through the driving assembly; s200, controlling the first clutch assemblies to be separated from each other, and driving the detection arm to rotate relative to the rack in a second clockwise direction through the driving assembly; s300, driving the detection arm to rotate relative to the base frame along a first time hand direction by a driving assembly to avoid a rotation angle; the design can form an avoiding space so as to be convenient for the operation of workers, and the detection is more accurate.

Description

A position control method, breast machine, control device, and storage medium

technical field

The invention relates to the technical field of computers, in particular to a position control method, a breast machine, a control device and a storage medium.

Background technique

The traditional breast machine generally includes a frame, a detection arm and a clamping assembly. The clamping assembly is used to clamp the user's breast, and the detection transmitter for detection needs to be set on the detection arm and located above the clamping assembly. Therefore, it is determined that the detection arm needs to extend a certain length above the clamping assembly to install the detection transmitter. During the detection process, it is necessary to detect the breast at different angles. The detection arm is rotated and set on the frame. During the process, the staff also needs to assist the user. Therefore, when the detection arm rotates, the part that fixes the detection transmitter will also rotate to the side of the user. At this time, the staff assisting the user will be affected. Cause obstruction, affect the operation of the staff, and make the subsequent detection work may be inaccurate.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a position control method, a breast machine, a control device, and a storage medium, which can form an avoidance space to facilitate the operation of the staff and make detection more accurate.

A swing control method according to an embodiment of the first aspect of the present invention is applied to a mammary gland machine. The mammary gland machine includes a frame, a detection arm, a clamping component, and a driving component, and the detection arm is provided with a detection transmitter, The clamping component is provided with a detection receiver, the detection arm and the clamping component are both rotatably arranged on the frame, and a first clutch component is arranged between the detection arm and the clamping component, so When the first clutch components are combined with each other, the relative rotation between the detection arm and the clamping component can be restricted, the driving component is arranged on the frame, the driving component is connected with the detection arm, and the The swing control method includes: acquiring a first manipulation instruction, controlling the first clutch assemblies to be combined with each other, and driving the detection arm and the clamping assembly to rotate synchronously in a first clockwise direction relative to the frame through a drive assembly; The first clutch assembly is controlled to be separated from each other, the detection arm is driven to rotate relative to the frame in a second clockwise direction by the driving assembly, and the avoidance rotation angle is recorded, wherein the first clockwise direction is the same as the second clockwise direction. The clockwise directions are opposite to each other; the second manipulation instruction is obtained, and the detection arm is driven to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle through the driving component.

A position control method according to an embodiment of the present invention has at least the following beneficial effects:

In the swing control method of the present invention, the staff can input the first control command, and the first clutch components are combined with each other, so that the driving component drives the detection arm to rotate and simultaneously drives the clamping component to rotate, so that the clamping component reaches an appropriate angle. When the first clutch assembly is controlled to be separated from each other, the drive assembly drives the detection arm to rotate relative to the frame in the second clockwise direction without affecting the clamping assembly, thereby forming an avoidance space, and recording the avoidance rotation angle at the same time. Personnel can be close to the user to assist the user to clamp the breast. After the clamping is completed, the staff input the second manipulation command, and the driving component drives the detection arm to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, so that the detection arm returns to the normal position. Detecting the position and performing subsequent detection, this design can form an avoidance space to facilitate the operation of the staff, making the detection more accurate.

According to some embodiments of the present invention, a second clutch assembly is disposed between the clamping assembly and the frame, and when the second clutch assemblies are combined with each other, the gap between the clamping assembly and the frame can be restricted Relative rotation occurs, after the control of the first clutch assembly is separated from each other, the second clutch assembly is controlled to be combined with each other, and then the detection arm is driven by the drive assembly to rotate relative to the frame in the second clockwise direction; In addition, after the second control command is obtained, the detection arm is driven by the driving component to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, the second clutch components are controlled to be separated from each other, and the first clutch component is controlled to be separated from each other. A clutch assembly is combined with each other.

According to some embodiments of the present invention, after the second manipulation instruction is acquired and the detection arm is driven by the driving component to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, it is detected whether there is an alignment signal, if In the presence of an alignment signal, the second clutch assemblies are controlled to be separated from each other, and the first clutch assemblies are controlled to be combined with each other; wherein, the alignment signal is used to indicate that the detection transmitter and the detection receiver are facing each other.

According to some embodiments of the present invention, after obtaining the second manipulation instruction and driving the detection arm to rotate relative to the base frame along a first clockwise direction to avoid a rotation angle through the driving component, the method further includes: controlling the detection emission The detector emits search light and the detection receiver collects to form a preset image, compares the preset image with the sample image, and determines the deflection angle; according to the deflection angle, the detection arm is driven to rotate relative to the base frame to correct The deflection between the detection arm and the clamping assembly, or an alignment signal is formed according to the deflection angle.

According to some embodiments of the present invention, the comparing the preset image with the sample image and determining the deflection angle includes: comparing the imaging size of the preset image with the size of the sample image to determine a zoom factor; The deflection angle is determined according to the zoom factor.

According to the breast machine according to the embodiment of the second aspect of the present invention, the positioning control method disclosed in any of the above embodiments is applied to control the operation of the breast machine.

The breast machine according to the embodiment of the present invention has at least the following beneficial effects:

The mammary gland machine of the present invention applies the position control method to control the operation of the mammary gland machine, can form an avoidance space for the convenience of the staff to operate, and makes the detection more accurate.

According to some embodiments of the present invention, the mammary gland machine includes: a frame; a detection arm, provided with a detection transmitter, the detection arm is rotatably arranged on the frame; a clamping assembly, provided with a detection receiver, the clamping The assembly is rotatably arranged on the frame, a first clutch assembly is arranged between the detection arm and the clamping assembly, and the first clutch assembly can limit the detection arm and the clamping assembly when combined with each other. Relative rotation occurs between them; a drive assembly is arranged on the frame, and the drive assembly is connected with the detection arm; a control module is connected with the first clutch assembly and the drive assembly to control the position according to the swing position. A method controls operation of the first clutch assembly and the drive assembly.

According to some embodiments of the present invention, the clamping assembly includes a support arm and a compression plate, the support arm is rotatably disposed on the frame, and the first clutch assembly is disposed between the detection arm and the Between the clamping arms, a supporting plate is arranged on the supporting arm, the compression plate is movably arranged on the supporting arm, and a clamping space is formed between the compression plate and the supporting plate, so The detection receiver is arranged on the support arm and the clamping space is located between the detection transmitter and the detection receiver.

A control apparatus according to an embodiment of the third aspect of the present invention includes: one or more memories; one or more processors for executing one or more computer programs stored in the one or more memories, and also using to execute the positioning control method disclosed in any of the above embodiments.

A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention includes instructions, which, when executed on a computer, cause the computer to execute the positioning control method disclosed in any of the foregoing embodiments.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a three-dimensional schematic diagram of an embodiment of a breast machine according to the present invention;

FIG. 2 is a side view of an embodiment of the breast machine of the present invention;

3 is a flow chart of an embodiment of the positioning control method of the present invention;

Fig. 4 is the principle schematic diagram of the step of comparing the preset image and the sample image;

FIG. 5 is a block diagram of the principle structure of the control device.

Reference number:

The rack 100 , the detection arm 200 , the clamping assembly 300 , the support arm 310 , the compression plate 320 , the support plate 330 , the detection transmitter 400 , the detection receiver 500 , the memory 600 , and the processor 700 .

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that orientation descriptions are involved, such as the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal" "," "top", "bottom", "inside", "outside" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating Or imply that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

As shown in FIGS. 1-4 , a position control method according to an embodiment of the first aspect of the present invention is applied to a breast machine. The breast machine includes a frame 100 , a detection arm 200 , a clamping component 300 and a driving component. The arm 200 is provided with a detection transmitter 400 , the clamping component 300 is provided with a detection receiver 500 , the detection arm 200 and the clamping component 300 are both rotatably arranged on the frame 100 , and a first detection arm 200 and the clamping component 300 are arranged between The clutch assembly, when the first clutch assembly is combined with each other, can limit the relative rotation between the detection arm 200 and the clamping assembly 300 .

It should be noted that, the user generally stands in front of the breast machine when using, and the detection arm 200 and the clamping assembly 300 generally rotate around the same rotation axis.

The first clutch assembly can have various implementations. For example, the first clutch assembly includes an electromagnet and a matching ring. The matching ring is made of a material that can be attracted by the magnet. The electromagnet is arranged on the detection arm 200, and the matching ring is arranged on the clamping On the assembly 300, the electromagnet can be adsorbed on the matching ring when it is energized, thereby restricting the relative movement of the detection arm 200 and the clamping assembly 300. The first clutch assembly can also be a latch and a pin port.

Among them, the position control method includes:

S100: Acquire a first manipulation instruction, control the first clutch assembly to combine with each other, and drive the detection arm 200 and the clamping assembly 300 to rotate synchronously in the first clockwise direction relative to the frame 100 through the drive assembly. Since the first clutch assembly is combined, the drive assembly When the detection arm 200 is driven to rotate, the clamping assembly 300 will also rotate accordingly;

S200, controlling the first clutch assemblies to separate from each other, driving the detection arm 200 to rotate relative to the frame 100 in the second clockwise direction through the driving assembly, and recording the avoidance rotation angle, wherein the first clockwise direction and the second clockwise direction are opposite to each other, Since the first clutch assemblies are separated from each other, the driving assembly drives the detection arm 200 to rotate, while the clamping assembly 300 is relatively stationary relative to the frame 100;

S300 , acquiring a second manipulation instruction, and driving the detection arm 200 to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle through the driving component.

In the swing control method of the present invention, the staff can input the first control command, and the first clutch components are combined with each other, so that the driving component drives the detection arm 200 to rotate and simultaneously drives the clamping component 300 to rotate, so that the clamping component 300 reaches a suitable position. At this time, the first clutch components are controlled to be separated from each other, and the driving component drives the detection arm 200 to rotate relative to the frame 100 in the second clockwise direction without affecting the clamping component 300, thereby forming an avoidance space and recording the avoidance. The rotation angle, the staff can be close to the user to assist the user to clamp the breast. After the clamping is completed, the staff input the second manipulation command, and the driving component drives the detection arm 200 to rotate relative to the base frame in the first clockwise direction to avoid the rotation angle, so as to avoid the rotation angle. The detection arm 200 is restored to the detection position for subsequent detection. The design can form an avoidance space for the convenience of the staff to operate, so that the detection is more accurate.

In some embodiments of the present invention, a second clutch assembly is disposed between the clamping assembly 300 and the frame 100. When the second clutch assemblies are combined with each other, the relative rotation between the clamping assembly 300 and the frame 100 can be restricted. After the first clutch assemblies are controlled to be separated from each other, the second clutch assemblies are controlled to be combined with each other, and then the detection arm 200 is driven to rotate in the second clockwise direction relative to the frame 100 through the drive assembly; After the detection arm 200 rotates relative to the base frame in the first clockwise direction to avoid the rotation angle, the second clutch assemblies are controlled to be separated from each other, and the first clutch assemblies are controlled to be combined with each other.

Similarly, the second clutch assembly can also include an electromagnet and a matching ring. The matching ring is made of a material that can be adsorbed by the magnet. The electromagnet is arranged on the frame 100 and the matching ring is arranged on the clamping assembly 300. The electromagnet can be adsorbed when energized. On the matching ring, so as to limit the relative movement of the frame 100 and the clamping assembly 300, the second clutch assembly can also be a latch and a pin opening.

After the first clutch assemblies are controlled to be separated from each other, the second clutch assemblies are controlled to be combined with each other, and then the detection arm 200 is driven by the drive assembly to rotate relative to the frame 100 in the second clockwise direction, so that the clamping assembly 300 can be made stationary relative to the frame 100, Since the clamping assembly 300 has already clamped the mammary gland at this time, the user can be prevented from being hurt when the clamping assembly 300 is loosened, and subsequent repositioning of the detection arm 200 and the clamping assembly 300 is facilitated.

In some embodiments of the present invention, after acquiring the second manipulation instruction and driving the detection arm 200 to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, it is detected whether there is an alignment signal, and if there is an alignment signal , the second clutch components are controlled to be separated from each other, and the first clutch components are controlled to be combined with each other; wherein, the alignment signal is used to indicate that the detection transmitter 400 and the detection receiver 500 are facing each other.

After the driving component drives the detection arm 200 to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, the detection arm 200 needs to be reset to the position after the rotation of S100, so that the detection transmitter 400 and the detection receiver 500 face each other, so that The light from the detection transmitter 400 can directly enter the detection receiver 500 after passing through the mammary gland, so as to improve the detection accuracy.

In some embodiments of the present invention, as shown in FIG. 4 , after obtaining the second manipulation instruction and driving the detection arm 200 to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, the method further includes: controlling the detection and emission The detector 400 emits search light and is collected by the detection receiver 500 to form a pre-adjusted image, and the pre-adjusted image is compared with the sample image to determine the deflection angle; according to the deflection angle, the detection arm 200 is driven to rotate relative to the base frame to correct the detection arm 200 and the clamp The deflection between the holding assemblies 300 is determined, or an alignment signal is formed according to the deflection angle.

After the detection arm 200 is rotated relative to the base frame in the first clockwise direction to avoid the rotation angle, the detection arm 200 has basically returned to the position after the rotation of S100, but there may still be deviations. At this time, the detection transmitter 400 can be controlled to start and transmit The detection light is emitted, the detection receiver 500 collects to form a preset image, and the preset image is compared with the sample image. If the detection transmitter 400 and the detection receiver 500 are facing each other, the preset image is consistent with the sample image, and the deflection angle is If there is a deviation between the detection transmitter 400 and the detection receiver 500, and there is a deviation between the preset image and the sample image, the deflection angle can be determined according to the deviation, and then the deflection angle can be used to correct the detection arm Deflection between 200 and clamping assembly 300.

In some embodiments of the present invention, comparing the preset image with the sample image to determine the deflection angle includes: comparing the imaging size of the preset image with the size of the sample image to determine the zoom factor; and determining the deflection angle according to the zoom factor.

As shown in FIG. 4 , if there is an offset between the detection transmitter 400 and the detection receiver 500 , the imaging size will be reduced accordingly. Comparing with the size of the sample image, the zoom factor can be obtained, and the deflection angle can be deduced through the principle of similar triangles .

In some embodiments of the present invention, a Hall sensor and a magnetic block may also be disposed between the detection arm 200 and the clamping assembly 300, and the detection arm 200 and the clamping assembly are realized by the induction of the magnetic block on the Hall sensor. 300 are positioned relative to each other.

According to the breast machine according to the embodiment of the second aspect of the present invention, the swing control method disclosed in any of the above embodiments is applied to control the operation of the breast machine.

The mammary gland machine of the present invention applies the position control method to control the operation of the mammary gland machine, can form an avoidance space to facilitate the operation of the staff, and makes the detection more accurate.

According to some embodiments of the present invention, as shown in FIGS. 1 and 2 , the breast machine includes: a frame 100 , a detection arm 200 , a clamping assembly 300 , a drive assembly and a control module. The detection arm 200 is provided with a detection transmitter 400 , which detects The arm 200 is rotatably arranged on the frame 100 , the clamping assembly 300 is provided with a detection receiver 500 , the clamping assembly 300 is rotatably arranged on the frame 100 , and a first clutch assembly is arranged between the detection arm 200 and the clamping assembly 300 . When the clutch components are combined with each other, the relative rotation between the detection arm 200 and the clamping component 300 can be restricted. The driving component is arranged on the frame 100, the driving component is connected with the detection arm 200, and the control module is respectively connected with the first clutch component and the driving component. The operation of the first clutch assembly and the drive assembly is controlled according to the swing control method.

The control module is generally composed of MCU or CPU and peripheral circuits, and the control module can also be electrically connected with control buttons to input control instructions.

In some embodiments of the present invention, the clamping assembly 300 includes a support arm 310 and a compression plate 320, the support arm 310 is rotatably disposed on the frame 100, and the first clutch assembly is disposed between the detection arm 200 and the clamp arm , the support arm 310 is provided with a support plate 330, the compression plate 320 is movably arranged on the support arm 310, a clamping space is formed between the compression plate 320 and the support plate 330, and the detection receiver 500 is arranged on the support arm 310 and the clamping space is located between the detection transmitter 400 and the detection receiver 500, specifically, the detection transmitter 400 may be an X-ray transmitter, the detection receiver 500 may be an optical receiving panel, and the detection receiver 500 is arranged on the support On the surface of the plate 330, the pressing plate 320 is made of a light-transmitting material.

The control apparatus according to the embodiment of the third aspect of the present invention, as shown in FIG. 5 , includes: one or more memories 600 ; one or more processors 700 for executing one or more stored in the one or more memories 600 or A plurality of computer programs are also used to execute the positioning control method disclosed in any of the above embodiments.

It should be noted that, for the specific implementation process of this embodiment, reference may be made to the specific implementation process of the foregoing method embodiment, which is not described herein again.

A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention includes instructions, which, when executed on a computer, cause the computer to execute the positioning control method disclosed in any of the foregoing embodiments.

The embodiments of the present application also disclose a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute some or all of the steps of the methods in the above method embodiments.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only storage medium. memory (read-only memory, ROM), random access memory (randomaccess memory, RAM), programmable read-only memory (programmable read-only memory, PROM), erasable programmable read only memory (EPROM), One-time programmable read only memory (OTPROM), electronically erasable rewritable read-only memory (electrically-erasableprogrammable read-only memory, EEPROM), compact disc read-only memory (CD) - ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. A swing control method, applied to a mammary gland machine, the mammary gland machine comprises a frame, a detection arm, a clamping assembly and a drive assembly, the detection arm is provided with a detection transmitter, and the clamping assembly is provided with a detection The receiver, the detection arm and the clamping assembly are both rotatably arranged on the frame, and a first clutch assembly is arranged between the detection arm and the clamping assembly. When the first clutch assemblies are combined with each other The relative rotation between the detection arm and the clamping assembly can be restricted, the drive assembly is arranged on the frame, and the drive assembly is connected with the detection arm. It is characterized in that the swing control method include: Obtaining a first manipulation instruction, controlling the first clutch assembly to be combined with each other, and driving the detection arm and the clamping assembly to rotate synchronously with respect to the frame in a first clockwise direction through the drive assembly; The first clutch assembly is controlled to be separated from each other, the detection arm is driven to rotate relative to the frame in a second clockwise direction by the driving assembly, and the avoidance rotation angle is recorded, wherein the first clockwise direction is the same as the second clockwise direction. The clockwise directions are opposite to each other; the second manipulation instruction is obtained, and the detection arm is driven to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle through the driving component. 2 . The swing control method according to claim 1 , wherein a second clutch assembly is provided between the clamping assembly and the frame, and the second clutch assembly can restrict the clamping when combined with each other. 3 . Relative rotation occurs between the component and the frame, and is characterized in that: After the first clutch assemblies are controlled to be separated from each other, the second clutch assemblies are controlled to be combined with each other, and then the detection arm is driven to rotate in the second clockwise direction relative to the frame through the drive assembly; In addition, after the second control command is obtained, the detection arm is driven by the driving component to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, the second clutch components are controlled to be separated from each other, and the first clutch component is controlled to be separated from each other. A clutch assembly is combined with each other. 3. a kind of position control method according to claim 2, is characterized in that: After obtaining the second manipulation instruction, the detection arm is driven by the drive assembly to rotate relative to the base frame along the first clockwise direction to avoid the rotation angle, and then it is detected whether there is an alignment signal, and if there is an alignment signal, control the The second clutch assemblies are separated from each other, and the first clutch assemblies are controlled to be combined with each other; Wherein, the alignment signal is used to indicate that the detection transmitter and the detection receiver are in direct alignment with each other. 4 . The swing control method according to claim 3 , wherein, when the second manipulation command is obtained, the detection arm is driven to rotate relative to the base frame in a first clockwise direction by a driving component to avoid it. 5 . After turning the angle, it also includes: Controlling the detection transmitter to emit search light and the detection receiver to collect to form a preset image, and comparing the preset image with the sample image to determine the deflection angle; The detection arm is driven to rotate relative to the base frame according to the deflection angle to correct the deflection between the detection arm and the clamping assembly, or an alignment signal is formed according to the deflection angle. 5. A kind of swing control method according to claim 4, is characterized in that, Comparing the preset image with the sample image and determining the deflection angle includes: Comparing the imaging size of the preset image with the size of the sample image to determine the zoom factor; The deflection angle is determined according to the zoom factor. 6 . A mammary gland machine, characterized in that the operation of the mammary gland machine is controlled by applying the position control method according to any one of claims 1 to 5 . 7. A breast machine according to claim 6, characterized in that, comprising: frame; The detection arm is provided with a detection transmitter, and the detection arm is rotatably arranged on the frame; the clamping component is provided with a detection receiver, and the clamping component is rotatably arranged on the frame, and the detection arm is connected to the frame. A first clutch assembly is arranged between the clamping assemblies, and when the first clutch assemblies are combined with each other, the relative rotation between the detection arm and the clamping assembly can be restricted; A drive assembly is arranged on the frame, the drive assembly is connected with the detection arm; a control module is respectively connected with the first clutch assembly and the drive assembly to control the first clutch assembly according to the swing control method A clutch assembly and the drive assembly operate. 8 . The breast machine according to claim 7 , wherein the clamping assembly comprises a support arm and a compression plate, the support arm is rotatably arranged on the frame, and the first clutch is rotatable. 9 . The assembly is arranged between the detection arm and the clamping arm, the support arm is provided with a support plate, the compression plate is movably arranged on the support arm, and the compression plate is connected to the support arm. A clamping space is formed between the support plates, the detection receiver is arranged on the support arm, and the clamping space is located between the detection transmitter and the detection receiver. 9. A control device, characterized in that, comprising: one or more memories; One or more processors are used to execute one or more computer programs stored in the one or more memories, and are also used to execute the swing control method according to any one of claims 1 to 5. 10 . A computer-readable storage medium, characterized in that it includes instructions, which, when executed on a computer, cause the computer to execute the positioning control method according to any one of claims 1 to 5 .

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