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CN-121989291-A - Automatic identification device and method for mechanical arm tail end mounting tool and electronic equipment

CN121989291ACN 121989291 ACN121989291 ACN 121989291ACN-121989291-A

Abstract

The invention provides an automatic identification device and method for a tool mounted at the tail end of a mechanical arm and electronic equipment, wherein the system comprises an RFID tag, a control module and an RFID reader, and tool load information in the RFID tag is periodically read by the RFID reader; the control module is used for sequentially calculating the confidence coefficient of each tool load at the current moment, sequentially judging whether the confidence coefficient of each tool load is larger than or equal to a first preset threshold value, sequentially judging whether each tool load is currently considered as the tool load installed at the tail end of the mechanical arm according to the judging result, acquiring the preset control parameters of the mechanical arm currently considered as the tool load installed at the tail end of the mechanical arm, inputting the preset control parameters of the mechanical arm into the mechanical arm controller, and automatically identifying the tool load installed at the tail end of the mechanical arm, so that misjudgment possibly caused by manual identification is avoided, and the accuracy of the whole mechanical arm operation system is improved.

Inventors

  • HU TIANMING
  • ZHANG MIAO

Assignees

  • 北京天智航医疗科技股份有限公司

Dates

Publication Date
20260508
Application Date
20241105

Claims (12)

  1. 1. An automatic recognition device for a tool mounted at the tail end of a mechanical arm, wherein the automatic recognition device for the tool mounted at the tail end of the mechanical arm comprises: -an RFID tag (1), the RFID tag (1) being arranged on a tool load; The control module is in control connection with the RFID reader-writer and is used for controlling the RFID reader-writer to read the information of the tool load in the RFID tag (1), acquiring the preset control parameters of the mechanical arm corresponding to the information of the tool load according to the information of the tool load and controlling the operation of the mechanical arm according to the preset control parameters of the mechanical arm corresponding to the information of the tool load; an RFID reader for reading an RFID tag (1).
  2. 2. The automatic recognition device for the mechanical arm tail end mounting tool according to claim 1, wherein a flange plate (4) is arranged at the mechanical arm tail end, a machine head (2) is mounted on the flange plate (4), and the tool load is mounted on the machine head (2).
  3. 3. The automatic robot arm end-of-arm-mounted tool recognition device according to claim 2, further comprising an RFID antenna (3), the RFID antenna (3) being provided on the handpiece (2), the RFID antenna (3) being adapted to generate an electromagnetic field enabling the RFID reader-writer to read information of tool loads in the RFID tag (1) within a first preset distance range of the RFID antenna (3).
  4. 4. The automatic robot arm end mounting tool recognition device according to claim 1, wherein the control module comprises an RFID tag (1) processing module and a robot arm controller; the RFID tag (1) processing module is in communication connection with the mechanical arm controller, and the RFID tag (1) processing module is used for processing tool load information of the RFID tag (1) acquired by the RFID reader-writer, further obtaining mechanical arm preset control parameters corresponding to the tool load information, inputting the mechanical arm preset control parameters to the mechanical arm controller, and controlling operation of the mechanical arm.
  5. 5. An automatic identification method for a mechanical arm tail end mounting tool is characterized by comprising the following steps: s100, periodically reading tool load information of all RFID tags (1) in a first preset distance of an RFID antenna (3) by using an RFID reader-writer; S200, sequentially calculating the confidence coefficient of each tool load at the current moment, sequentially judging whether the confidence coefficient of each tool load is larger than or equal to a first preset threshold value, and sequentially judging whether each tool load is currently considered to be the tool load mounted at the tail end of the mechanical arm according to the judging result; and S300, acquiring preset control parameters of the mechanical arm currently considered as the tool load installed at the tail end of the mechanical arm, inputting the preset control parameters of the mechanical arm into a mechanical arm controller, and controlling the operation of the mechanical arm.
  6. 6. The automatic recognition method for the end-of-arm-mounted tool according to claim 5, wherein the sequentially calculating the confidence of each tool load at the current time comprises: judging whether each tool load at the current moment is contained in a first preset tool list, and calculating the confidence coefficient of each tool load at the current moment according to the judging result and the confidence coefficient of each tool load at the previous moment.
  7. 7. The method for automatically identifying a tool mounted on an end of a robot arm according to claim 6, wherein the calculating the confidence of each tool load at the current time comprises: The confidence of the Tool load Tool at the current moment is denoted as f t (Tool), the confidence of the Tool load at the last moment is denoted as f t-1 (Tool), and f t (Tool) is calculated as follows: f t (Tool)＝f t-1 (Tool)+I(Tool)-r*(1-I(Tool)); wherein r is a Tool failure parameter, and I (Tool) represents a determination result of whether the Tool is in the first preset Tool list, if yes, it is 1, and if not, it is 0, specifically expressed as follows: wherein ToolList RFID denotes a first preset tool list.
  8. 8. The method for automatically identifying a tool mounted on an end of a robot arm according to claim 7, wherein the calculating the confidence of each tool load at the current time further comprises: Setting a first preset range of the confidence coefficient of the tool load as [0, f max ], setting the value of the confidence coefficient as an upper limit value f max when the calculated confidence coefficient of the tool load at the current moment exceeds the upper limit value of the first preset range, and setting the value of the confidence coefficient as a lower limit value when the calculated confidence coefficient of the tool load at the current moment exceeds the lower limit value, wherein the specific expression is as follows: where f max is denoted as the upper limit of confidence and 0 is denoted as the lower limit of confidence.
  9. 9. The automatic recognition method of a robot arm end-of-arm-mounted tool according to claim 8, wherein the sequentially determining whether each tool load is currently considered to be a tool load mounted at the robot arm end according to the determination result, comprises: If the confidence coefficient of the current tool load is larger than or equal to a first preset threshold value, judging that the current tool load is considered to be the tool load installed at the tail end of the mechanical arm; if the confidence coefficient of the tool load is smaller than a first preset threshold value, judging that the current tool load is not the tool load installed at the tail end of the mechanical arm, and continuing to read the information of the tool load in the next RFID tag (1).
  10. 10. The method of claim 9, wherein the acquiring the preset control parameters of the robot arm currently considered to be the tool load mounted at the robot arm end and inputting the preset control parameters of the robot arm into the robot arm controller, and controlling the operation of the robot arm, comprises: Judging whether all tool load combinations corresponding to the currently acquired mechanical arm preset control parameters are positioned in the combination situation contained in the second preset tool combination list, and judging whether to output abnormal signals according to the judging result.
  11. 11. The automatic recognition method of a robot arm end mounting tool according to claim 10, wherein the determining whether to output the abnormal signal according to the determination result comprises: If all tool load combinations corresponding to the currently acquired mechanical arm preset control parameters are located in the combination situation contained in the second preset tool combination list, no abnormal signal is output, the mechanical arm preset control parameters are input to a mechanical arm controller, and the mechanical arm is controlled to operate; If all the tool load combinations corresponding to the currently acquired mechanical arm preset control parameters are not located in the combination situation contained in the second preset tool combination list, judging to output an abnormal signal, and inputting the abnormal signal to a mechanical arm controller.
  12. 12. An electronic device, comprising: And a processor having stored thereon computer readable instructions which when executed by the processor implement the robotic arm end effector automatic recognition method according to any one of claims 1 to 8.

Description

Automatic identification device and method for mechanical arm tail end mounting tool and electronic equipment Technical Field The invention relates to the technical field of automatic identification of a mechanical arm tail end mounting tool, in particular to an automatic identification device and method for a mechanical arm tail end mounting tool and electronic equipment. Background The accuracy of the load compensation during use of the mechanical arm, particularly during zero force dragging and force control, has a crucial impact on the overall performance of the system. For robot assisted surgery, according to different surgical formulas, the tool mounted at the tail end of the mechanical arm is of a limited type, but during surgery, the load of the tool mounted at the tail end of the mechanical arm can be replaced at any time, so that the mechanical arm can float or fall easily when the type of the tool at the tail end of the mechanical arm is required to be replaced, in order to ensure the hand feeling during zero-force dragging and the accuracy of the tail end six-dimensional force acquired when the six-dimensional force sensor is adopted for motion control, if the type of the load is known, the manual setting is usually required, and if the type of the load is unknown, the load quality and mass center data are usually required to be identified again. Manual loading can severely hinder the smoothness of the operation, while re-identification of the load requires automatic movement of the robotic arm in several different poses without external disturbing forces, which is often not allowed during robotic arm assisted surgical operations. These constraints severely restrict the smoothness of the power control of the mechanical arm and the use experience of the user. In the prior art, a mechanical arm tail end contact force detection method based on a mechanical arm joint moment sensor is used for synthesizing tail end external force through joint moment, the modeling problem of a complex friction model is also required to be considered, and the problems of poor precision and detection failure caused by the fact that a Jacobian matrix is not full rank when the mechanical arm is in odd-abnormal position exist. Devices and methods for identifying surgical instruments using RFID (Radio-Frequency Identification) have also been proposed in the prior art to identify multiple instruments simultaneously, but the method uses a conveyor detection scheme, has limited spatial layout and may limit the identification speed by the conveyor speed, if the conveyor speed is increased, the RFID reading device may not have enough time to stably read the tag information, resulting in inaccurate identification. Thus, the prior art is still to be further developed. Disclosure of Invention The invention aims to overcome the technical defects and provide an automatic identification device and method for a mechanical arm tail end mounting tool and electronic equipment, so as to solve the problems in the prior art. To achieve the above object, according to a first aspect of the present invention, there is provided an automatic robot arm end-mounted tool recognition apparatus, the robot arm end-mounted tool load, the robot arm end-mounted tool automatic recognition apparatus comprising: an RFID tag disposed on a tool load; The control module is in control connection with the RFID reader-writer and is used for controlling the RFID reader-writer to read the information of the tool load in the RFID tag, acquiring the preset control parameters of the mechanical arm corresponding to the information of the tool load according to the information of the tool load and controlling the operation of the mechanical arm according to the preset control parameters of the mechanical arm corresponding to the information of the tool load; and the RFID reader-writer is used for reading the RFID tag. Specifically, the tail end of the mechanical arm is provided with a flange plate, a machine head is arranged on the flange plate, and the tool load is arranged on the machine head. Specifically, the automatic tool recognition device for the tail end of the mechanical arm further comprises an RFID antenna, wherein the RFID antenna is arranged on the machine head and is used for generating an electromagnetic field, so that the RFID reader-writer can read the information of tool loads in the RFID tag within a first preset distance range of the RFID antenna. Specifically, the control module comprises an RFID tag processing module and a mechanical arm controller; The RFID tag processing module is in communication connection with the mechanical arm controller, and is used for processing tool load information of the RFID tag acquired by the RFID reader-writer, further obtaining mechanical arm preset control parameters corresponding to the tool load information, inputting the mechanical arm preset control parameters to the mechanical arm controller, and controllin