CN116061171A - Adjusting arm control method, device, system, computer equipment and storage medium - Google Patents

Abstract

The present application relates to an adjustment arm control method, device, system, computer equipment, and storage medium. The method includes: by acquiring the control instruction, identifying the control type of the control instruction, and determining the state of the trigger logic corresponding to the control type; the control type is divided into contact control and non-contact control; if the trigger logic is active, based on the control instruction According to the control type, the end expected angular velocity corresponding to the control command is obtained; the end expected angular acceleration is obtained according to the end expected angular velocity, and the end of the adjustment arm is controlled to perform preset operations according to the end expected angular velocity and end expected angular acceleration. This method can provide a variety of interaction modes for the adjustment arm, and configure a processing logic for each interaction mode to prevent false touches. Only by activating the corresponding trigger logic, the adjustment arm can be controlled in the corresponding interaction mode, which improves the adjustment arm. control efficiency.

Description

Adjusting arm control method, device, system, computer equipment, storage medium

technical field

The present application relates to the technical field of artificial intelligence, in particular to an adjustment arm control method, device, system, computer equipment, storage medium and computer program product.

Background technique

At present, in the single-hole surgical robot system, an endoscope with multiple degrees of freedom and multiple multi-degree-of-freedom instruments are generally used. The instruments and the endoscope enter the patient's body through a single hole for surgical operation. In this system, instruments and endoscopes can be independently controlled by master and slave. The instrument and the endoscope as a whole can be adjusted by the adjusting arm around the fixed point. The endoscopic field of view can be adjusted by adjusting the position of the endoscopic instrument, or by adjusting the joints to achieve overall movement adjustment. In the endoscope control mode, the staff can only select the endoscope control mode through the touch screen, and the control method is single. Once the problem of unsmooth human-computer interaction occurs, the control efficiency will be low.

However, the current single-hole surgical robot has the problem of low control efficiency.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide an adjustment arm control method, device, computer equipment, computer readable storage medium and computer program product that can improve robot control efficiency.

In a first aspect, the present application provides a method for controlling an adjusting arm. The methods include:

Obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control;

If the trigger logic is active, based on the control type of the control command, obtain the terminal expected angular velocity corresponding to the control command;

Obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the end of the adjustment arm to perform preset operations according to the terminal desired angular velocity and the terminal desired angular acceleration.

In one of the embodiments, determining the state of the trigger logic corresponding to the control type includes:

If the control instruction is contact control, determine whether the trigger logic is instantaneous trigger logic or continuous trigger logic;

If the control command is non-contact control, it is determined that the trigger logic is gesture trigger logic.

In one of the embodiments, before obtaining the control instruction, it also includes:

Obtain the activation instruction and identify the activation type of the activation instruction; the activation type is divided into contact activation and non-contact activation;

If the activation type is contact activation, get the input duration of the activation command;

If the input duration does not meet the continuous condition, activate the instantaneous trigger logic.

In one embodiment, the method also includes:

If the input duration satisfies the continuous condition, activate the continuous trigger logic.

In one embodiment, the method also includes:

If the activation type is non-contact activation, obtain the gesture information in the activation command;

If the gesture information satisfies the conversion condition, the gesture trigger logic is activated.

In one embodiment, the method also includes:

If the trigger logic is in an inactive state, the terminal expected angular velocity corresponding to the control command is not obtained, and the control command is regarded as a false touch command.

In one of the embodiments, based on the control type of the control command, obtaining the terminal expected angular velocity corresponding to the control command includes:

Based on the control type, calculating an initial desired angular velocity corresponding to the control command;

Perform dead zone suppression on the initial desired angular velocity, adjust the value of the initial desired angular velocity, and obtain the terminal desired angular velocity.

In one of the embodiments, based on the control type of the control command, the initial expected angular velocity corresponding to the control command is calculated, including:

If the control command is contact control, obtain angle information or angular velocity information from the control command;

According to the angle information or the angular velocity information, the initial expected angular velocity is calculated.

In one embodiment, the method also includes:

If the control command is non-contact control, gesture information is obtained from the control command;

According to the gesture information, the initial expected angular velocity is calculated.

In one of the embodiments, the dead zone suppression is performed on the initial expected angular velocity, and the value of the initial expected angular velocity is adjusted to obtain the terminal expected angular velocity, including:

If the initial desired angular velocity is within the dead zone, the terminal desired angular velocity is 0;

If the size of the initial expected angular velocity is in the range of the linear region, the initial expected angular velocity is used as the terminal expected angular velocity;

If the magnitude of the initial desired angular velocity is within the range of the positive clipping area, the positive clipping value is used as the terminal desired angular velocity;

If the magnitude of the initial expected angular velocity is within the range of the negative limit range, the negative limit value is used as the end expected angular velocity.

In one of the embodiments, the end of the adjusting arm is controlled to perform preset operations according to the desired angular velocity and the desired angular acceleration of the terminal, including:

Calculate the expected position of the joint corresponding to the joint of the adjusting arm according to the expected angular velocity and the expected angular acceleration of the end, and obtain the expected torque corresponding to the joint of the adjusting arm according to the expected position of the joint;

Control the adjustment arm joint based on the desired torque to control the end of the adjustment arm to perform preset operations.

In one of the embodiments, the expected position of the joint corresponding to the joint of the adjusting arm is calculated according to the expected angular velocity of the terminal and the expected angular acceleration of the terminal, including:

Obtain the current joint position of the joint of the adjustment arm;

According to the expected angular velocity of the terminal, the expected angular acceleration of the terminal and the position of the joint, the differential kinematics is used to calculate the expected angular velocity of the joint, the expected angular acceleration of the joint and the joint velocity corresponding to the joint of the adjustment arm;

According to joint expected angular velocity, joint expected angular acceleration and joint velocity, integral kinematics is used to calculate joint expected position.

In a second aspect, the present application also provides an adjustment arm control device. The devices include:

The obtaining module is used to obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control;

The calculation module is used to obtain the terminal expected angular velocity corresponding to the control command based on the control type of the control command if the trigger logic is activated;

The control module is used to obtain the desired angular acceleration of the terminal according to the desired angular velocity of the terminal, and control the terminal of the adjustment arm to perform a preset operation according to the desired angular velocity of the terminal and the desired angular acceleration of the terminal.

In a third aspect, the present application also provides an adjustment arm control system. The system includes:

The console is used to obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; if the trigger logic is activated, based on the control type, calculate the initial expected angular velocity corresponding to the control instruction, and transmit the initial Expected angular velocity to the adjusting arm trolley;

The adjusting arm trolley is used to suppress the dead zone of the initial desired angular velocity, adjust the value of the initial desired angular velocity, and obtain the terminal desired angular velocity; obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the adjustment according to the terminal desired angular velocity and terminal desired angular acceleration The end of the arm performs preset operations.

In a fourth aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control;

If the trigger logic is active, based on the control type of the control command, obtain the terminal expected angular velocity corresponding to the control command;

Obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the end of the adjustment arm to perform preset operations according to the terminal desired angular velocity and the terminal desired angular acceleration.

In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

Obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control;

If the trigger logic is active, based on the control type of the control command, obtain the terminal expected angular velocity corresponding to the control command;

Obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the end of the adjustment arm to perform preset operations according to the terminal desired angular velocity and the terminal desired angular acceleration.

In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

Obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control;

If the trigger logic is active, based on the control type of the control command, obtain the terminal expected angular velocity corresponding to the control command;

Obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the end of the adjustment arm to perform preset operations according to the terminal desired angular velocity and the terminal desired angular acceleration.

The control method, device, system, computer equipment, storage medium, and computer program product of the above-mentioned adjusting arm, by obtaining the control instruction, identifying the control type of the control instruction, and determining the state of the trigger logic corresponding to the control type; the control type is divided into contact control and Non-contact control; if the trigger logic is active, based on the control type of the control command, obtain the terminal desired angular velocity corresponding to the control command; obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control and adjust according to the terminal desired angular velocity and terminal desired angular acceleration The end of the arm performs preset operations. It can provide a variety of interaction modes of the adjustment arm, and configure a processing logic for each interaction mode to prevent false touches. Only need to activate the corresponding trigger logic, the adjustment arm can be controlled in the corresponding interaction mode, which improves the control efficiency of the adjustment arm .

Description of drawings

Fig. 1 is a schematic flow chart of an adjusting arm control method in an embodiment;

Fig. 2 is a schematic diagram of the corresponding relationship between control types and trigger logic in an embodiment;

Fig. 3 is a schematic structural diagram of a contact interaction device in an embodiment;

Fig. 4 is a schematic structural diagram of a non-contact interaction device in an embodiment;

Fig. 5 is a schematic flow diagram of the instantaneous trigger logic in an embodiment;

Fig. 6 is a schematic flow chart of continuous trigger logic in an embodiment;

FIG. 7 is a schematic flow diagram of gesture trigger logic in an embodiment;

FIG. 8 is a schematic flow chart of gesture recognition in an embodiment;

Fig. 9 is a schematic diagram of a gesture posture coordinate system in an embodiment;

Fig. 10 is a schematic diagram of the principle of dead zone suppression in an embodiment;

Fig. 11 is a schematic diagram of the principle of predicting terminal angular acceleration in one embodiment;

Fig. 12 is a schematic diagram of the principle of calculating the expected torque in one embodiment;

Fig. 13 is a schematic structural diagram of an adjusting arm control system in an embodiment;

Fig. 14 is a schematic diagram of components of the adjusting arm control system in one embodiment;

Fig. 15 is a schematic diagram of console workflow in one embodiment;

Fig. 16 is a schematic diagram of the work flow of the adjusting arm trolley in one embodiment;

Fig. 17 is a structural block diagram of an adjusting arm control device in an embodiment;

Figure 18 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The adjustment arm control method provided in the embodiment of the present application can be applied to a robot. The robot includes at least a controller and an adjustment arm, and the adjustment arm includes at least an adjustment arm joint and an adjustment arm end. A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. The task of robots is to assist or replace human work, such as production, construction, medical and other work.

In one embodiment, as shown in FIG. 1 , a control method for adjusting an arm is provided. The application of the method to a single-hole surgical robot is used as an example for illustration, including the following steps:

Step 102, acquiring control instructions, identifying the control type of the control instruction, and determining the state of the trigger logic corresponding to the control type; the control types are divided into contact control and non-contact control.

Optionally, the control commands can be divided into two types: contact control and non-contact control, which are respectively obtained through different control devices or sensors. Control commands of different control types contain different expected motion parameters and correspond to different trigger logics . Among them, contact control can be subdivided into three-axis angle sensing control and three-axis angular velocity sensing control, and non-contact control is gesture point cloud sensing control. The activation logic is divided into three types: instantaneous trigger, continuous trigger and gesture trigger. The expected motion parameters are divided into three types: angle input, angular velocity input and gesture input. Each control type and the corresponding trigger logic and expected motion parameters are shown in Figure 2. For example, the single-hole surgical robot controller is equipped with multiple interactive sensing control devices. The three-axis angle sensor control can be input by the joystick, and the input desired motion parameter is angle; the three-axis angular velocity sensor control can be input by the touch ball, and the input The expected motion parameter is angular velocity; the gesture point cloud can be input by laser scanning, and the input expected motion parameter is gesture. Determine the control type of the control command according to the input content of the obtained control command. If the obtained control command is contact control (including three-axis angle sensor control and three-axis angular velocity sensor control), determine the current corresponding trigger logic It is instantaneous trigger logic or continuous trigger logic. If the acquired control instruction is non-contact control, it is determined that the current corresponding trigger logic is gesture trigger logic.

Step 104, if the trigger logic is active, based on the control type of the control command, the terminal expected angular velocity corresponding to the control command is obtained.

Optionally, if the trigger logic corresponding to the current control type is activated, the control instruction of the current control type can be used to control the adjustment arm. For example, the current instantaneous trigger logic is active, and if the obtained control command is touch control, the desired motion parameters are obtained from the control command, and the desired motion parameters are processed to obtain the terminal desired angular velocity. Usually, the instantaneous trigger logic needs to be activated by pressing the switch in advance, the continuous trigger logic needs to be continuously pressed to activate the switch, and the gesture trigger logic needs to be activated by completing the specified action in advance.

In a feasible implementation manner, if the trigger logic is in an inactive state, the desired motion parameter is not obtained from the control command, and the control command is used as a false touch command.

Specifically, if the current trigger logic is active, but the control type of the obtained control instruction does not correspond to it, the current control instruction will be determined as false touch control and will not be processed. For example, the current instantaneous trigger logic is active, and the current gesture trigger logic is inactive. If the acquired control command is non-contact control, the current control command is determined to be false touch control and is not processed.

Step 106: Obtain the desired angular acceleration of the terminal according to the desired angular velocity of the terminal, and control the terminal of the adjustment arm to perform a preset operation according to the desired angular velocity of the terminal and the desired angular acceleration of the terminal.

Optionally, the single-hole surgical robot can perform differential calculation according to the expected angular velocity of the terminal to obtain the corresponding expected angular acceleration of the terminal; the single-hole surgical robot can also read the expected angular acceleration of the terminal that matches the expected angular velocity of the terminal from external data; it is also possible The external processing device (the external processing device communicates with the single-hole surgical robot in real time) receives the terminal expected angular velocity generated by the single-hole surgical robot, calculates the difference according to the terminal expected angular velocity to obtain the corresponding terminal expected angular acceleration, and then transmits the terminal expected angular acceleration to the Single-port surgical robot.

Specifically, according to the desired angular velocity of the terminal and the current position of each joint of the adjustment arm, the desired angular velocity of the terminal has been processed by dead zone suppression and maximum value suppression, and the desired angular acceleration of the terminal is predicted directly through feed-forward prediction, and then the desired angular velocity of the terminal, terminal The expected angular acceleration and the current position of each joint of the adjustment arm are calculated to obtain the expected position of each joint of the adjustment arm, and finally the expected torque of each joint is calculated according to the expected position of each joint of the adjustment arm, and the corresponding expected torque is output to each joint to control the adjustment The end of the arm performs preset operations.

In the control method of the above-mentioned adjusting arm, by obtaining the control instruction, identifying the control type of the control instruction, and determining the state of the trigger logic corresponding to the control type; the control type is divided into contact control and non-contact control; if the trigger logic is activated, based on The control type of the control command is to obtain the terminal expected angular velocity corresponding to the control command; to obtain the terminal expected angular acceleration according to the terminal expected angular velocity, and to control and adjust the end of the arm to perform preset operations according to the terminal expected angular velocity and terminal expected angular acceleration. It can provide a variety of interaction modes of the adjustment arm, and configure a processing logic for each interaction mode to prevent false touches. Only need to activate the corresponding trigger logic, the adjustment arm can be controlled in the corresponding interaction mode, which improves the control efficiency of the adjustment arm .

In one embodiment, determining the state of the trigger logic corresponding to the control type includes: if the control instruction is contact control, determining that the trigger logic is instantaneous trigger logic or continuous trigger logic; if the control instruction is non-contact control, determining the trigger logic Trigger logic for gestures.

Optionally, the contact control command is obtained through the contact interaction device, as shown in Figure 3, the robot controller is equipped with a contact interaction device, which includes a three-axis sensing device and a trigger device, and the three-axis sensing device can be Output three-axis angular velocity ω=[ω _x ,ω _y ,ω _z ] ^T or three-axis rotation angle θ=[θ _x ,θ _y ,θ _z ] ^T ; the trigger device is used to prevent false touches and increase system safety, with There are two trigger modes: instantaneous trigger and continuous trigger. You can press the button to activate the instantaneous trigger logic, or press and hold the button continuously to activate the continuous trigger logic.

Obtain non-contact control instructions through a non-contact interactive device, as shown in Figure 4, a non-contact interactive device is equipped on the robot controller, where the device can recognize the point cloud of the hand, and the device can pre-designate two gestures for Trigger logic with control activation gestures, such as gesture 1 and gesture 2 in the figure. After the non-contact interaction device acquires the hand point cloud, it outputs the gesture recognition result according to the gesture recognition process.

In this embodiment, if the control command is touch control, the trigger logic is determined to be instantaneous trigger logic or continuous trigger logic; if the control command is non-contact control, the trigger logic is determined to be gesture trigger logic. It can identify the trigger logic corresponding to the current control type, so as to further judge whether the trigger logic has been activated, and prevent the control command from being generated by false touch.

In one embodiment, before obtaining the control instruction, it also includes: obtaining the activation instruction, and identifying the activation type of the activation instruction; the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, obtaining the activation instruction The input duration; if the input duration does not meet the continuous condition, activate the instantaneous trigger logic. If the input duration satisfies the continuous condition, activate the continuous trigger logic.

Optionally, in one case, the instantaneous trigger logic is activated by the contact trigger device. When the trigger device is instantaneous trigger, in order to prevent false touch operation, the logic shown in FIG. 5 is used for control. After a momentary trigger, the control of the adjustment arm is turned on, and if no operation is performed for a period of time, the motion mapping of the adjustment arm is automatically ended. The judgment of the movement of the adjustment arm in the figure can be judged by whether the motor of the adjustment arm is in the enabled state; the trigger device can be activated in the application by pressing a button, sensing hand pressure, etc.; whether the operation can be judged by the feedback value of the sensor. Change; the purpose of introducing a counter is to count the time of no operation; the start of the adjustment arm movement means sending the motor enable command to the adjustment arm; the end of the adjustment arm movement means sending the motor de-enable command to the adjustment arm, and stop activating the instantaneous trigger logic .

In another case, the continuous trigger logic is activated by the contact trigger device. When the trigger device is continuous trigger, in order to prevent false touch operation, control is performed through the logic shown in FIG. 6 . When the trigger is continuous, the control of the adjustment arm is allowed, and when the trigger is not continuous, the control of the movement of the adjustment arm is terminated. The beginning of the movement of the adjustment arm means sending the motor enable command to the adjustment arm; the end of the movement of the adjustment arm means sending the motor disenable command to the adjustment arm, and the activation of the continuous trigger logic is stopped.

In this embodiment, the activation instruction is obtained, and the activation type of the activation instruction is identified; the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, the input duration of the activation instruction is obtained; if the input duration does not meet the Continuous condition, activates the momentary trigger logic. If the input duration satisfies the continuous condition, activate the continuous trigger logic. A trigger logic can optionally be activated to prevent false touches during control of the adjustment arm.

In one embodiment, the method further includes: if the activation type is non-contact activation, acquiring gesture information in the activation instruction; if the gesture information satisfies the transformation condition, activating gesture trigger logic.

当调整臂运动时，如果姿态二不再保持，则调整臂运动结束，停止激活手势触发逻辑。Optionally, the gesture trigger logic is activated by the gesture recognition of the non-contact trigger device, and the logic shown in FIG. 7 is used for control in order to prevent false touch operations. In the figure, pose 1 -> pose 2 means that the recognition result changes from pose 1 to pose 2, that is, when the adjustment arm does not move, if the gesture recognition result switches from pose 1 to pose 2, the movement of the adjustment arm starts to move, and the hand needs to be recorded. The initial coordinate system of the body, the coordinate conversion matrix from the measurement coordinate system to the hand coordinate system at this time is

When the adjustment arm is in motion, if gesture 2 is no longer maintained, the adjustment arm movement ends and the gesture trigger logic is stopped.

Specifically, the way to obtain the gesture information in the activation command is shown in Figure 8. In the hand key point matching, the input hand point cloud needs to be converted into the three-dimensional coordinates of the hand key points through the gesture matching algorithm. In the discriminative category, it is necessary to use the pre-trained deep neural network to take the sorted key point coordinates of the hand as the input, take the probabilities of pose 1, pose 2 and other poses as the output, and take the maximum value of the probability as the output category. In the filtering output, the category output in the second step is filtered to avoid the change of the category when the neural network output has instantaneous misjudgment or missed detection. If the output result of the neural network is pose 2, it is necessary to use the pre-trained deep neural network with the sorted hand key point coordinates as input and the hand pose angle as output. Convert attitude angle to attitude rotation matrix output

In this embodiment, if the activation type is non-contact activation, the gesture information in the activation instruction is acquired; if the gesture information satisfies the transformation condition, the gesture trigger logic is activated. A trigger logic can optionally be activated to prevent false touches during control of the adjustment arm.

In one embodiment, based on the control type of the control instruction, obtaining the terminal expected angular velocity corresponding to the control instruction includes: calculating the initial expected angular velocity corresponding to the control instruction based on the control type; performing dead-zone suppression on the initial expected angular velocity, adjusting the initial The value of the expected angular velocity is used to obtain the terminal expected angular velocity.

Optionally, after the initial expected angular velocity is calculated according to the control command, it is necessary to suppress the initial expected angular velocity by processing the dead zone, so as to adjust the value of the initial expected angular velocity that is too large or too small to obtain the terminal desired angular velocity, and actually adopt the terminal desired angular velocity Control the adjustment arm.

In this embodiment, based on the control type, the initial expected angular velocity corresponding to the control command is calculated; the initial expected angular velocity is suppressed by a dead zone, and the value of the initial expected angular velocity is adjusted to obtain the terminal expected angular velocity. It can prevent the adverse effects of misoperation, external images and other factors on the control of the adjustment arm, and improve the reliability of the control of the adjustment arm.

In one embodiment, based on the control type of the control instruction, calculating the initial expected angular velocity corresponding to the control instruction includes: if the control instruction is touch control, obtaining angle information or angular velocity information from the control instruction; according to the angle information or angular velocity information , calculate the initial desired angular velocity. If the control instruction is non-contact control, the gesture information is obtained from the control instruction; according to the gesture information, the initial expected angular velocity is calculated.

其中，K为对角系数矩阵，用以对控制比例进行限制。Optionally, in one case, through the input of contact control commands, it is necessary to output the expected rotational angular velocity ω _s of the coordinate system O _s at the fixed point of the single hole, and the calculation formula is

Among them, K is the diagonal coefficient matrix, which is used to limit the control ratio.

通过

计算可得当前手相对于初始状态的旋转变换矩阵

通过旋转微分，可得手部坐标系在初始坐标系的旋转角速度，记为ω_h。末端期望角速度计算公式为ω_s＝Kω_h，其中K为对角系数矩阵，用以对控制比例进行限制。In another case, the gesture information in the control command is acquired through the input of the non-contact control command in the same manner as shown in FIG. 8 . As shown in Fig. 9, it is necessary to output the expected rotational angular velocity ω _s of the coordinate system O _s at the fixed point of the single hole. Among them, record the coordinate transformation matrix of the current hand relative to the measuring device as

pass

Calculate the rotation transformation matrix of the current hand relative to the initial state

Through rotation differentiation, the rotational angular velocity of the hand coordinate system in the initial coordinate system can be obtained, denoted as ω _h . The formula for calculating the terminal desired angular velocity is ω _s =Kω _h , where K is the diagonal coefficient matrix, which is used to limit the control ratio.

In this embodiment, if the control instruction is touch control, angle information or angular velocity information is obtained from the control instruction; and an initial desired angular velocity is calculated according to the angle information or angular velocity information. If the control instruction is non-contact control, the gesture information is obtained from the control instruction; according to the gesture information, the initial expected angular velocity is calculated. According to different types of control instructions, different expected motion parameters can be identified, and different processing methods can be used to calculate different expected motion parameters, and the initial expected angular velocity can be calculated.

In one embodiment, the dead zone suppression is performed on the initial expected angular velocity, and the value of the initial expected angular velocity is adjusted to obtain the terminal expected angular velocity, including: if the magnitude of the initial expected angular velocity is in the dead zone range, the terminal expected angular velocity is 0; if the initial expected angular velocity The magnitude of the angular velocity is in the range of the linear region, and the initial expected angular velocity is taken as the end expected angular velocity; if the magnitude of the initial expected angular velocity is in the range of the positive clipping region, the positive clipping value is used as the terminal desired angular velocity; if the magnitude of the initial desired angular velocity is in the negative clipping range, the negative limit value is used as the end desired angular velocity.

Optionally, as shown in FIG. 10 , the positive clipping zone range, the negative clipping zone range and the dead zone range are preconfigured, and the dead zone suppression and clipping suppression are performed on each initial desired angular velocity obtained each time.

In this embodiment, a typical input dead zone suppression principle is provided. For a slight input change near zero, the output is always zero, which ensures that the motion will not be triggered when a slight noise interference is received. Outside the dead zone is a linear zone As with the limit area, the function of limit suppression is to avoid the high-speed movement of the machine caused by the singular value and the high command speed.

In one embodiment, the terminal of the adjusting arm is controlled to perform preset operations according to the expected angular velocity and the expected angular acceleration of the end, including: obtaining the current joint position of the joint of the adjusting arm; , using differential kinematics to calculate the joint expected angular velocity, joint expected angular acceleration, and joint velocity corresponding to the joints of the adjusting arm; according to the joint expected angular velocity, joint expected angular acceleration, and joint velocity, the integral kinematics is used to calculate the joint expected position, and according to The expected position of the joint obtains the expected torque corresponding to the joint of the adjusting arm; based on the expected torque, the joint of the adjusting arm is controlled to control the end of the adjusting arm to perform a preset operation.

Optionally, as shown in Figure 11, the calculation of the terminal expected angular acceleration is mainly obtained through the differential terminal expected angular velocity, combined with LSTM for feature recognition of the input state, the LSTM network helps to memorize the user's usage habits and give more accurate predictions , using the softmax output weight to assign weights to the output of the classic algorithm, combining artificial intelligence and classic algorithms, ensuring the reliability and security of the prediction while ensuring the accuracy of the prediction.

各关节期望角速度

和各关节期望角加速度

经由积分运动学子模块后，得到调整臂各关节期望位置q_sc。通过上述各个变量的输入，采用动力学前馈+PD控制器计算输出调整臂关节对应的期望力矩，经过滤波模块后对力矩进行输出，每一个期望力矩用来控制一个调整臂关节的运动。Further, as shown in Figure 12, the current joint position q of each adjustment arm is acquired, and the joint position q of the adjustment arm, the expected angular velocity ω _s at the end of the adjustment arm and the expected angular acceleration α _sc at the end of the adjustment arm can be calculated and obtained through the differential kinematics sub-module Each joint speed

Expected angular velocity of each joint

and the expected angular acceleration of each joint

After the integral kinematics sub-module, the expected position q _sc of each joint of the adjustment arm is obtained. Through the input of the above variables, the dynamic feedforward + PD controller is used to calculate and output the expected torque corresponding to the adjustment arm joint, and the torque is output after passing through the filtering module. Each expected torque is used to control the movement of an adjustment arm joint.

In this embodiment, artificial intelligence and classical algorithms are combined to predict the expected angular velocity of the terminal to obtain the expected angular acceleration of the terminal, and the expected torque of each joint is calculated in combination with the position of each joint, which can ensure the reliability and safety of the control of the adjusting arm.

In one embodiment, a method of adjusting an arm control comprises:

Get the activation instruction and identify the activation type of the activation instruction; the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, obtain the input duration of the activation instruction; if the input duration does not meet the continuous condition, the activation is instantaneous trigger logic. If the input duration satisfies the continuous condition, activate the continuous trigger logic. If the activation type is non-contact activation, the gesture information in the activation instruction is obtained; if the gesture information satisfies the transformation condition, the gesture trigger logic is activated.

Obtain the control instruction and identify the control type of the control instruction. The control type is divided into contact control and non-contact control; if the control instruction is contact control, determine whether the trigger logic is instantaneous trigger logic or continuous trigger logic; if the control instruction is non-contact mode control, determine the trigger logic as gesture trigger logic.

If the trigger logic is in an inactive state, the terminal expected angular velocity corresponding to the control command is not obtained, and the control command is regarded as a false touch command.

If the trigger logic is active and the control command is contact control, the angle information or angular velocity information is obtained from the control command; according to the angle information or angular velocity information, the initial desired angular velocity is calculated. If the control instruction is non-contact control, the gesture information is obtained from the control instruction; according to the gesture information, the initial expected angular velocity is calculated. If the size of the initial desired angular velocity is in the dead zone range, the terminal desired angular velocity is 0; if the size of the initial desired angular velocity is in the range of the linear region, take the initial desired angular velocity as the terminal desired angular velocity; if the size of the initial desired angular velocity is in the range of the positive clipping region, The positive limit value is used as the end expected angular velocity; if the initial expected angular velocity is within the range of the negative limit range, the negative limit value is used as the end expected angular velocity.

Obtain the desired angular acceleration of the terminal according to the desired angular velocity of the terminal; obtain the current joint position of the joint of the adjusting arm; according to the expected angular velocity of the terminal, the expected angular acceleration of the terminal and the position of the joint, use differential kinematics to calculate the joint expected angular velocity corresponding to the joint of the adjusting arm , joint expected angular acceleration and joint velocity; according to the joint expected angular velocity, joint expected angular acceleration and joint velocity, the expected position of the joint is calculated by integral kinematics, and the expected torque corresponding to the arm joint is obtained according to the expected position of the joint; based on the expected torque control Adjustment arm joints to control the end of the adjustment arm to perform preset operations.

In one embodiment, a method for controlling an adjusting arm, taking the method applied to the adjusting arm control system shown in Figure 13 as an example, the system consists of a console and an adjusting arm trolley:

The console is used to obtain control instructions, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; if the trigger logic is activated, based on the control type, calculate the initial expected angular velocity corresponding to the control instruction, and transmit the initial Expected angular velocity to the adjusting arm trolley;

The adjusting arm trolley is used to suppress the dead zone of the initial desired angular velocity, adjust the value of the initial desired angular velocity, and obtain the terminal desired angular velocity; obtain the terminal desired angular acceleration according to the terminal desired angular velocity, and control the adjustment according to the terminal desired angular velocity and terminal desired angular acceleration The end of the arm performs preset operations. As shown in Figure 14, the adjustable arm trolley can be single-hole adjustable arm trolley or multi-hole adjustable arm trolley. The single-hole adjustable arm trolley is used for illustration. The three adjustment joints of the moving point, ie, q ₁ , q ₂ , and q ₃ in the figure, call the motion link formed by these three joints an adjustment arm.

Further, the console also includes an interactive sensing module, an activation logic module and a desired motion module. As shown in Figure 15, the interactive sensing module mainly receives the interaction signal with people through the sensor and converts it into a sensing output signal. The activation logic module outputs the activation signal of the adjustment arm through the sensing output signal. It is expected that the motion module will output the signal through the sensing With the activation signal output adjust the desired movement speed of the end of the arm.

Specifically, the interactive sensing module is used to obtain control instructions and identify the control types of the control instructions. The control types are divided into contact control and non-contact control; if the control instruction is contact control, determine the trigger logic as instantaneous trigger logic or Continuous trigger logic; if the control instruction is non-contact control, determine that the trigger logic is gesture trigger logic.

The activation logic module is used to obtain the activation instruction and identify the activation type of the activation instruction; the activation type is divided into contact activation and non-contact activation; if the activation type is contact activation, obtain the input duration of the activation instruction; if the input duration is not The continuous condition is met, activating the momentary trigger logic. If the input duration satisfies the continuous condition, activate the continuous trigger logic. If the activation type is non-contact activation, the gesture information in the activation instruction is obtained; if the gesture information satisfies the transformation condition, the gesture trigger logic is activated.

The desired motion module is used to obtain angle information or angular velocity information from the control instruction if the trigger logic is active and the control instruction is contact control; and calculate the initial expected angular velocity according to the angle information or angular velocity information. If the control instruction is non-contact control, the gesture information is obtained from the control instruction; according to the gesture information, the initial expected angular velocity is calculated. It is also used for if the trigger logic is in an inactive state, the terminal expected angular velocity corresponding to the control command is not obtained, and the control command is regarded as a false touch command.

Furthermore, the adjusting arm trolley also includes an input dead zone module, a feedforward prediction module and a joint control module. The prediction module mainly predicts and calculates the command acceleration, and the joint control module mainly controls the torque of the joint through the information transmitted by the first two modules.

Specifically, input the dead zone module, for if the size of the initial desired angular velocity is in the dead zone range, the terminal desired angular velocity is 0; if the size of the initial desired angular velocity is in the linear range, the initial desired angular velocity is used as the terminal desired angular velocity; if the initial desired angular velocity If the magnitude of the angular velocity is within the range of the positive clipping area, the positive clipping value is used as the end expected angular velocity; if the initial expected angular velocity is within the range of the negative clipping area, the negative clipping value is taken as the terminal expected angular velocity.

The feedforward prediction module is used to obtain the terminal desired angular acceleration according to the terminal desired angular velocity.

The joint control module is used to obtain the current joint position of the joint of the adjusting arm; according to the expected angular velocity of the terminal, the expected angular acceleration of the terminal and the position of the joint, the differential kinematics is used to calculate the expected angular velocity and the expected angle of the joint corresponding to the joint of the adjusting arm Acceleration and joint velocity; according to the expected angular velocity of the joint, the expected angular acceleration of the joint and the joint velocity, the expected position of the joint is calculated by using integral kinematics, and the expected torque corresponding to the arm joint is obtained according to the expected position of the joint; the arm joint is adjusted based on the expected torque control, Use the control to adjust the end of the arm to perform preset operations.

The system controls the torque of the three adjusting joints of the adjusting arm by adding an interactive device on the console to achieve the purpose of adjusting the field of view. It is worth noting that the porous adjustment arm trolley with three rotational degrees of freedom around the fixed point of the endoscope arm is also suitable for adjusting the attitude of the endoscope by this method.

It should be understood that although the steps in the flow charts involved in the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flow charts involved in the above-mentioned embodiments may include multiple steps or stages, and these steps or stages are not necessarily executed at the same time, but may be performed at different times For execution, the execution order of these steps or stages is not necessarily performed sequentially, but may be executed in turn or alternately with other steps or at least a part of steps or stages in other steps.

Based on the same inventive concept, an embodiment of the present application further provides an adjustment arm control device for implementing the above-mentioned adjustment arm control method. The solution to the problem provided by the device is similar to the implementation described in the above method, so the specific limitations in one or more embodiments of the adjustment arm control device provided below can be referred to above for the adjustment arm control method limited and will not be repeated here.

In one embodiment, as shown in FIG. 17 , an adjustment arm control device 170 is provided, including: an acquisition module 171, an operation module 172 and a control module 173, wherein:

The acquiring module 171 is used to acquire the control instruction, identify the control type of the control instruction, and determine the state of the trigger logic corresponding to the control type; the control type is divided into contact control and non-contact control;

The calculation module 172 is used to obtain the terminal expected angular velocity corresponding to the control instruction based on the control type of the control instruction if the trigger logic is activated;

The control module 173 is configured to acquire the desired angular acceleration of the terminal according to the desired angular velocity of the terminal, and control the terminal of the adjustment arm to perform a preset operation according to the desired angular velocity and the desired angular acceleration of the terminal.

In one embodiment, the acquiring module 171 is further configured to determine that the trigger logic is instantaneous trigger logic or continuous trigger logic if the control command is touch control; and determine that the trigger logic is gesture trigger logic if the control command is non-contact control.

In one embodiment, the device also includes:

Activation module 174, is used for obtaining activation instruction, and the activation type of identifying activation instruction; Activation type is divided into contact activation and non-contact activation; If activation type is contact activation, obtain the input duration of activation instruction; If the input duration is not The continuous condition is met, activating the momentary trigger logic.

In one embodiment, the activation module 174 is further configured to activate the persistence trigger logic if the input duration satisfies the persistence condition.

In one embodiment, the activation module 174 is further configured to acquire gesture information in the activation instruction if the activation type is non-contact activation; if the gesture information satisfies the transformation condition, activate the gesture trigger logic.

In one embodiment, the calculation module 172 is further configured to not obtain the terminal expected angular velocity corresponding to the control instruction if the trigger logic is in an inactive state, and use the control instruction as a false touch instruction.

In one embodiment, the calculation module 172 is also used to calculate the initial expected angular velocity corresponding to the control instruction based on the control type; perform dead-zone suppression on the initial expected angular velocity, adjust the value of the initial expected angular velocity, and obtain the terminal expected angular velocity.

In one embodiment, the computing module 172 is further configured to obtain angle information or angular velocity information from the control instruction if the control instruction is touch control; and calculate an initial desired angular velocity according to the angle information or angular velocity information.

In one embodiment, the calculation module 172 is further configured to acquire gesture information from the control command if the control command is non-contact control; and calculate an initial expected angular velocity according to the gesture information.

In one embodiment, the calculation module 172 is also used for if the magnitude of the initial desired angular velocity is within the dead zone range, the terminal desired angular velocity is 0; if the magnitude of the initial desired angular velocity is within the range of the linear region, the initial desired angular velocity is used as the terminal desired angular velocity; if If the magnitude of the initial desired angular velocity is within the range of the positive clipping area, the positive clipping value is used as the terminal desired angular velocity; if the magnitude of the initial desired angular velocity is within the negative clipping range, the negative clipping value is used as the terminal desired angular velocity.

In one embodiment, the control module 173 is also used to calculate the expected position of the joint corresponding to the joint of the adjusting arm according to the expected angular velocity and the expected angular acceleration of the terminal, and obtain the expected torque corresponding to the joint of the adjusting arm according to the expected position of the joint; control based on the expected torque Adjustment arm joints to control the end of the adjustment arm to perform preset operations.

In one embodiment, the control module 173 is also used to obtain the current joint position of the joint of the adjustment arm; according to the expected angular velocity of the end, the expected angular acceleration of the end and the joint position, the joint corresponding to the joint of the adjustment arm is calculated by using differential kinematics Expected angular velocity, joint expected angular acceleration, and joint velocity; according to joint expected angular velocity, joint expected angular acceleration, and joint velocity, integral kinematics is used to calculate the expected joint position.

Each module in the above-mentioned control device for the adjustment arm can be fully or partially realized by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, and can also be stored in the memory of the computer device in the form of software, so that the processor can invoke and execute the corresponding operations of the above-mentioned modules.

In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure may be as shown in FIG. 18 . The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit and an input device. Wherein, the processor, the memory and the input/output interface are connected through the system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling the adjusting arm is realized. The display unit of the computer equipment is used to form a visually visible picture, and may be a display screen, a projection device or a virtual reality imaging device, the display screen may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a display screen The touch layer covered on the top can also be a button, a trackball or a touch pad arranged on the computer equipment casing, or an external keyboard, touch pad or mouse.

Those skilled in the art can understand that the structure shown in Figure 18 is only a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation to the computer equipment on which the solution of this application is applied. The specific computer equipment can be More or fewer components than shown in the figures may be included, or some components may be combined, or have a different arrangement of components.

In one embodiment, there is also provided a computer device, including a memory and a processor, where a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

In one embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all It is information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the computer programs can be stored in a non-volatile computer-readable memory In the medium, when the computer program is executed, it may include the processes of the embodiments of the above-mentioned methods. Wherein, any reference to storage, database or other media used in the various embodiments provided in the present application may include at least one of non-volatile and volatile storage. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive variable memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. The volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided by this application can be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be determined by the appended claims.

Claims (15)

1. A method of adjusting arm control, the method comprising:

acquiring a control instruction, identifying a control type of the control instruction, and determining a state of a trigger logic corresponding to the control type; the control types are classified into contact control and non-contact control;

if the trigger logic is in an activated state, acquiring the end expected angular velocity corresponding to the control instruction based on the control type of the control instruction;

And acquiring a terminal expected angular acceleration according to the terminal expected angular velocity, and controlling the tail end of the adjusting arm to execute a preset operation according to the terminal expected angular velocity and the terminal expected angular acceleration.

2. The method of claim 1, wherein determining the state of the trigger logic corresponding to the control type comprises:

if the control instruction is contact control, determining that the trigger logic is instantaneous trigger logic or continuous trigger logic;

and if the control instruction is non-contact control, determining that the trigger logic is gesture trigger logic.

3. The method of claim 2, wherein prior to the obtaining the control instruction, further comprising:

acquiring an activation instruction and identifying the activation type of the activation instruction; the activation types are classified into contact type activation and non-contact type activation;

if the activation type is contact activation, acquiring the input duration of the activation instruction;

and if the input duration does not meet the continuous condition, activating the instantaneous trigger logic.

4. A method according to claim 3, characterized in that the method further comprises:

and if the input duration meets the continuous condition, activating the continuous trigger logic.

5. A method according to claim 3, characterized in that the method further comprises:

if the activation type is non-contact activation, gesture information in the activation instruction is acquired;

and if the gesture information meets the transformation condition, activating the gesture triggering logic.

6. The method according to claim 1, wherein the method further comprises:

and if the trigger logic is in an inactive state, not acquiring the end expected angular velocity corresponding to the control instruction, and taking the control instruction as a false touch instruction.

7. The method according to claim 1, wherein the obtaining the end desired angular velocity corresponding to the control instruction based on the control type of the control instruction includes:

calculating an initial expected angular velocity corresponding to the control instruction based on the control type;

and dead zone suppression is carried out on the initial expected angular velocity, and the value of the initial expected angular velocity is adjusted to obtain the terminal expected angular velocity.

8. The method of claim 7, wherein calculating an initial desired angular velocity corresponding to the control command based on a control type of the control command comprises:

If the control instruction is contact control, acquiring angle information or angular velocity information from the control instruction;

and calculating the initial expected angular velocity according to the angle information or the angular velocity information.

9. The method of claim 8, wherein the method further comprises:

if the control instruction is non-contact control, gesture information is obtained from the control instruction;

and calculating the initial expected angular velocity according to the gesture information.

10. The method of claim 7, wherein the dead zone suppressing the initial desired angular velocity, adjusting the value of the initial desired angular velocity to obtain the final desired angular velocity, comprises:

if the magnitude of the initial expected angular velocity is in the dead zone range, the end expected angular velocity is 0;

if the magnitude of the initial expected angular velocity is in a linear region range, taking the initial expected angular velocity as the tail end expected angular velocity;

if the initial expected angular velocity is in the range of the positive amplitude limiting area, taking the positive amplitude limiting value as the end expected angular velocity;

and if the magnitude of the initial expected angular velocity is in the range of the negative amplitude limiting area, taking the negative amplitude limiting value as the end expected angular velocity.

11. The method of claim 1, wherein controlling the adjustment arm tip to perform a preset operation according to the tip desired angular velocity and the tip desired angular acceleration comprises:

calculating a joint expected position corresponding to an adjusting arm joint according to the tail end expected angular velocity and the tail end expected angular acceleration, and acquiring an expected moment corresponding to the adjusting arm joint according to the joint expected position;

and controlling the adjusting arm joint based on the expected moment so as to control the tail end of the adjusting arm to execute the preset operation.

12. The method of claim 11, wherein calculating the desired joint position for the adjustment arm joint based on the desired end angular velocity and the desired end angular acceleration comprises:

acquiring the current joint position of the joint of the adjusting arm;

according to the tail end expected angular velocity, the tail end expected angular acceleration and the joint position, obtaining a joint expected angular velocity, a joint expected angular acceleration and a joint velocity corresponding to a joint of the adjusting arm by differential kinematics calculation;

and calculating the expected joint position by adopting integral kinematics according to the expected joint angular velocity, the expected joint angular acceleration and the joint velocity.

13. An adjustment arm control device, characterized in that the device comprises:

the acquisition module is used for acquiring a control instruction, identifying the control type of the control instruction and determining the state of a trigger logic corresponding to the control type; the control types are classified into contact control and non-contact control;

the operation module is used for acquiring the end expected angular velocity corresponding to the control instruction based on the control type of the control instruction if the trigger logic is in an activated state;

and the control module is used for acquiring the tail end expected angular acceleration according to the tail end expected angular speed, and controlling the tail end of the adjusting arm to execute preset operation according to the tail end expected angular speed and the tail end expected angular acceleration.

14. An adjustment arm control system, the system comprising:

the control console is used for acquiring a control instruction, identifying the control type of the control instruction and determining the state of a trigger logic corresponding to the control type; if the trigger logic is in an activated state, calculating an initial expected angular velocity corresponding to the control instruction based on the control type, and transmitting the initial expected angular velocity to an adjusting arm trolley;

The adjusting arm trolley is used for carrying out dead zone inhibition on the initial expected angular velocity, and adjusting the value of the initial expected angular velocity to obtain the terminal expected angular velocity; and controlling the tail end of the adjusting arm to execute a preset operation according to the expected angular speed of the tail end.

15. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 12 when the computer program is executed.

Images