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US 12,589,491 B2Granted
Methods, systems, and devices for motion control of at least one working head
AssigneeZhejiang Huaray Technology Co., Ltd.
InventorsShang Zhou, Kai Wang, Yu Liu, Lu Zhou, Ming Li
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Abstract
The present disclosure provides a method for motion control of at least one working head. The method may include obtaining a target region of a subject based on a scan of a high-precision measuring device. The method may also include determining depth information corresponding to the target region based on the target region. The method may further include determining a motion trajectory of the at least one working head based on the depth information.
Claims17
A method for motion control of at least one working head, comprising:
- obtaining a target region of a subject based on a scan of a high-precision measuring device;
- determining depth information corresponding to the target region based on the target region, wherein the depth information includes point cloud data and a set of endpoints, the determining depth information further comprising:
- obtaining the point cloud data of the target region based on the target region of the subject;
- and
- determining the set of endpoints of the target region based on the point cloud data of the target region;
- and
- determining a motion trajectory of the at least one working head based on the depth information, comprising:
- determining whether coordinates of endpoints in the set of endpoints are continuous in motion direction;
- in response to determining the coordinates of endpoints in the set of endpoints are not continuous in the motion direction, determining at least one turning point between two adjacent endpoints based on coordinates of the two adjacent endpoints that are not continuous in the set of endpoints, wherein the at least one turning point is configured to determine a turning trajectory.
6 more elements
An electronic device, comprising:
- memory configured to store executable instructions;
- and
- a processor configured to perform a method when executing executable instructions stored in the memory, the method includes:
- obtaining a target region of a subject based on a scan of a high-precision measuring device;
- determining depth information corresponding to the target region based on the target region, wherein the depth information includes point cloud data and a set of endpoints, the determining depth information further comprising:
- obtaining the point cloud data of the target region based on the target region of the subject;
- and
- determining the set of endpoints of the target region based on the point cloud data of the target region;
- and
- determining a motion trajectory of the at least one working head based on the depth information, comprising:
- determining whether coordinates of endpoints in the set of endpoints are continuous in motion direction;
- in response to determining the coordinates of endpoints in the set of endpoints are not continuous in the motion direction, determining at least one turning point between two adjacent endpoints based on coordinates of the two adjacent endpoints that are not continuous in the set of endpoints, wherein the at least one turning point is configured to determine a turning trajectory.
9 more elements
A motion control device for at least one working head, comprising:
- an operation platform;
- a high-precision measuring device arranged on the operation platform;
- at least one working head;
- and
- a control assembly configured to control a motion trajectory of the at least one working head based on scanning information of the high-precision measuring device, wherein the high-precision measuring device includes a three-dimensional (3D) line laser measuring instrument, the 3D line laser measuring instrument being arranged at one or both ends of the operation platform along a width direction of the operation platform.
2 more elements
Dependencies are inferred from the claim text.