CN115957011A - Control method of mobile equipment and minimally invasive robot - Google Patents

Abstract

The invention relates to the technical field of intelligent control, in particular to a control method of mobile equipment and a minimally invasive robot. The control method of the mobile equipment comprises the steps of acquiring a current first basic parameter in a state of standard parameter set formation; acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter; and reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter.

Description

Control method of mobile equipment and minimally invasive robot

Technical Field

The invention relates to the technical field of intelligent control, in particular to a control method of mobile equipment and a minimally invasive robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel technology in the minimally invasive medical field, namely the minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, is developed.

A common minimally invasive surgical robot consists of a surgeon's console (also called the master hand), a patient side cart (also called the slave hand), and a display device (also called a video cart), where the surgeon operates input devices and transmits inputs to the patient side cart that are connected to remotely operated surgical instruments. Based on the surgeon's input at the surgeon console, the teleoperated surgical instrument is actuated at the patient side cart to operate on the patient, thereby creating a master-slave control relationship between the surgeon console and the surgical instrument at the patient side cart. Because hospitals are often not equipped with multiple minimally invasive surgical robots due to floor space and equipment cost considerations, patient side carts often need to be moved from one location to another (the physician console also needs to be moved, and the display device sometimes needs to be moved, but relatively easily, so the patient side carts are described with emphasis. For example, a patient side cart moves from one location in an operating room to another location in the same operating room, or a patient side cart moves from one operating room to another operating room.

Chinese patent application CN109455218a discloses a manipulating handrail device for electric moving platform, which comprises: the device comprises a base, a tension and compression sensor, a sensor mounting seat, a handrail type micro-motion rotatable assembly and two handle type micro-motion rotatable assemblies; but the rotatable subassembly middle part of handrail formula fine motion is rotated with the base and is connected, and still with draw the pressure sensor to be connected, draws the pressure sensor to pass through sensor mount pad fixed mounting on the base, but two handle formula fine motion rotatable subassemblies are installed respectively at the rotatable subassembly both ends of handrail formula fine motion, all are equipped with torque sensor in two handle formula fine motion rotatable subassemblies. Wherein, can "according to the signal size of drawing and pressing the sensor, and control controlled equipment or vehicle and advance with different speed straight line". Because the handrail is located the rear side from the hand, the stand can block medical personnel's sight when promoting, probably can take place the incident that collides with barrier or other personnel, all has harm to people and machine. The moving speed of the slave hand is only related to the push-pull force, the push-pull force provided by the hand of the medical staff cannot be kept constant, so that the speed of the slave hand is changed instantly, the service life of a motor and the service life of a battery are both influenced, the movement is not smooth enough, furthermore, the speed is only related to the push-pull force, the high efficiency of the slave hand moving cannot be ensured, and the slave hand can not be moved based on the experience of the medical staff in a complex environment (such as more obstacles or narrow passageway space), and after all, the problems of insufficient experience, non-centralized attention and the like exist.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a control method of mobile equipment and a minimally invasive robot. Specifically, the method comprises the following steps:

in one aspect, the present application provides a method for controlling a mobile device, where: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

acquiring a current first basic parameter in a state of standard parameter set formation;

acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter;

and reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter.

Preferably, the control method of the mobile device further comprises: the standard parameter set at least comprises a proportional relation between the extreme speed and the first basic parameter.

Preferably, the control method of the mobile device, wherein: the obtaining of the standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter comprises:

reading distance data of the current moment and distance data of the previous moment;

taking the current distance data as reference data and forming the first basic parameter according to the reference data when the difference between the current distance data and the previous distance data is larger than the preset distance difference;

taking the current distance parameter as an auxiliary parameter in the state that the difference between the distance data at the current moment and the distance data at the previous moment is not greater than the preset distance difference;

forming a control coefficient according to the first basic parameter and the auxiliary parameter; and combining the standard parameter set and the first basic parameter to form the standard parameter according to the control coefficient.

Preferably, the control method of the mobile device, wherein: the control signal includes a first type displacement state instruction, a second type displacement state instruction and a third type displacement state instruction, and the forming a control signal output according to the second basic parameter and the standard parameter specifically includes:

under the condition that the first basic parameter is not smaller than a third preset threshold and the second basic parameter is larger than a second preset threshold, the control signal is a first type displacement state instruction, and the mobile equipment is displaced at a limiting speed under the action of the first type displacement state instruction;

and under the condition that the first basic parameter is not less than a third preset threshold and the second basic parameter is not more than the second preset threshold, the control signal is a second displacement state instruction, and the mobile equipment is displaced at a speed matched with the current second basic parameter under the action of the second displacement state instruction.

Preferably, the control method of the mobile device further comprises: further comprising:

and forming a third type of displacement state instruction under the condition that the first basic parameter is smaller than a third preset threshold, and adjusting the current state of the mobile equipment under the action of the third type of displacement state instruction so as to enable the first basic parameter not to be smaller than the third preset threshold.

Preferably, the control method of the mobile device further comprises: the obtaining of the standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter specifically includes:

setting a mapping parameter matched with the first basic parameter as a first mapping standard parameter under the condition that the first basic parameter is larger than a first preset threshold value;

and setting the mapping parameter matched with the first basic parameter as a second mapping standard parameter under the condition that the first basic parameter is not larger than a first preset threshold value.

Preferably, the control method of the mobile device, wherein: reading a current second basic parameter, and forming a control signal output according to the second basic parameter and a standard parameter, wherein the step of forming the control signal output specifically comprises the following steps:

under the state of acquiring a current second basic parameter and under the state that a current mapping parameter matched with the first basic parameter is a first mapping standard parameter, forming the control instruction according to the second basic parameter and the first mapping standard parameter; or, in a state that the current mapping parameter matched with the first basic parameter is a second mapping standard parameter, forming the control instruction according to the second basic parameter and the second mapping standard parameter;

and forming the control signal output according to the control instruction.

On the other hand, the application further provides a minimally invasive robot, wherein the minimally invasive robot comprises a slave hand and a control system, the slave hand comprises a base, an upright post, a mechanical arm and an instrument motion table, sensors are arranged on the upright post and the base, and the control system is used for realizing the equipment movement control method.

In yet another aspect, the present invention further provides a computer readable storage medium having a computer program stored thereon, wherein: which when executed by a processor implements the device movement control method described above.

Finally, the present application further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the device movement control method when executing the computer program.

Compared with the prior art, the invention has the beneficial effects that at least:

and determining the current work of the mobile equipment by combining the first basic parameter, the second basic parameter and the standard parameter set. The defect that current changes frequently due to unstable acting force applied manually is avoided, and meanwhile, the mobile equipment can be in an extremely fast mode in a better walking environment, and the carrying efficiency is improved. And adverse consequences caused by the fact that the upright posts shield the sight of operators are avoided.

Drawings

Fig. 1 is a flowchart illustrating a control method of a mobile device according to an embodiment of the present invention;

fig. 2 is a mapping relationship diagram of a standard parameter set in a control method of a mobile device according to an embodiment of the present invention;

fig. 3 is a graph illustrating a relationship between a speed and an acting force in a control method of a mobile device according to an embodiment of the present invention;

fig. 4 is a diagram illustrating a relationship between a speed and an acting force in a high speed mode in a control method of a mobile device according to an embodiment of the present invention;

fig. 5 is a diagram illustrating a relationship between a speed and an acting force in a low speed mode in a control method of a mobile device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a minimally invasive robot according to an embodiment of the present invention;

FIG. 7 is a schematic top view of a minimally invasive robot according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following embodiments of the present invention are provided by specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure of the present invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

It should be noted that the drawings provided in the present embodiment are only schematic and illustrate the basic idea of the present invention, and although the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation, the form, quantity and proportion of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

Example one

A control method of a mobile device, wherein: the mobile device can be a minimally invasive surgical robot, the minimally invasive surgical robot comprises an upright post, at least two sensors are arranged at preset positions of the upright post, the sensors comprise,

as shown in fig. 1, in step S110, in a state where the standard parameter set is formed, a current first basic parameter is obtained; the first basic parameter is formed by the transmitter, the sensor collects the distance between the current position and a target object, and the first basic parameter is formed according to the distance;

the standard parameter set records a proportional relation between the maximum speed and the first basic parameter, the maximum speed and the first basic parameter are in a proportional relation, and the larger the first basic parameter is, the larger the corresponding maximum speed is. As shown in fig. 2, vmax = K × L; vmax is the maximum speed matched to L; k is the ratio of the maximum speed to the first basic parameter; the value range of K is 0.6-0.9; l is a first base parameter;

the sensors are arranged on the two sides of the upright column and on upright column surfaces corresponding to the advancing direction, distance data between the current upright column and a target object are obtained through the sensors, and the first basic data are formed according to the distance data obtained by the three transmission sensors.

It should be noted that, because the positions of the sensors are not consistent, the data collected by the sensors are not the distance between the upright column and the target object. Therefore, the collected data of the sensor needs to be processed by the same reference. For example, according to a rectangular frame defined by the outer contour of the robot, taking the distance from the frame wire to the obstacle as a reference, combining each collected data with the distance from the corresponding sensor to the frame wire on the corresponding side to form the distance data; the first base data is formed from the distance data.

Step S120, acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter; further, since the first basic parameter includes a plurality of parameters, not every parameter can be used as a basis for selecting the standard parameter. Specifically, the method comprises the following steps:

step S1201, reading the distance data of the current moment and the distance data of the previous moment;

step S1202, in a state where a difference between the distance data at the current time and the distance data at the previous time is greater than a predetermined distance difference, using the current distance data as reference data L, and obtaining the first basic parameter according to the parameter data;

in step S1203, the current distance parameter is used as an auxiliary parameter in a state that the difference between the current time distance data and the previous time distance data is not greater than the predetermined distance difference.

Step S1204, forming a control coefficient according to the standard parameter and the auxiliary parameter; and combining the standard parameter set and the first basic parameter to form the standard parameter according to the control coefficient.

Schematically:

wherein, a is a control parameter, f is an auxiliary parameter, the unit is meter, L is parameter data, wherein the threshold of the auxiliary parameter and the threshold of the parameter data can be selected according to actual use, for example, in a state where f > 0.1, L > 0.5, the control coefficient a =0.8 can be set, the numerical parameters in the embodiment are only examples, are not specific limitations to the application, and can be determined by themselves in actual use.

In addition, since the distance data is determined to be data of the advancing direction of the minimally invasive robot in a state where the difference between the distance data at the current time and the distance data at the previous time is greater than the predetermined distance difference, the data is used as parameter data. Taking walking in a narrow and long space as an example, two sides of the minimally invasive robot are provided with walls, a person is also in a position 2 meters ahead, in the advancing process of the minimally invasive robot, the difference between the distance data of the current time acquired by the sensors at the two sides and the distance data at the previous moment is relatively small, but the difference between the distance data of the current time acquired by the sensors at the front side and the distance data at the previous moment is relatively large, the advancing direction of the minimally invasive surgery robot can be judged, and whether the minimally invasive mobile phone robot can enter an extreme speed mode or not is judged according to the distance data of the advancing direction. It should be noted that, the distance data on both sides are still used as auxiliary parameters, and if the distance data on both sides are relatively small, it can be determined that the current space is relatively narrow, the auxiliary parameters assist in determining whether the super-speed mode can be entered, and in a state where a control coefficient formed by the standard parameters and the auxiliary parameters is greater than 0.8, the super-speed mode can be entered, otherwise, the super-speed mode cannot be entered.

It should be noted that the time division in the "last time" is not the sampling frequency of the sensor as the basis for the time division, and the sampling frequency of the sensor is relatively high (the sensor can be collected many times per second, and the distance difference between every two samples is small). The moving speed of the surgical robot during transferring is relatively slow, the displacement is estimated to be 1-2 meters in one minute at the extremely high speed state, the measurement unit of the sampling frequency of the sensor is second, the measurement unit of the displacement speed of the surgical robot is minute, the difference between the changing frequencies of the two is relatively large, and the distance data at the last moment is understood to be the distance data output last time.

In addition, a sensor with a low sampling frequency point can be selected according to needs, and the cost can be reduced. The sampling frequency is selected according to actual conditions, and is not limited in particular.

Step S130, reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter. The method specifically comprises the following steps: as shown in fig. 3, the control signal includes a first type of displacement state instruction, a second type of displacement state instruction and a third type of displacement state instruction,

step S1301, when the first basic parameter is not less than a third predetermined threshold and the second basic parameter is greater than a second predetermined threshold, the control signal is a first type displacement state command, and the mobile apparatus is displaced at a limiting speed under the action of the first type displacement state command,

step S1302, in a state that the first basic parameter is not less than a third predetermined threshold and the second basic parameter is not greater than the second predetermined threshold, the control signal is a second type displacement state instruction, and the mobile device is displaced at a speed matched with the current second basic parameter under the action of the second type displacement state instruction.

Wherein the second basic parameter is a driving force F2 applied by an operator to the minimally invasive surgical robot. A control signal can be formed according to the acting force applied to the minimally invasive surgery robot by an operator and the current moving mode. When the second basic parameter is larger than the second preset threshold value, the control signal can enable the minimally invasive surgery robot to be in a mode of top speed under the condition that the walking environment is good. And when the second basic parameter is not larger than a second preset threshold value, the control signal is a speed control signal matched with the current second basic parameter. It should be noted that the top speed mode is only the maximum value matching the current walking environment. The corresponding top speed modes under different walking environments are different.

The first type of displacement state instruction and the second type of displacement state instruction can enable the minimally invasive surgery robot to achieve forward movement, backward movement and pivot steering movement. The forward movement refers to that two casters of the minimally invasive surgery robot rotate in the same direction or at least one caster rotates forwards and is higher than the speed of the other caster rotating backwards, on the contrary, the backward movement is realized, and the pivot steering refers to that one caster rotates backwards towards the other caster and has the same rotating speed.

Step S1303, in a state where the first basic parameter is smaller than a third predetermined threshold, the control signal is a third type displacement state instruction, and the state of the current mobile device is adjusted under the action of the third type displacement state instruction so that the first basic parameter is not smaller than the third predetermined threshold. And the third preset threshold is the minimum distance between the minimally invasive surgery robot and the target object, and the minimally invasive surgery robot stops moving forwards and only keeps the functions of backing and pivot steering under the condition that the first basic parameter is smaller than the minimum distance.

Illustratively, the minimally invasive surgical robot stops moving forward when the first basic parameter is not less than a third predetermined threshold, and determines that some distance still exists between the minimally invasive surgical robot and the target object when the first basic parameter is close to the third predetermined threshold, for example, the minimally invasive surgical robot remains in a stationary state or turns in place at the current position.

And keeping the retreating state under the condition that the first basic parameter is less than one half of a third preset threshold value, schematically, judging that the distance between the minimally invasive surgery robot and the target object is relatively close under the condition that the first basic parameter is far less than the third preset threshold value, and controlling the minimally invasive surgery robot to retreat in order to ensure that the minimally invasive surgery robot is in a safe distance, wherein the maximum distance of the retreating distance is the third preset threshold value.

Step S140, the control signal acts on a motor, and the motor forms a driving force under the action of the control signal to displace the mobile device.

In the embodiment, the current moving state of the mobile equipment is determined by combining the first basic parameter and the second basic parameter with the standard parameter set, so that the defect that current changes frequently due to unstable acting force applied manually is avoided, and meanwhile, the mobile equipment can be in an extremely fast mode in a better walking environment state, and the transfer efficiency is improved.

In the present application, as a further preferred embodiment, in order to facilitate an operator to grasp a movement mode of a minimally invasive surgical robot, the movement mode of the minimally invasive surgical robot is set to be a high-speed mode and a low-speed mode, specifically, on the basis of the above-mentioned control method of a mobile device, wherein: the step S120 of obtaining the standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter specifically includes:

as shown in fig. 4, in a state that the first basic parameter is greater than a first preset threshold, S1201, setting a mapping parameter matched with the first basic parameter as a first mapping standard parameter; the first preset threshold value can be set according to actual conditions, and can also be set to be 1 meter, 2 meters, 5 meters and the like, and specific setting modes are not described herein.

When the first basic parameter is larger than the first preset threshold value, the distance between the current minimally invasive surgery robot and the target object is determined to be relatively far, and the current walking environment can be determined to be relatively good.

As shown in fig. 5, in a state that the first basic parameter is not greater than a first preset threshold, S1202, a mapping parameter matched with the first basic parameter is set as a second mapping standard parameter.

And when the first basic parameter is not larger than the first preset threshold value, the current minimally invasive surgery robot is determined to be relatively close to the target object, and the current walking environment can be determined to be relatively undesirable.

Further, on the basis of the control method of the mobile device, the method comprises the following steps: step S130, reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter specifically includes:

step S1301, in the state of obtaining a current second basic parameter, forming a control instruction matched with the second basic parameter according to the second basic parameter and the standard parameter; in other words, in the state that the current mapping parameter matched with the first basic parameter is the first mapping standard parameter, the control command is formed according to the second basic parameter and the first mapping standard parameter; under the condition that the current mapping parameter matched with the first basic parameter is a second mapping standard parameter, the control instruction is formed according to the second basic parameter and the second mapping standard parameter;

and step S1302, forming the control signal output according to the control instruction.

Example two

The invention further provides a minimally invasive robot, which comprises a slave hand and a control system, wherein the slave hand comprises a base, an upright post, a mechanical arm and an instrument motion table, sensors are arranged on the upright post and the base, and the control system is used for realizing the equipment movement control method in the first embodiment.

Specifically, the method comprises the following steps: as shown in fig. 6 and 7, the slave is not limited to the structure described in this embodiment and shown in the drawings, as long as the corresponding functions can be realized and the corresponding hardware is laid out. And the sensor arrangement is not limited to the layout shown in the scheme, as long as the detection function required by the scheme can be realized. In addition, the robotic arms are shown in an extended state for clarity in showing the structure of the slave hand, it being understood that the robotic arms will typically be retracted prior to movement to reduce the volume for ease of movement.

The slave hand comprises a base 1, a stand column 2, a mechanical arm 3 and an instrument motion platform 4, a medical staff pushes and pulls an armrest connected with the base 1 to move the slave hand, and the base 1 is provided with a power assisting mechanism (such as a motor and wheels) which can provide movement assistance when the slave hand needs to move. First sensors 51 are respectively provided on the front and rear sides of the top end of the column 2 to sense the distance between the column 2 and an obstacle (target object). In the present description, the side of the armrest of the hand (where the person pushes the armrest is also understood to be the region where the force is applied) is the rear side, and the opposite side is the front side. Similarly, a second type sensor 52 and a third type sensor 53 are also respectively arranged at the front side and the rear side of the bottom of the base 1 to sense the distance between the base 1 and the obstacle. It should be noted that the sensors 53 of the third type, which are arranged on the rear side of the base 1, are arranged at both ends of the outline of the base 1, while the sensors 52 of the second type, which are arranged on the front side of the base 1, are arranged uniformly on the outline of the base 1. This is because when moving from the hand, the medical staff is required to stand at the middle of the rear side of the base 1 to push, in order to avoid misunderstanding the medical staff as an obstacle.

Several common obstacle configurations are seen when moving from hand in a hospital. One is a stool, such as a round stool, bench, etc., which is the most common item in hospitals, higher than the base but lower than the top of the post. Another is that of mobility and uncertainty for other persons, such as patients, patient's family, etc., that is also higher than the base but lower than the top of the column, and the other is the walls and door frames. Accordingly, the sensor arrangement is also adapted to accommodate different obstacle types, such as other people being detected by the sensor at the rear end of the base, a stool being detected by the sensor at the middle of the front side of the base, and a wall being detected by the sensor at the front end of the base. Of course, the greater the number of sensor sets, the more accurate the retrieval is, if cost and space permit, for example, also placing sensors in the middle of the columns. By way of introduction, a mapping relation between the push-pull force of the armrest and the nominal moving speed of the slave hand (which can also be the nominal motor current) is preset in the slave hand movement control system, namely, the function of controlling the controlled equipment or the vehicle to move forward at different speeds according to the magnitude of the collected signal of the pull-press sensor in the prior art is realized.

Based on the structure, the stable operation of the minimally invasive robot is realized by combining the equipment movement control method provided by the embodiment, especially in a top speed mode, the current of the power-assisted motor is always kept the same, and the adverse effect on the service life of the motor and the battery is reduced.

In this embodiment, two stealth modes, a high-speed mode and a low-speed mode, are used. I.e. the movement is divided into two different modes depending on the distance from the hand to the obstacle. In the high-speed mode, the slave hand always moves at the maximum speed to realize high-efficiency transportation (even if the maximum speed can be always kept after the push-pull force reaches a certain value, the push-pull force is increased again, and the speed is unchanged), and in the low-speed mode, the mapping relation between the handrail push-pull force and the slave hand moving speed is changed to realize accurate control. The following is a detailed description:

the distance to the obstacle is detected from the hand sensors (either in real time or after the healthcare worker applies force to the armrest), and the armrest also has corresponding tension or compression or torsion sensors to detect the force applied by the healthcare worker. Although the distances detected by the sensors disposed at different positions (for example, the column and the base) are different, the system performs processing to convert the distances into a uniform reference, for example, a rectangle formed by the outline of the base (i.e., the same reference processing).

Entering a high-speed mode when the distance to the obstacle is not greater than a first predetermined threshold: meanwhile, the nominal moving speed of the slave hand is output according to the magnitude of the acting force F2 according to the first mapping standard parameter, and when the acting force F2 is greater than a second preset threshold value, the nominal moving speed is always equal to the maximum moving speed. So that when the force F2 is not greater than a second predetermined threshold, the slave hand moves at a nominal rate of movement, the greater the force F2, the greater the rate of movement; when the force F2 increases above the second predetermined threshold, the slave hand is always moving at maximum speed, and the force F2 continues to increase without affecting the speed of movement. It can be seen that when the environment is good (the target direction obstacle is far away or even no obstacle), the healthcare worker applies a force greater than a second predetermined threshold (typically the force applied during long distance movements will be such that the maximum speed of movement is always maintained from the hand, and the device is transported efficiently. And the change of the force above the second preset threshold value does not influence the speed, which means that the current of the power assisting motor is always the same, and the adverse effect on the service life of the motor and the battery is reduced.

And when the distance from the obstacle is smaller than a first threshold value, entering a low-speed mode, outputting a nominal moving speed of the slave hand according to the force magnitude according to the second mapping standard parameter, wherein the slave hand moves at the nominal moving speed, and the higher the force is, the higher the nominal moving speed is. It can be seen that when in the low speed mode, the medical staff applies the same amount of force to the armrest, the moving speed of the slave hand is slower (as for the slow down ratio, depending on the first factor) compared to the high speed mode, so that in a complex environment (such as more obstacles or narrow passageway space), the fine operation is facilitated without collision.

The power assisting system comprises a driving wheel motor, a brake and a wheel type sensor. Alternatively, the three drive systems may be integrated together or may be separate individual components. In the control system, the controller receives signals from the sensor and the button switch, processes and calculates the signals, and then sends corresponding control signals to the motor or the brake of the driving wheel, so as to drive the slave hand to move and stop, which can be referred to as the "medical device movement control system and method" of the prior patent application No. 202210233620.4 of the present applicant.

EXAMPLE III

An embodiment of the present application provides an electronic device, and fig. 8 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As shown in fig. 8, the present embodiment provides an electronic device 400, which includes: one or more processors 420; storage 410 to store one or more programs that, when executed by the one or more processors 420, cause the one or more processors 420 to implement:

acquiring a current first basic parameter in a state of standard parameter set formation;

acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter;

and reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter.

As shown in fig. 8, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processors 420 in the electronic device may be one or more, and one processor 420 is taken as an example in fig. 8; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic apparatus may be connected by a bus or other means, and are exemplified by a bus 450 in fig. 8.

The storage device 410 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modular units.

The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input means 430 may be used to receive input numerals, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include a display screen, speakers, etc.

Example four

In some embodiments, the methods described above may be implemented as a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for performing various aspects of the present disclosure. Specifically, the method comprises the following steps:

acquiring a current first basic parameter in a state of forming a standard parameter set;

acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter;

and reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter.

The computer-readable storage medium described above may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language, as well as conventional procedural programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the disclosure are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

These computer-readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A control method of a mobile device, characterized by: comprises the steps of (a) preparing a substrate,

acquiring a current first basic parameter in a state of standard parameter set formation;

acquiring a standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter;

and reading the current second basic parameter, and forming a control signal output according to the second basic parameter and the standard parameter.

2. The control method of a mobile device according to claim 1, wherein: the standard parameter set at least comprises a proportional relation between the extreme speed and the first basic parameter.

3. The control method of a mobile device according to claim 1, wherein: the obtaining of the standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter comprises:

reading distance data of the current moment and distance data of the previous moment;

taking the current distance data as reference data under the condition that the difference between the current-time distance data and the previous-time distance data is larger than a preset distance difference, and forming the first basic parameter according to the reference data;

taking the current distance parameter as an auxiliary parameter in the state that the difference between the distance data at the current moment and the distance data at the previous moment is not greater than the preset distance difference;

forming a control coefficient according to the first basic parameter and the auxiliary parameter; and forming the standard parameter according to the control coefficient and the standard parameter set and the first basic parameter.

4. The method of claim 1, wherein: the control signal includes a first type displacement state instruction, a second type displacement state instruction and a third type displacement state instruction, and the forming a control signal output according to the second basic parameter and the standard parameter specifically includes:

under the condition that the first basic parameter is not smaller than a third preset threshold and the second basic parameter is larger than a second preset threshold, the control signal is a first type displacement state instruction, and the mobile equipment is displaced at a limiting speed under the action of the first type displacement state instruction;

and under the condition that the first basic parameter is not less than a third preset threshold and the second basic parameter is not more than the second preset threshold, the control signal is a second displacement state instruction, and the mobile equipment is displaced at a speed matched with the current second basic parameter under the action of the second displacement state instruction.

5. The method of claim 4, wherein: further comprising:

when the first basic parameter is smaller than a third predetermined threshold, the control signal is a third type displacement state instruction, and the current state of the mobile device is adjusted under the action of the third type displacement state instruction so that the first basic parameter is not smaller than the third predetermined threshold.

6. The control method of a mobile device according to claim 1, wherein: the obtaining of the standard parameter matched with the current first basic parameter in the standard parameter set according to the first basic parameter specifically includes:

setting a mapping parameter matched with the first basic parameter as a first mapping standard parameter under the condition that the first basic parameter is larger than a first preset threshold value;

and setting the mapping parameter matched with the first basic parameter as a second mapping standard parameter under the condition that the first basic parameter is not larger than a first preset threshold value.

7. The method of claim 6, wherein: reading a current second basic parameter, and forming a control signal output according to the second basic parameter and a standard parameter, wherein the step of forming the control signal output specifically comprises the following steps:

under the state of obtaining a current second basic parameter and under the state that a current mapping parameter matched with the first basic parameter is a first mapping standard parameter, forming the control instruction according to the second basic parameter and the first mapping standard parameter; or, in a state that the current mapping parameter matched with the first basic parameter is a second mapping standard parameter, forming the control instruction according to the second basic parameter and the second mapping standard parameter;

and forming the control signal output according to the control instruction.

8. A minimally invasive robot, characterized by comprising a slave hand and a control system, wherein the slave hand comprises a base, a stand, a mechanical arm and an instrument motion platform, sensors are arranged on the stand and the base, and the control system is used for realizing the device movement control method of the claims 1-7.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the device movement control method of any of claims 1-7.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the device movement control method according to any one of claims 1 to 7 when executing the computer program.

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