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CN-122008211-A - Robot control mode switching method, system and storage medium

CN122008211ACN 122008211 ACN122008211 ACN 122008211ACN-122008211-A

Abstract

The invention relates to a robot control mode switching method, a system and a storage medium, which comprise the steps of obtaining an action signal of an operation element, enabling an operator to enter a locking state and enabling a robot to execute corresponding actions according to the action signal; the method comprises the steps of acquiring an operation element exit signal, enabling an operator to enter a master-slave state, wherein the locking state is that the operator cannot move due to locking, or stopping acquiring an operation signal of the operator, or ignoring the acquired operation signal of the operator, and the master-slave state is that a robot executes corresponding actions according to the operation signal of the operator. When the user operates the operation element, the operator is switched to a locking state, so that the operator is prevented from being triggered by mistake due to the concentration of the operation element. When the operation of the operation element is finished, that is, the operation element action finishing signal is obtained, the manipulator is switched to a master-slave state, the manipulator can be operated again, the control mode of the robot is automatically switched, an additional switch is not required to be arranged for manual switching, and continuous operation of the robot is facilitated.

Inventors

  • CHEN YU
  • Yan Pisong
  • LIN SHENGZHI

Assignees

  • 广州市微眸医疗器械有限公司

Dates

Publication Date
20260512
Application Date
20260204

Claims (10)

  1. 1. The robot control mode switching method is characterized by comprising the following steps of: Acquiring an action signal of an operation element, enabling an operator to enter a locking state, and enabling a robot to execute corresponding actions according to the action signal; acquiring an operation element exit signal, wherein the operator enters a master-slave state; the locking state is that the operator is locked and cannot move, or the operation signal of the operator is stopped or the obtained operation signal of the operator is ignored; The master-slave state is that the robot executes corresponding actions according to operation signals of the operators.
  2. 2. The robot control mode switching method according to claim 1, wherein the operation element exit signal includes a completion signal and/or a signal for releasing the operation element, and the completion signal is a signal outputted after the robot performs a corresponding action according to the action signal.
  3. 3. The robot control mode switching method according to claim 2, wherein the action signal comprises preset action information, wherein the action signal and a preset execution instruction are mapped, the preset execution instruction is obtained based on the preset action information corresponding to the action signal after the action signal is obtained, and the robot executes the corresponding action according to the preset execution instruction.
  4. 4. The robot control mode switching method according to claim 3, wherein the preset motion information includes a continuous motion and a short-time motion, a completion signal is obtained after execution of a preset execution instruction corresponding to the short-time motion is completed, and a signal for releasing the operation element is obtained during execution of the preset execution instruction corresponding to the continuous motion.
  5. 5. The robot control mode switching method according to claim 4, wherein the continuous action comprises a long-press operation element, the short-time action comprises a single-click operation element or a double-click operation element, a preset execution instruction corresponding to the long-press operation element is a corresponding motor continuous action, a preset execution instruction corresponding to the single-click operation element is a corresponding motor advancing or retreating at a fixed step distance, and a preset execution instruction corresponding to the double-click operation element is a corresponding motor reset to a specified position.
  6. 6. The robot control system is characterized by comprising a robot, an execution tool, a control component and an operation component, wherein the execution tool, the control component and the operation component are installed on the robot, the operation component comprises an operator and an operation element, the control component is respectively and electrically connected with the robot and the operation component and is used for acquiring control signals of the state of the robot and the operation component and controlling the movement of the robot according to the control signals and the state of the robot, and the control component comprises a data acquisition module, a data processing module, a control mode switching module and a signal output module; the data acquisition module is used for acquiring an operation signal of an operator and an action signal of an operation element; The system comprises a data processing module, a signal output module, a control module and a control module, wherein the data processing module is used for processing operation signals and action signals and converting the operation signals and the action signals into execution instructions of the robot; The control mode switching module is used for switching the state of the operator, and after the data processing module collects the action signals, the control mode switching module is used for switching the state of the operator to a locking state, and when the data collecting module only collects the operation signals or collects the operation element exit signals, the control mode switching module is used for switching the state of the operator to a master-slave state.
  7. 7. The robot control system according to claim 6, wherein the robot comprises a mechanical arm with a plurality of joints, a first driving motor and a second driving motor which are all installed at the tail end of the mechanical arm, the executing tool is installed at the tail end of the mechanical arm, the first driving motor is used for driving the executing tool to move forwards or backwards, the second driving motor is used for driving the executing tool to execute actions, the operating elements comprise a plurality of first operating elements, a second operating element and a third operating element, the control assembly commands the mechanical arm to execute corresponding actions according to operation signals of the operators, the control assembly commands the first driving motor to execute corresponding actions according to operation signals of the first operating elements and the second operating elements, and the control assembly commands the second driving motor to execute corresponding actions according to operation signals of the third operating elements.
  8. 8. The robot control system according to claim 7, wherein the preset motion information of the first operating element, the second operating element and the third operating element includes a single click operating element, a double click operating element and a long press operating element, the preset execution instruction corresponding to the single click operating element of the first operating element is forward at a fixed step distance, the preset execution instruction corresponding to the long press operating element of the first operating element is forward continuously, the preset execution instruction corresponding to the single click operating element of the second operating element is backward at a fixed step distance, the preset execution instruction corresponding to the long press operating element of the second operating element is backward continuously, the preset execution instruction corresponding to the single click operating element of the third operating element is forward at a fixed step distance, the preset execution instruction corresponding to the long press operating element of the third operating element is forward continuously, and the preset execution instruction corresponding to the double click operating element is backward to a preset designated position by the first driving motor and the second driving motor.
  9. 9. The robotic control system according to claim 7, further comprising a locking mechanism coupled to the operator, the locking mechanism being electrically coupled to the control assembly, the locking mechanism being configured to lock the operator to place the operator in a locked state.
  10. 10. A storage medium storing a computer program, wherein the computer program when executed by a processor implements the robot control mode switching method according to any one of claims 1-5.

Description

Robot control mode switching method, system and storage medium Technical Field The present invention relates to the field of robot operation control, and more particularly, to a method, a system, and a storage medium for switching a control mode of a robot. Background With the development of robot technology, the application of robots is becoming wider and wider, and as the existing master-slave robots generally adopt a mode of respectively controlling different driving motors by an operator and an operating element or a plurality of different operating element combinations to control the robot body. The manipulator generally enables the mechanical arm to execute corresponding action instructions in an action mapping mode, the execution tool and the driving device are controlled by an operation element or other operation elements, and a user can enable the surgical robot to execute a desired surgical operation in different signal input modes. However, because part of the usage scene has high precision requirements for operation, a user can neglect to control the operator when operating the operating element or other operating elements, so that an operating element change-over switch is often required to be arranged, the button can be a physical key or a virtual key, the user triggers the operating element change-over switch to manually change the control of different operating elements, for example, the operator is closed by triggering the operating element change-over switch before stepping on the operating element, and then the operator is opened by triggering the operating element change-over switch after stepping on the operating element, but the operation continuity is affected in such a way, and the operation rhythm is prolonged. Disclosure of Invention The invention aims to solve the problem that the operation element and the manipulator need to be manually switched in the prior art, and provides a method, a system and a storage medium for switching a control mode of a robot, wherein the method, the system and the storage medium can also automatically switch according to the operation of the operation element and the manipulator, so that the continuity of the operation of the robot is improved. In order to solve the technical problems, the technical scheme adopted by the invention is that the robot control mode switching method comprises the following steps: Acquiring an action signal of an operation element, enabling an operator to enter a locking state, and enabling a robot to execute corresponding actions according to the action signal; acquiring an operation element exit signal, wherein the operator enters a master-slave state; the locking state is that the operator is locked and cannot move, or the operation signal of the operator is stopped or the obtained operation signal of the operator is ignored; The master-slave state is that the robot executes corresponding actions according to operation signals of the operators. In the above technical solution, the robot is controlled by the manipulator and the operation element, and when receiving the operation signal of the manipulator, the robot executes the corresponding action according to the operation information. When the operation signal of the operation element is received, the robot executes corresponding actions according to the operation signal, and when the operation signal of the operation element is received, the operator enters a locking state, the operator cannot operate or even if the operator generates the operation signal, the robot does not execute actions controlled by the corresponding operator. When the operation element exit signal is acquired, the operation of loosening the operation element or controlling the corresponding operation element by the user is completed, at the moment, the manipulator reenters the master-slave state, the manipulator can be operated, and the robot executes the corresponding operation according to the operation signal of the manipulator. When a user uses the operating element, the operator is automatically locked, and the user cannot control the robot through the operator at the moment, so that the operator is prevented from being accidentally triggered by mistake. When the user releases the operation element or does not use the operation element, the operator is automatically unlocked and can be used by operation, so that the automatic switching of different control modes is realized. Preferably, the operation element exit signal comprises a completion signal and/or a signal for loosening the operation element, wherein the completion signal is a signal which is output after the robot executes corresponding actions according to the action signal. Because the robot needs a certain time to finish the corresponding action according to the action signal, in the time, the user can loosen the operation element, but the manipulator still needs to be in a locking state to keep the stability of the action of