CN116787444A - Mechanical arm simulation system and robot simulation system - Google Patents
Mechanical arm simulation system and robot simulation system Download PDFInfo
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- CN116787444A CN116787444A CN202310928543.9A CN202310928543A CN116787444A CN 116787444 A CN116787444 A CN 116787444A CN 202310928543 A CN202310928543 A CN 202310928543A CN 116787444 A CN116787444 A CN 116787444A
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- 238000004088 simulation Methods 0.000 title claims abstract description 203
- 238000003384 imaging method Methods 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 description 7
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- 238000002372 labelling Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Heart & Thoracic Surgery (AREA)
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Abstract
The application relates to a robot simulation system. The robot simulation system comprises a mechanical arm simulation system. The mechanical arm simulation system comprises a mechanical arm simulation control device and a mechanical arm simulation movement device. The mechanical arm simulation control device is used for being connected with the main control system. The mechanical arm simulation control device is used for receiving the motion control command, analyzing the motion control command to obtain a motion mode, and obtaining joint information according to the motion mode. The mechanical arm simulation movement device is connected with the mechanical arm simulation control device. The mechanical arm simulation movement device is used for simulating the movement of the mechanical arm according to the joint information. The robot simulation system obtains a motion mode after analyzing the motion control command sent by the main control system, and obtains corresponding joint information according to the motion mode. The mechanical arm simulation movement device simulates the mechanical arm to run in a corresponding movement mode according to the joint information. Even if the mechanical arm structure is lacking, the robot simulation system enables the simulation work to be normally performed.
Description
Description: the application is a divisional application which is proposed for a parent application with the original application number of 202110154577.8, the application date of 2021, 02 month and 04 days and the application and creation name of a robot simulation system.
Technical Field
The application relates to the technical field of medical treatment, in particular to a robot simulation system.
Background
The surgical robot is used for assisting the surgery, so that the efficiency and the quality of the surgery can be improved. The surgical robot comprises a main control system, a mechanical arm, a ground brake, a pedal or a camera device and other hardware equipment. Wherein the mechanical arm, the ground brake, the pedal or the camera device are respectively connected with the main control system. The main control system and the mechanical arm are internally provided with a control circuit. The control circuitry includes a variety of control logic operations. In order to improve the accuracy of control logic operations, surgical robots are required to simulate real scene operations multiple times. Under the condition of limitation, in the absence of a mechanical arm, the simulation work cannot be performed.
Disclosure of Invention
Based on this, it is necessary to provide a robot simulation system for solving the problem that the lack of a robot arm does not allow simulation work to be performed.
The embodiment of the application provides a robot simulation system, which comprises a mechanical arm simulation system. The mechanical arm simulation system comprises a mechanical arm simulation control device and a mechanical arm simulation movement device. The mechanical arm simulation control device is used for being connected with the main control system. The mechanical arm simulation control device is used for receiving a motion control command, analyzing the motion control command to obtain a motion mode, and obtaining joint information according to the motion mode. The mechanical arm simulation movement device is connected with the mechanical arm simulation control device. The mechanical arm simulation movement device is used for simulating movement of the mechanical arm according to the joint information.
In one embodiment, the robotic arm simulation control device includes a motion data receiver, a pattern parser, a path planner, and a path executor. The motion data receiver is used for being connected with the main control system. The motion data receiver is configured to receive the motion control command. The pattern parser is coupled to the motion data receiver. The mode receiver is used for analyzing the motion control command to obtain the motion mode. The path planner is connected with the pattern parser. The path planner is used for obtaining the joint information according to the motion mode. The path executor is respectively connected with the mechanical arm simulated motion device and the path planner, and the path executor is used for outputting the joint information to the mechanical arm simulated motion device.
In one embodiment, the mechanical arm simulation movement device comprises a joint controller and a virtual node controller, wherein the joint controller is respectively connected with the path executor and the virtual node controller, and the joint controller is used for mapping the joint information to the virtual nodes in the virtual node controller so as to simulate the mechanical arm movement.
In one embodiment, the robotic simulation system further comprises a switch simulation system. The switch simulation system is used for being connected with the main control system. The switch simulation system is used for simulating the switch state of the switch and outputting the switch information corresponding to the switch state to the main control system.
In one embodiment, the switch simulation system further comprises a switch simulator, a data manager, and a data processing device.
The switch simulator is used for simulating the switch state of the switch and outputting switch information corresponding to the switch state. The data manager is connected with the switch simulator. The data manager is used for storing the switch information.
The data processing device is respectively connected with the data manager and the main control system. The data processing device is used for receiving the switch request command output by the main control system and analyzing the switch request command. The data processing device is also used for collecting the switch information according to the analyzed switch request command and transmitting the switch information to the main control system.
In one embodiment, the data processing apparatus includes a switch data receiver, a data parser, a data processor, and a data transmitter.
The switch data receiver is used for being connected with the main control system. The switch data receiver is used for receiving a switch request command output by the main control system.
The data parser is coupled to the switch data receiver. The data parser is configured to parse the switch request command.
The data processor is respectively connected with the data manager and the data analyzer. The data processor is used for outputting the analyzed switch request command to the data manager and collecting the switch information.
The data transmitter is respectively connected with the data processor and the main control system. The data transmitter is used for outputting the switch information to the main control system.
In one embodiment, the switch simulation system includes an anomaly simulator. The anomaly simulator is connected with the data manager. The anomaly simulator is used for generating anomaly information to simulate an anomaly condition and sending the anomaly information to the data manager.
In one embodiment, the robot simulation system further comprises a camera simulation system, wherein the camera simulation system is used for being connected with the main control system, and the camera simulation system is used for shooting a scene image of the movement of the mechanical arm by the camera device.
In one embodiment, the camera simulation system includes a parameter adjuster, a scene master, and an imaging controller. The parameter adjuster is used for setting the analog shooting parameters. The scene master controller is respectively connected with the master control system and the parameter adjuster. The scene master controller is used for acquiring scene information from the master control system, forming a mechanical arm movement scene, and forming a scene range according to the simulated shooting parameters. The imaging controller is connected with the scene master controller. And the imaging controller is used for capturing a screen of the mechanical arm moving scene according to the scene range to obtain an unprocessed simulation image.
In one embodiment, the camera simulation system further comprises an object identifier. The object identifier is respectively connected with the scene master controller and the imaging controller. The object identifier is used for acquiring the scene information from the scene master controller, marking the unprocessed analog image according to the scene information to obtain marking information, and outputting the marking information to the imaging controller. The imaging controller is also used for outputting a scene image simulating the movement of the mechanical arm according to the unprocessed simulation image and the annotation information.
A control method of a robot simulation system, the robot simulation system including a robot arm simulation system and a switch simulation system, the switch simulation system storing therein switch information, the control method comprising:
and sending a switch request command to the switch simulation system, and sending a motion control command to the mechanical arm simulation system when the switch information output by the switch simulation system is received to be confirmed to be executed, wherein the mechanical arm simulation system simulates the motion of the mechanical arm according to the motion control command.
In one embodiment, the switch simulation system includes first switch information corresponding to a switch state of a ground brake switch and second switch information corresponding to a switch state of the foot brake switch, the step of sending a switch request command to the switch simulation system, and when receiving the switch information output by the switch simulation system is determined to be executed, sending a motion control command to the mechanical arm simulation system, where the mechanical arm simulation system simulates the motion of the mechanical arm according to the motion control command includes:
and sending a first request command to the switch simulation system.
And when the first switch information output by the switch simulation system is the information for determining the locking of the ground brake switch, a second request command is sent to the switch simulation system.
And when the second switch information output by the switch simulation system is the pedal trampled information, the motion control command is sent to the mechanical arm simulation system, and the mechanical arm simulation system simulates the mechanical arm to move according to the motion control command.
In one embodiment, when the second switch information output by the switch simulation system is pedal information, the motion control command is sent to the mechanical arm simulation system, and the mechanical arm simulation system simulates the mechanical arm motion according to the motion control command further includes:
when the second switch information output by the switch simulation system is the pedal trampled information, the motion control command is sent to the mechanical arm simulation system, the mechanical arm simulation system simulates the mechanical arm to move according to the motion control command, meanwhile, a photographing command is sent to the photographing simulation system, and the photographing simulation system outputs a scene image simulating the mechanical arm to move.
The robot simulation system provided by the embodiment of the application comprises a mechanical arm simulation system. The mechanical arm simulation system comprises a mechanical arm simulation control device and a mechanical arm simulation movement device. The mechanical arm simulation control device is used for being connected with the main control system. The mechanical arm simulation control device is used for receiving a motion control command, analyzing the motion control command to obtain a motion mode, and obtaining joint information according to the motion mode. The mechanical arm simulation movement device is connected with the mechanical arm simulation control device. The mechanical arm simulation movement device is used for simulating movement of the mechanical arm according to the joint information. The robot simulation system obtains a motion mode after analyzing the motion control command sent by the main control system, and obtains corresponding joint information according to the motion mode. The mechanical arm simulation movement device simulates the mechanical arm to run in the corresponding movement mode according to the joint information. Even if the mechanical arm structure is absent, the robot simulation system enables the work simulating the real scene to be normally performed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a robotic simulation system according to an embodiment of the present application;
fig. 2 is a schematic control flow diagram of the robotic simulation system according to an embodiment of the application.
Reference numerals:
a robotic simulation system 100; a master control system 10; a lower computer control system 110; a virtual drive system 120; a robotic arm simulation system 20; a robot arm simulation control device 200; a motion data receiver 210; a pattern parser 220; a path planner 230; a path executor 240; the robotic arm simulate motion device 300; a joint controller 310; a virtual node controller 320; a switch simulation system 40; a switching simulator 410; a data manager 420; a data processing device 430; a switching data receiver 431; a data parser 432; a data processor 433; a data transmitter 434; an anomaly simulator 440; a camera simulation system 50; a parameter adjuster 510; scene master 520; an imaging controller 530; an object identifier 540.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the application, which is therefore not limited to the specific embodiments disclosed below.
The numbering of the components itself, e.g. "," second ", etc., is used herein only to divide the objects described, and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the present application, unless expressly stated or limited otherwise, a feature "up" or "down" on a second feature may be in direct contact with that second feature or in indirect contact with that second feature via an intervening medium. Moreover, features "above", "over" and "on" a second feature may be features directly above or obliquely above the second feature, or simply indicate that the feature level is higher than the second feature. Features "under", "under" and "beneath" a second feature may be features directly under or obliquely under the second feature, or simply mean that the feature level is less than the second feature.
Referring to fig. 1, an embodiment of the present application provides a robotic simulation system 100, including a robotic arm simulation system 20. The robot arm simulation system 20 includes a robot arm simulation control device 200 and a robot arm simulation movement device 300. The mechanical arm simulation control device 200 is used for being connected with the main control system 10. The mechanical arm simulation control device 200 is configured to receive a motion control command, analyze the motion control command to obtain a motion mode, and obtain joint information according to the motion mode. The mechanical arm simulation movement device 300 is connected with the mechanical arm simulation control device 200. The mechanical arm simulation movement device 300 is used for simulating mechanical arm movement according to the joint information.
The embodiment of the application provides a robot simulation system 100, which obtains a motion mode by analyzing a motion control command sent by a main control system 10, and obtains corresponding joint information according to the motion mode. The mechanical arm simulation movement device 300 simulates the mechanical arm to operate in the corresponding movement mode according to the joint information. The robotic simulation system 100 allows simulation work to proceed normally even in the absence of a robotic arm structure.
In one embodiment, the motion patterns include two motion patterns, moveL and MoveJ. In the MoveL mode, the mechanical arm moves linearly from the starting point to the tail end of the target point, and in the moving process, the position information of a plurality of joint points contained in the mechanical arm needs to be continuously calculated. The position information includes position coordinate information. In the MoveJ mode, from the starting point to the tail end of the mechanical arm of the target point, the position information of a plurality of joint points contained in the mechanical arm is determined, and new calculation is not needed.
The mechanical arm simulation control device 200 is used for performing relevant analysis, query and other processing on data such as command information, mode information and the like.
The mechanical arm simulation movement device 300 is configured to simulate a movement process or an operation gesture of the mechanical arm according to the joint information of the joint point obtained after the processing of the mechanical arm simulation control device 200. The robotic arm simulated motion device 300 is also configured to be presented in the form of images, charts, or data.
In one embodiment, the master control system 10 includes a lower computer control system 110 (CSW) and a virtual drive system 120. The master control system 10 is used in connection with a surgical planning station. The virtual drive system 120 is connected to the lower computer control system 110 and the mechanical arm simulation system 20, respectively.
The surgical planning station is configured to receive surgical planning information including, but not limited to, target location information, surgical robotic system parameters, and the like. The surgical planning station is also configured to transmit path information to the lower computer control system 110. The lower computer control system 110 is configured to obtain the motion control command according to the path information, and output the motion control command to the virtual drive system 120. The virtual drive system 120 drives the robot simulation system 20 by converting the motion control commands into a form of a mechanical language.
In one embodiment, the robotic arm simulation control device 200 includes a motion data receiver 210, a pattern parser 220, a path planner 230, and a path executor 240. The motion data receiver 210 is configured to interface with the master control system 10. The motion data receiver 210 is configured to receive the motion control command. The pattern parser 220 is coupled to the athletic data receiver 210. The pattern parser 220 is configured to parse the motion control command to obtain the motion pattern. The path planner 230 is coupled to the pattern parser 220. The path planner 230 is configured to obtain the joint information according to the movement pattern. The path executor 240 is respectively connected with the mechanical arm simulation movement device 300 and the path planner 230, and the path executor 240 is used for outputting the joint information to the mechanical arm simulation movement device 300.
The motion data receiver 210 is configured to receive the motion control command output by the virtual drive system 120. The motion control command includes information related to a motion pattern.
The mode analyzer 220 is configured to analyze a motion mode of the corresponding mechanical arm according to the motion control command. The motion pattern includes a pattern type, motion parameters related to the pattern type, and the like. The motion parameters comprise time nodes, the number of the joint nodes, joint point marks, joint point position information and the like
If the mode parser 220 parses the motion mode, the path planner 230 calculates all the motion trajectory points at the end of the mechanical arm and the joint information of all the joints of the mechanical arm corresponding to each trajectory point according to the motion parameters.
If the pattern parser 220 parses the MoveJ pattern, the path planner 230 does not need to perform computation, and skips directly. Since the joint information in the MoveJ mode is determined, that is, the position information of all the joints corresponding to the end point from the start point to the target point of the mechanical arm is determined, no new calculation is required. The path planner 230 acts as a data extractor. The path executor 240 outputs the joint information extracted by the path planner 230.
In one embodiment, the robot arm simulation motion apparatus 300 includes a joint controller 310 and a virtual node controller 320, wherein the joint controller 310 is connected to the path executor 240 and the virtual node controller 320, respectively, and the joint controller 310 is configured to map the joint information onto a virtual node in the virtual node controller 320 to simulate the robot arm motion.
The joint controller 310 obtains the joint information from the path executor 240, i.e. obtains the joint values of the joints corresponding to all the track points of the mechanical arm.
The virtual node controller 320 comprises an OSG node controller. The joint controller 310 is configured to map joint values of the joints corresponding to all the track points to virtual nodes in the OSG node controller, so as to simulate the movement of the mechanical arm.
In one embodiment, the robotic simulation system 100 further includes a switch simulation system 40. The switch simulation system 40 is used for connecting with the master control system 10. The switch simulation system 40 is configured to simulate a switch state of a switch, and output switch information corresponding to the switch state to the master control system 10.
The switch simulation system 40 is used to simulate the switch state of a ground brake, foot pedal, air switch or other type of switch. The switch state includes an "open", "closed", "locked" or "unlocked" state. Different switch states correspond to different switch information.
The switch simulation system 40 is configured to send the switch information to the master control system 10 when receiving the request information sent by the master control system 10.
In one embodiment, the switch simulation system 40 is used to simulate a ground brake switch and a foot pedal switch. The switch simulation system 40 is configured to output first switch information corresponding to the ground brake switch and second switch information corresponding to the foot switch to the main control system 10.
The first switch information comprises information such as whether the ground brake is locked or not. The second switch information includes information such as whether the pedal is stepped on or not.
In a specific embodiment, the switch simulation system 40 is configured to send the first switch information to the master control system 10 when receiving a first request command sent by the master control system 10. The switch simulation system 40 is configured to send the second switch information to the master control system 10 when receiving a second request command sent by the master control system 10.
In one embodiment, the switch simulation system 40 further includes a switch simulator 410, a data manager 420, and a data processing device 430. The switch simulator 410 is configured to simulate a switch state of a switch, and output switch information corresponding to the switch state. The data manager 420 is connected to the switch simulator 410. The data manager 420 is configured to store the switching information. The data processing device 430 is connected to the data manager 420 and the master control system 10, respectively. The data processing device 430 is configured to receive a switch request command output by the master control system 10, and parse the switch request command. The data processing device 430 is further configured to collect the switching information according to the parsed switching request command, and transmit the switching information to the master control system 10.
In a specific embodiment, the switch simulator 410 is configured to simulate the switch states of the ground brake switch and the foot brake switch, and output first switch information corresponding to the ground brake switch and second switch information corresponding to the foot brake switch. The data manager 420 is configured to store the first switching information and the second switching information.
The data processing device 430 is configured to send the first switch information to the master control system 10 when receiving a first request command sent by the master control system 10. The switch simulation system 40 is configured to send the second switch information to the master control system 10 when receiving a second request command sent by the master control system 10.
In a specific embodiment, the data processing device 430 is configured to send the first switch information to the virtual drive system 120 when receiving a first request command sent by the virtual drive system 120. The data processing device 430 is configured to send the second switching information to the virtual drive system 120 when receiving a second request command sent by the virtual drive system 120. The virtual driving system 120 then sends the second switch information to the lower computer control system 110.
In one embodiment, the data processing device 430 includes a switch data receiver 431, a data parser 432, a data processor 433, and a data transmitter 434. The switch data receiver 431 is used for connecting with the master control system 10. The switch data receiver 431 is configured to receive a switch request command output by the master control system 10. The data parser 432 is connected to the switching data receiver 431. The data parser 432 is configured to parse the switch request command. The data processor 433 is connected to the data manager 420 and the data parser 432, respectively. The data processor 433 is configured to output the parsed switch request command to the data manager 420, and collect the switch information. The data transmitter 434 is connected to the data processor 433 and the host system 10, respectively. The data transmitter 434 is configured to output the switching information to the master control system 10.
In a specific embodiment, the switch data receiver 431 is configured to receive the first request command or the second request command output by the master control system 10. The data parser 432 is configured to parse the first request command or the second request command. The data processor 433 is configured to output the parsed first request command or the parsed second request command to the data manager 420, and collect the first switch information or the second switch information correspondingly. The data processor 433 is further configured to output the first switch information or the second switch information to the host system 10.
In a specific embodiment, the lower computer control system 110 outputs the first request command or the second request command to the switching data receiver 431 through the virtual driving system 120. The data parser 432 is configured to parse the first request command or the second request command. The data processor 433 is configured to output the parsed first request command or the parsed second request command to the data manager 420, and collect the first switch information or the second switch information correspondingly. The data processor 433 is further configured to output the first switching information or the second switching information to the virtual drive system 120. The virtual driving system 120 then sends the first switch information or the second switch information to the lower computer control system 110.
The switch data receiver 431 may be the same data receiver as the motion data receiver 210, or may be a separate data receiver.
In one embodiment, the switch simulation system 40 includes an anomaly simulator 440. The anomaly simulator 440 is coupled to the data manager 420. The anomaly simulator 440 is configured to generate anomaly information to simulate an anomaly, and to send the anomaly information to the data manager 420. The anomaly simulator 440 is used for simulating the abnormal state of the switch and generating the anomaly information. The abnormal information comprises abnormal ground brake supporting leg motors and the like.
In one embodiment, the robot simulation system 100 further includes a camera simulation system 50, where the camera simulation system 50 is used for connecting with the master control system 10, and the camera simulation system 50 is used for simulating a camera to capture a scene image of the movement of the mechanical arm. The scene image of the mechanical arm motion comprises main body structures such as the mechanical arm, a peripheral environment and the like, and further comprises labeling information and the like of the main body.
The image pickup device comprises a video camera, a video recorder, a camera and the like.
In one embodiment, the camera simulation system 50 includes a parameter adjuster 510, a scene master 520, and an imaging controller 530. The parameter adjuster 510 is used to set the analog image capturing parameters. The scene master 520 is respectively connected with the master control system 10 and the parameter adjuster 510. The scene master controller 520 is configured to obtain scene information from the master control system 10, form a motion scene of the mechanical arm, and form a scene range according to the simulated image capturing parameters. The imaging controller 530 is coupled to the scene master 520. The imaging controller 530 is configured to screen capture the motion scene of the mechanical arm according to the scene range, so as to obtain an unprocessed analog image.
In one embodiment, the camera simulation system 50 further includes an object identifier 540. The object identifier 540 is connected to the scene master 520 and the imaging controller 530, respectively. The object identifier 540 is configured to obtain the scene information from the scene master controller 52, obtain the unprocessed analog image from the imaging controller 530, annotate the unprocessed analog image according to the external scene information, obtain annotation information, and output the annotation information to the imaging controller 530. The imaging controller 530 is further configured to output a scene image simulating the motion of the robotic arm according to the unprocessed simulated image and the annotation information.
The simulated imaging parameters include resolution, closest and farthest distances of the camera to the view volume, camera field of view, and viewing angle.
The scene master 520 is configured to acquire coordinate system information of all objects in the scene when external scene information is updated, and synchronize the coordinate system information to the object identifier 540. The scene master 520 is also configured to send a scene range to the imaging controller 530 based on the simulated camera parameters.
In a specific embodiment, the object identifier 540 receives the field of view information (unprocessed analog image) of the imaging controller 530, and in combination with the current scene information, identifies the individual in the current field of view by comparing the field of view information with the coordinates of the individual in the scene, and sends the labeling information to the imaging controller 530.
The imaging controller 530 is configured to receive a field of view of the scene master 520, and screen capture a scene within the field of view to obtain field of view information (unprocessed analog image). The object identifier 540 receives the field of view information (unprocessed analog image) of the imaging controller 530, and in combination with the current scene information, identifies the individual in the current field of view by comparing the field of view information with the coordinates of the individual in the scene, and sends the labeling information to the imaging controller 530.
The imaging controller 530 is configured to accept the object identifier 540 to annotate the captured image, and after annotating the individual annotation in the current scene range, the whole image is used as a frame of image (a scene image simulating the motion of the mechanical arm). The imaging controller 530 is also configured to display the image in a virtual camera window.
The embodiment of the application provides a control method of a robot simulation system 100, wherein the robot simulation system 100 comprises a mechanical arm simulation system 20 and a switch simulation system 40. The switch simulation system 40 stores switch information therein. The control method comprises the following steps:
and S100, sending a switch request command to the switch simulation system 40, and when receiving the switch information output by the switch simulation system 40 as determining execution, sending a motion control command to the mechanical arm simulation system 20, wherein the mechanical arm simulation system 20 simulates mechanical arm motion according to the motion control command.
Referring to fig. 2, in one embodiment, the switch simulation system 40 includes first switch information corresponding to a switch state of the ground brake switch and second switch information corresponding to a switch state of the foot brake switch. The S100 includes:
s110, a first request command is sent to the switch simulation system 40.
And S120, when the first switch information output by the switch simulation system 40 is the information of the locking of the ground brake switch, a second request command is sent to the switch simulation system 40.
And S130, when the second switch information output by the switch simulation system 40 is the pedal trampled information, the motion control command is sent to the mechanical arm simulation system 20, and the mechanical arm simulation system 20 simulates the mechanical arm motion according to the motion control command.
The first request command comprises information such as whether the ground brake is locked or not. The second request command includes information such as whether the pedal is stepped on.
In one embodiment, the robotic simulation system 100 further includes a camera simulation system 50. The S130 further includes: when the second switch information output by the switch simulation system 40 is the pedal trampled information, the motion control command is sent to the mechanical arm simulation system 20, the mechanical arm simulation system 20 simulates the mechanical arm motion according to the motion control command, and simultaneously sends a photographing command to the photographing simulation system 50, and the photographing simulation system 50 outputs a scene image simulating the mechanical arm motion.
In one embodiment, before the step S100, the control method further includes:
the control robot simulation system 20, the switch simulation system 40, and the camera simulation system 50 are initialized.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The examples described above represent only a few embodiments of the present application and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (16)
1. A robotic arm simulation system, comprising:
the mechanical arm simulation control device is used for being connected with the main control system to receive the motion control command, analyzing the motion control command to obtain a motion mode, and obtaining joint information according to the motion mode;
and the mechanical arm simulation movement device is connected with the mechanical arm simulation control device and is used for simulating the movement of the mechanical arm according to the joint information.
2. The robotic arm simulation system according to claim 1, wherein the robotic arm simulation control device includes:
and the motion data receiver is used for being connected with the main control system and receiving the motion control command.
3. The robotic arm simulation system according to claim 2, wherein the robotic arm simulation control device further comprises:
and the mode analyzer is connected with the motion data receiver and is used for analyzing the motion control command to obtain the motion mode.
4. The robotic arm simulation system according to claim 3, wherein the robotic arm simulation control device further comprises:
and the path planner is connected with the pattern analyzer and is used for obtaining the joint information according to the motion pattern.
5. The robotic arm simulation system according to claim 4, wherein the robotic arm simulation control device further comprises:
the path executor is respectively connected with the mechanical arm simulation movement device and the path planner, and is used for outputting the joint information to the mechanical arm simulation movement device.
6. The robotic arm simulation system according to claim 5, wherein the motion pattern includes a pattern type and a motion parameter associated with the pattern type.
7. The robotic arm simulation system of claim 6, wherein,
if the motion mode obtained by the mode analyzer is a MoveL mode, the path planner obtains a plurality of track points at the tail end of the mechanical arm and joint information of a plurality of joints of the mechanical arm corresponding to the track points according to the motion parameters;
and if the motion mode obtained by the mode analyzer is a moveJ mode, the path executor outputs the joint information extracted by the path planner.
8. The robotic arm simulation system according to any of claims 6 or 7, wherein the motion parameters include time nodes, number of nodes, node markers, and node position information.
9. The robotic arm simulation system according to claim 5, wherein the robotic arm simulation motion apparatus includes a joint controller and a virtual node controller, the joint controller being coupled to the path executor and the virtual node controller, respectively, the joint controller being configured to map the joint information onto a virtual node in the virtual node controller to simulate the robotic arm motion.
10. A robotic simulation system comprising the robotic arm simulation system of claim 1; the system further comprises:
the switch simulation system is used for being connected with the main control system, simulating the switch state of the switch and outputting the switch information corresponding to the switch state to the main control system.
11. The robotic simulation system according to claim 10, wherein the switch simulation system further comprises:
the switch simulator is used for simulating the switch state of the switch and outputting switch information corresponding to the switch state;
the data manager is connected with the switch simulator and is used for storing the switch information;
the data processing device is respectively connected with the data manager and the main control system, and is used for receiving the switch request command output by the main control system, analyzing the switch request command, collecting the switch information according to the analyzed switch request command and transmitting the switch information to the main control system.
12. The robotic simulation system as claimed in claim 11, wherein the data processing means comprises:
the switch data receiver is used for being connected with the main control system and receiving a switch request command output by the main control system;
the data analyzer is connected with the switch data receiver and is used for analyzing the switch request command;
the data processor is respectively connected with the data manager and the data analyzer, and is used for outputting the analyzed switch request command to the data manager and collecting the switch information;
the data transmitter is respectively connected with the data processor and the main control system and is used for outputting the switch information to the main control system.
13. The robotic simulation system according to claim 11, wherein the switch simulation system comprises:
the anomaly simulator is connected with the data manager and is used for generating anomaly information to simulate an anomaly condition and sending the anomaly information to the data manager.
14. A robotic simulation system comprising the robotic arm simulation system of claim 1; the system also comprises a shooting simulation system, wherein the shooting simulation system is used for being connected with the main control system, and the shooting simulation system is used for shooting scene images of the movement of the mechanical arm by the shooting device.
15. The robotic simulation system according to claim 14, wherein the camera simulation system comprises:
a parameter adjuster for setting analog photographing parameters;
the scene master controller is respectively connected with the master control system and the parameter adjuster, and is used for acquiring scene information from the master control system to form a mechanical arm movement scene and forming a scene range according to the simulated shooting parameters;
and the imaging controller is connected with the scene master controller and is used for capturing a screen of the mechanical arm moving scene according to the scene range to obtain an unprocessed analog image.
16. The robotic simulation system according to claim 15, wherein the camera simulation system further comprises:
the object identifier is respectively connected with the scene main controller and the imaging controller, and is used for acquiring the scene information from the scene main controller, marking the unprocessed analog image according to the scene information to obtain marking information, and outputting the marking information to the imaging controller; the imaging controller is also used for outputting a scene image simulating the movement of the mechanical arm according to the unprocessed simulation image and the annotation information.
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| CN107932504B (en) * | 2017-11-13 | 2020-11-13 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
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