Method of controlling a robotic system into position and robotic system

Abstract

The present disclosure relates to the field of robot control, and discloses a method for controlling a robot system to be positioned. The robot system comprises a mobile station, and the mobile station comprises at least one motion arm. The method comprises: determining an initial pose of the mobile station; obtaining a positioning reference pose for positioning of the at least one motion arm; determining a target pose of the mobile station based on a matching point of the mobile station and the positioning reference pose, wherein the matching point of the mobile station is used for the positioning of the at least one motion arm; determining a motion path for the mobile station based on the initial pose and the target pose; and controlling the mobile station to move to the target pose based on the motion path of the mobile station.

Description

Technical Field

[0001] This disclosure relates to the field of robot control, and more particularly to a method for controlling the positioning of a robot system and the robot system thereof. Background Technology

[0002] With the development of technology, computer-controlled robot systems are increasingly moving autonomously to work areas to perform tasks. In some tasks, the robot system needs to plan a motion path based on the pose of the work object and its environment, and then drive the robot system along the motion path to the target pose in order to perform the task on the work object. Summary of the Invention

[0003] In some embodiments, this disclosure provides a method for controlling the positioning of a robot system. The robot system includes a mobile station, and the mobile station includes at least one motion arm. The method includes: determining an initial pose of the mobile station; obtaining a positioning reference pose for positioning the at least one motion arm; determining a target pose of the mobile station based on a matching point of the mobile station and the positioning reference pose, wherein the matching point of the mobile station is used for positioning the at least one motion arm; determining a motion path for the mobile station based on the initial pose and the target pose; and controlling the mobile station to move toward the target pose based on the motion path of the mobile station.

[0004] In some embodiments, this disclosure provides a computer device including: a memory for storing at least one instruction; and a processor coupled to the memory for executing at least one instruction to perform any of the methods described in the embodiments of this disclosure.

[0005] In some embodiments, this disclosure provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to perform any of the methods described in the embodiments of this disclosure.

[0006] In some embodiments, this disclosure provides a robot system including: a mobile station including at least one motion arm; and a control device configured to perform a method according to any one of the embodiments of this disclosure. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0008] Figure 1 This diagram illustrates a structural block diagram of a robot system according to some embodiments of the present disclosure;

[0009] Figure 2 This diagram illustrates the structure of a robot system according to some embodiments of the present disclosure;

[0010] Figure 3 A schematic diagram of the structure of a mobile station according to some embodiments of the present disclosure is shown;

[0011] Figure 4 A flowchart illustrating a method for controlling the positioning of a mobile station according to some embodiments of the present disclosure;

[0012] Figure 5 A schematic diagram of a location tag according to some embodiments of the present disclosure is shown;

[0013] Figure 6 A schematic diagram illustrating the ArUco identifier according to some embodiments of the present disclosure;

[0014] Figure 7 This diagram illustrates the structure of a connection device according to some embodiments of the present disclosure;

[0015] Figure 8 A schematic diagram of a connection device disposed on a patient according to some embodiments of the present disclosure is shown.

[0016] Figure 9 (a) Figure 9 (b) A schematic diagram showing the placement space of the motion arm mounted on a mobile station according to some embodiments of the present disclosure, wherein Figure 9 (a) A schematic diagram showing the positioning space and positioning point of the motion arm. Figure 9 (b) A schematic diagram showing the matching point of the mobile station with the positioning reference pose;

[0017] Figure 10 (a) Figure 10 (b) A schematic diagram showing the positioning space of the mobile station's arm at different heights according to some embodiments of the present disclosure, wherein Figure 10 (a) is a schematic diagram of the swing arm's position space at the first height. Figure 10 (b) is a schematic diagram of the swing arm's position space at the second height;

[0018] Figure 11 A flowchart illustrating a method for determining a matching point of a mobile station according to some embodiments of the present disclosure is shown.

[0019] Figure 12 A schematic diagram illustrating the collision relationship between a mobile station and a workbench according to some embodiments of the present disclosure;

[0020] Figure 13 A flowchart illustrating a method for adjusting a target configuration of a mobile station according to some embodiments of the present disclosure;

[0021] Figure 14 A schematic diagram illustrating the adjustment of the collision relationship between the mobile station and the workbench according to some embodiments of the present disclosure;

[0022] Figure 15 A schematic block diagram of a computer device according to some embodiments of the present disclosure is shown;

[0023] Figure 16 A schematic diagram of a robot system according to some embodiments of the present disclosure is shown. Detailed Implementation

[0024] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0025] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this disclosure, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," "coupled," and "coupled" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end furthest from the object being operated on (e.g., a patient) is defined as the proximal end, proximal or rear end, or rear portion, while the end closest to the object being operated on is defined as the distal end, distal or front end, or front portion. Those skilled in the art will understand that embodiments of this disclosure can be used in medical devices or surgical robots, as well as in other non-medical devices.

[0026] In this disclosure, the term "position" refers to the location of an object or a portion of an object in three-dimensional space (e.g., three translational degrees of freedom can be described using variations in Cartesian X, Y, and Z coordinates, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In this disclosure, the term "pose" refers to the rotational setting of an object or a portion of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In this disclosure, the term "pose" refers to a combination of the position and pose of an object or a portion of an object, which can be described, for example, using six parameters from the six degrees of freedom mentioned above.

[0027] In this disclosure, the pose of a rover refers to the pose of the rover's defined coordinate system (e.g., the rover's base coordinate system) relative to its spatial coordinate system or world coordinate system. In this disclosure, the rover's pose can include the rover's position and orientation, where the orientation can be the facing direction or movement direction of the rover's main body. In this disclosure, the rover's configuration can include the rover's dimensions (e.g., height, length, etc.) and / or the deflection angle of the entire motion arm mounted on the rover relative to the rover (e.g., the deflection angle of the entire motion arm relative to the rover). In this disclosure, the rover's initial pose can be the pose at the starting point of the motion path, and the rover's target pose can be the pose at the ending point of the motion path. In this disclosure, the rover's motion path can include a global path within its environment or multiple segmented local paths. In this disclosure, the pose of a portion of the motion arm refers to the pose of the coordinate system defined by that portion of the motion arm relative to a reference coordinate system (e.g., the coordinate system defined by the support, base, gimbal, or rover itself, or the world coordinate system). In this disclosure, the configuration of the motion arm can be represented by a set of joint values ​​(e.g., a one-dimensional matrix of these joint values) of the multiple joints included in the motion arm when the motion arm is in that configuration. In this disclosure, the joint values ​​indicate the angle of rotation of the corresponding joint relative to the corresponding joint axis or the distance moved relative to the initial position. In this disclosure, the pose of the end effector of the motion arm can refer to the pose of the end effector coordinate system relative to a reference coordinate system. In this disclosure, the motion path of the mobile station refers to the path traversed by the mobile station from one pose to another. In this disclosure, the environment can refer to the area where the robot system is located, such as a factory floor, laboratory, or operating room.

[0028] Figure 1 A structural block diagram of a robot system 100 according to some embodiments of the present disclosure is shown. Figure 1As shown, the robot system 100 may include a control device 110 and a mobile station 120 connected to the control device 110. In some embodiments, the mobile station 120 may be a mobile platform with wheels on its bottom for wheeled movement, such as a steering wheel trolley, a differential trolley, or an omnidirectional trolley. The control device 110 can control the movement of the mobile station 120 to move it to a desired position and posture, thus achieving positioning. For example, the control device 110 can send drive signals to the mobile station 120 via a CAN bus to control the movement of the mobile station 120 in the form of differential drive or synchronous drive, thereby realizing the movement and posture adjustment of the mobile station 120. Those skilled in the art will understand that the control device 110 may be integrated into the mobile station 120, or it may be separate from the mobile station 120, or it may be located outside the robot system 100.

[0029] In some embodiments, the mobile station 120 may include at least one motion arm (e.g., Figure 2 The multiple motion arms 222 shown Figure 3 Multiple moving arms 320 are shown. For example, such as... Figure 1 As shown, the mobile station 120 may include a first to a fourth motion arm. The motion arm may include a multi-degree-of-freedom motion arm composed of multiple joints. In some embodiments, the motion arm may include a distal end, where an end effector (e.g., a telescope) may be provided. Figure 2 The end device 223 shown or Figure 3 The end effector 390 shown will be described in detail later. In some embodiments, the control device 110 can control the movement and coordination of the mobile arms to adjust their configuration, thereby controlling the mobile arms to avoid obstacles, position themselves, and control the end effector on the mobile arms to perform operations. In this disclosure, positioning refers to adjusting the configuration of at least one mobile arm of the mobile station to achieve a positioning configuration that allows it to perform operations, such as enabling the end of the mobile arm to connect to a connecting device, or enabling the end effector to perform operations, etc. In some embodiments, the positioning of at least one mobile arm may include the deployment, adjustment, and positioning of at least one mobile arm.

[0030] In some embodiments, the robot system 100 can determine a motion path for the mobile station 120 based on its environment, and control the mobile station 120 to move along the motion path towards a target area to achieve automatic positioning of the mobile station 120. Furthermore, the robot system 100 can adjust the configuration of at least one motion arm during or after the mobile station 120's movement to achieve operational readiness. In some embodiments, motion arm operational readiness may include moving the end effector of the motion arm to a positioning pose, in which the end effector can, for example, connect with a connecting device (e.g., a... Figure 2 The connecting device 270 shown or Figure 7The connecting device 700 shown is used for connection, the details of which will be described later. Those skilled in the art will understand that the robot system 100 can be applied to specialized or general-purpose robot systems in multiple fields (e.g., logistics, industrial manufacturing, medical, etc.). As an example, the robot system 100 can be applied to robot systems such as surgical robots, for example, laparoscopic surgical robot systems.

[0031] Figure 2 A schematic diagram of the structure of a robot system 200 according to some embodiments of the present disclosure is shown. Figure 2 As shown, the robot system 200 includes a mobile station 220. In some embodiments, the mobile station 220 may include a mobile station body 221 and at least one motion arm 222, such as four motion arms. In some embodiments, the mobile station body 221 may include, for example, a base (e.g., Figure 3 The base 311 shown) and the crossbeam (e.g.) Figure 3 (See crossbeam 313). At least one motion arm 222 can be movably mounted on the crossbeam of the mobile station.

[0032] Figure 3 A schematic diagram of the structure of a mobile station 300 according to some embodiments of the present disclosure is shown. For example... Figure 3 As shown, the mobile station 300 may include a mobile station body 310 and at least one motion arm 320. In some embodiments, the mobile station body 310 may include a base 311, a column 312 extending vertically from the base 311, and a crossbeam 313 mounted on the top of the column 312. The crossbeam 313 may extend horizontally from the top of the column 312 perpendicular to the height direction of the base 311. A gimbal 314 may be fixedly or rotatably mounted at the end of the crossbeam 313 to support at least one motion arm 320. In some embodiments, the gimbal 314 may rotate relative to the end of the crossbeam 313 to drive at least one motion arm 320 to rotate as a whole, adjusting the angle of at least one motion arm 320 relative to the mobile station body 310. In some embodiments, the crossbeam 313 may extend and retract along its length to adjust the length of the mobile station 300, driving the gimbal 314 and at least one motion arm 320 mounted on the gimbal 314 to move back and forth as a whole. In some embodiments, the column 312 can be raised and lowered along the height direction to adjust the height of the mobile station 300, thereby raising and lowering the crossbeam 313, the gimbal 314, and at least one motion arm 320 mounted on the gimbal 314 as a whole. In this way, the mobile station 300 can be adjusted to the target configuration under the control of a control device (not shown in the figure), the details of which will be described later.

[0033] In some embodiments, the motion arm may include a multi-degree-of-freedom motion arm composed of multiple joints. For example, the motion arm may be connected to a crossbeam via a joint at its proximal end (e.g., the end closer to the mobile station), and may include a distal end of the motion arm (e.g., the end farther from the mobile station), on which an end effector may be disposed. The end effector includes, but is not limited to, tooling fixtures, surgical instruments, lighting or image acquisition devices (e.g., endoscopes), etc.

[0034] In some embodiments, such as Figure 3 As shown, the motion arm 320 may include a first horizontal arm 321 and a first rotary joint 3211. The proximal end of the first horizontal arm 321 is rotatably connected to the gimbal 314 via the first rotary joint 3211, so that the first horizontal arm 321 rotates relative to the gimbal 314 about the rotation axis of the first rotary joint 3211 (e.g., an axis perpendicular to the horizontal plane). In some embodiments, the mobile station 300 may include a plurality of motion arms 320, such as four motion arms 320. The plurality of motion arms 320 may be rotatably connected to the gimbal 314 via their respective first rotary joints 3211, or the rotation axes of the first rotary joints 3211 of the plurality of motion arms 320 may be coaxially arranged. In some embodiments, such as Figure 3 As shown, the motion arm 320 may further include at least one second transverse arm 322 and a second rotary joint. The proximal end of at least one second transverse arm 322 is rotatably connected to the distal end of the first transverse arm 321 via the second rotary joint, such that the second transverse arm 322 rotates relative to the first transverse arm 321 about a longitudinal axis. In some embodiments, such as Figure 3 As shown, at least one motion arm 320 further includes a vertical arm 323 and a vertical arm rotation joint. The vertical arm 323 is connected to the distal end of the second horizontal arm 322 via the vertical arm rotation joint to rotate about a longitudinal axis relative to the distal end of the second horizontal arm 322. The vertical arm 323 may also include a linear motion joint to adjust the length of the vertical arm 323. In some embodiments, at least one motion arm 320 further includes a diagonal arm 324 and a diagonal arm rotation joint, wherein the proximal end of the diagonal arm 324 is connected to the distal end of the vertical arm 323 via the diagonal arm rotation joint, and the rotation axis of the diagonal arm rotation joint may be angled relative to the longitudinal direction. In some embodiments, at least one motion arm 320 may further include an end effector 380. The end effector 380 may be a telecentric motion mechanism, which may include a movable arm connected sequentially via a plurality of movable joints to allow the distal end of the end effector to rotate about the RCM (Remote Center of Motion). In some embodiments, an end effector 390 may be provided on the movable arm at the distal end of the end effector 380. In some embodiments, a connection component (not shown) may be provided on the end arm 380 for connecting a connection device (e.g., a connector). Figure 7The connector 711 or connectors 702a-702d shown are described in detail later. In some embodiments, each joint of at least one motion arm 320 may include a motor that drives the corresponding joint to rotate under the control of a control device (not shown in the figure), so that the motion arm 320 moves in space to form a desired configuration, thereby positioning the motion arm 320 and putting the motion arm 320 into place (e.g., connected to the connecting device described later).

[0035] In some embodiments, such as Figure 2 As shown, the robot system 200 may further include a workbench 260, which may include a work area for performing tasks. The workbench 260 may be a reference platform for manufacturing assembly, a shelf for logistics, or an operating table for surgical operations, etc. In some embodiments, the workbench 260 may define the endpoint of the movement path of the mobile station 220, and the positioning of the mobile station may include the mobile station 220 moving to the vicinity of the workbench 260 in a target pose.

[0036] In some embodiments, such as Figure 2 As shown, the robot system 200 may also include at least one image acquisition device (not shown). The image acquisition device may include, but is not limited to, a dual-lens image acquisition device or a single-lens image acquisition device, such as a monocular camera, a binocular camera, a monocular structured light camera, a binocular structured light camera, a TOF (Time of Flight) camera, etc. Depending on the application environment, the image acquisition device may be a camera, an industrial camera, etc. In some embodiments, the image acquisition device may achieve at least one of visible light band imaging, infrared band imaging, etc. Depending on the type of image acquired, those skilled in the art can select different image acquisition devices as the image acquisition device. In some embodiments, the image acquisition device may be placed in the environment. For example, the image acquisition device may be placed on one side of a room or on the ceiling of a room, or it may be placed near the workbench 260. Alternatively, the image acquisition device may also be placed within the robot system 200. For example, the image acquisition device may be placed on the workbench 260.

[0037] In some embodiments, the image acquisition device can be used to acquire environmental images. The environmental images may include areas in the environment that the mobile station 220 may traverse. In some embodiments, the control device can receive environmental images from the image acquisition device and process the environmental images to determine environmental information about the environment in which the robot system 200 is located, such as the layout of an indoor space. In some embodiments, the control device can perform global planning based on the environmental information to generate a motion path for the mobile station.

[0038] In some embodiments, the image acquisition device can also be used to acquire positioning images. Positioning images may include partial or complete images of the environment (e.g., walls, objects, etc.) and / or the robot system 200 (e.g., the mobile station 220 and the workbench 260, etc.). In some embodiments, the control device may receive positioning images from the image acquisition device (not shown) and process the positioning images to determine the position, orientation, and size of each observed object. In some embodiments, the control device may implement visual servo control of the mobile station based on the positioning images. For example, the control device may determine the pose of the mobile station in the environment based on the positioning images and control the mobile station to move towards the target pose by introducing visual feedback information in the control loop.

[0039] Some embodiments of this disclosure provide a method for controlling the positioning of a robot system. Figure 4 A flowchart illustrating a method 400 (hereinafter also referred to as "method 400") for positioning a mobile station of a control robot system according to some embodiments of the present disclosure is shown. Method 400 may be implemented or performed by hardware, software, or firmware. In some embodiments, method 400 may be implemented by a robot system (e.g., Figure 1 The robot system 100 shown is... Figure 2 The robot system 200 shown Figure 16 The robot system 1600 shown is executed. In some embodiments, method 400 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 1 The control device 110 shown or Figure 16 The control device 1680 shown reads and executes the instructions. For example, a control device for a robot system may include a processor configured to execute method 400. In some embodiments, these instructions may be stored on a computer-readable medium.

[0040] See Figure 4 In step 401, the initial pose of the mobile station is determined. In some embodiments, the initial pose of the mobile station can be predetermined and stored in the memory of the robot system. For example, the mobile station can be docked at a predetermined location in the environment, such as the storage area of ​​the mobile station, in a predetermined posture. After receiving the work instruction, the mobile station starts from the predetermined initial pose and moves to the target pose according to the motion trajectory to perform the work.

[0041] In some embodiments, the initial pose of the mobile station can be determined based on image processing. In some embodiments, image processing can be performed on the positioning image of the mobile station captured by an image acquisition device to determine the initial pose of the mobile station. For example, at least one positioning tag can be set on the mobile station (the positioning tag may be, for example, a positioning tag...). Figure 5 The label shown is 500 or Figure 6 The ArUco identifier 600 shown is illustrated. The initial pose of the mobile station can be determined based on identifying a positioning tag in a positioning image acquired by an image acquisition device. In this disclosure, the initial pose of the mobile station may include the initial position and initial orientation of the mobile station in the environment.

[0042] Figure 5 A schematic diagram of a location tag 500 according to some embodiments of the present disclosure is shown. Figure 5 As shown, in some embodiments, the positioning tag 500 may include multiple pose markers (represented by the symbol "〇" for the corner points of the pose marker patterns in this disclosure) and multiple angle markers (represented by the symbol "△" for the corner points of the angle marker patterns in this disclosure) arranged side by side. The multiple pose marker patterns 511 may be identical or similar, and the corner points of the multiple pose marker patterns are located within the multiple pose marker patterns 511. The multiple angle marker patterns 521-526 may be different, and the corner points of the multiple angle marker patterns are located within the multiple angle marker patterns 521-526.

[0043] Each angle marker and one of the pose markers can have a positional association. For example, such as Figure 5 As shown, in the direction indicated by the arrow, some pose markers (e.g., pose marker pattern 511) and corresponding angle markers (e.g., angle marker pattern 521) are arranged along the arrow direction and have a spacing distance d1. In the circumferential setting state, the label 500 becomes a label with a spatially cylindrical structure, and the positional association between each angle marker and one of the pose markers can include the angle marker and the pose marker in the axial direction (e.g., ...). Figure 7 The correspondence between the angle markers and the pose markers along the axial direction of the sheath 701a-701d is established. Based on this axial correspondence, given the positions of one or more pose markers, the area where the angle markers may exist can be determined by offsetting a certain distance (e.g., distance d1) along the axial direction. In some embodiments, the axial correspondence between the angle markers and the pose markers can be represented by the axial correspondence between the corner points of the angle marker pattern and the corner points of the pose marker pattern.

[0044] Those skilled in the art should understand that the positioning tag 500 includes, but is not limited to, the structure described above, and the positioning tag can also be configured with other structures. For example, the positioning tag can be configured to have multiple pose identification patterns and composite identification patterns distributed on the same pattern distribution band, or the positioning tag can also be configured to have multiple different pose identification patterns distributed on the same pattern distribution band.

[0045] In some embodiments, the location tag may also be an ArUco identifier. Figure 6 A schematic diagram of an ArUco identifier 600 according to some embodiments of the present disclosure is shown. Figure 6As shown, the ArUco identifier 600 is a square identifier with a black border, which may include the black border and a binary matrix (e.g., a QR code) distributed within the black border. The binary matrix is ​​used to identify the unique ID of the identifier. The ArUco identifier 600 has four corner points distributed at the four corners of the black border. In some embodiments, at least one set of ArUco identifiers may be set on the mobile station for use in capturing positioning images by an image acquisition device. Based on the positioning image including the ArUco identifier 600 captured by the image acquisition device, the pose of the mobile station where the ArUco identifier 600 is located can be determined, such as the initial pose or the real-time pose.

[0046] In some embodiments, the pose of the mobile station can also be determined based on the positioning signal of the mobile station. For example, a locator can be installed on the mobile station, and the locator can send positioning information for positioning. In some embodiments, the locator may include, for example, one of an acoustic wave generator, a magnetic field generator, and an optical locator. In some embodiments, the positioning information may include at least one of acoustic positioning information, electromagnetic positioning information, and optical positioning information.

[0047] In some embodiments, the initial pose of the mobile station can also be determined through image processing and / or signal sensing. In some embodiments, the mobile station may include image acquisition devices and / or sensing devices, wherein the image acquisition devices may be, for example, monocular cameras, binocular cameras, monocular structured light cameras, binocular structured light cameras, TOF cameras, etc., and the sensing devices may be, for example, odometry, compasses, accelerometers, ultrasonic sensors, laser rangefinders, lidar, etc. In some embodiments, the robot system can build an environmental model based on information provided by its onboard image acquisition devices and / or sensing devices, and construct an incremental map by continuously generating local maps, thereby determining the initial pose of the mobile station within the map.

[0048] Continue reading Figure 4 In step 403, a positioning reference pose for positioning at least one moving arm is obtained. In this disclosure, the positioning reference pose is used to guide the positioning of at least one moving arm and can be associated with the positioning pose of at least one moving arm. For example, in some embodiments, the height in the positioning reference pose can indicate the positioning height of the end effector of at least one moving arm, which can be the height at which the at least one moving arm performs operations on the workbench, for example, the height at which it is connected to a connecting device.

[0049] In some embodiments, obtaining a positioning reference pose for positioning at least one motion arm includes obtaining a pose for a connection device connected to at least one motion arm. The pose of the connection device may refer to the pose of a coordinate system defined by the connection device (e.g., the connection device base coordinate system) relative to a reference coordinate system.

[0050] like Figure 2 As shown, the robot system 200 may include a connection device 270. A portion of the connection device 270 may be positioned in the working area of ​​the worktable 260, for example, one end of the connection device 270 may be fixed to a workpiece on the worktable 260, or to an opening in the human body (e.g., an incision or natural opening). Another portion of the connection device 270 may be used to detachably connect to the end effector 222 of at least one motion arm 222 to achieve positioning of the end effector 223 for better task execution. In some embodiments, the connection device may include a flexible portion that can be detachably connected to the motion arm even if the motion arm's configuration has some errors.

[0051] In some embodiments, the connecting device may include at least one sheath corresponding to the end of at least one moving arm. Figure 7 A schematic diagram of the structure of a connection device 700 according to some embodiments of the present disclosure is shown. For example... Figure 7 As shown, the connecting device 700 may include a main body 710 and multiple sheaths inserted into the main body 710. The number of sheaths may correspond to the number of motion arms mounted on the mobile station. For example, the connecting device 700 may include four sheaths 701a-701d to correspond to the number of motion arms mounted on the mobile station. Figure 3 The workstation 300 shown depicts the ends of four motion arms 320 mounted on it. In some embodiments, the connecting device 700 may have connectors 711 on its main body 710 to connect the ends of at least one characteristic motion arm, and / or the connecting device 700 may include multiple connectors disposed on multiple sheaths for connecting the ends of corresponding motion arms. Connectors may include, but are not limited to, snap-fit ​​structures, adhesive structures, plug-in structures, suction structures, etc. For example, such as... Figure 7 As shown, the sheaths 701a-701d may each be provided with a connector 702a-702d at their distal ends. In some embodiments, in Figure 3 The ends of the multiple moving arms 320 of the mobile station 300 shown (e.g., end arms 380) may be formed with connecting parts (not shown in the figure) that respectively cooperate with the connecting members 702a-702d, thereby realizing a detachable fixed connection between the distal end of the moving arm and the connecting device.

[0052] In some embodiments, the pose of the connecting device can be determined based on a positioning image of the connecting device. A positioning tag may be provided on the connecting device; the positioning tag may be, for example, a positioning image of the connecting device. Figure 5 The location label shown is 500 or Figure 6 The ArUco identifier 600 is shown. For example, in Figure 7The outer periphery of the main body 710 of the connecting device 700 shown may be provided with positioning tags. Positioning images of the main body 710 can be captured by an image acquisition device located in the environment or at a mobile station. The pose of the connecting device 700 can be determined based on the positioning image of the main body 710 captured by the image acquisition device. In some embodiments, determining the pose of the connecting device may include determining the poses of multiple sheaths on the connecting device 700. The pose of sheath 701a (e.g., sheath 701a may be a rigid sheath for connection to a specific motion arm among multiple motion arms) can be determined based on the pose of the connecting device 700 and the current job type or shape of the connecting device 700, and the poses of other sheaths 701b-701d on the connecting device 700 (e.g., sheaths 701b-701d may be flexible sheaths for connection to other motion arms among multiple motion arms) can be determined based on the relative pose relationships between the sheaths. In some embodiments, positioning tags may also be provided on (e.g., at the distal end) of sheaths 701a-701d. An image acquisition device installed in the environment or at a mobile station can capture positioning images of the connecting segment. The pose of sheaths 701a-701d can be determined based on the positioning images captured by the image acquisition device. In some embodiments, the pose of the sheath connected to the featured motion arm (e.g., the pose of sheath 701a) among a plurality of sheaths can be used as a positioning reference pose for at least one motion arm.

[0053] In some embodiments, obtaining a positioning reference pose for positioning at least one motion arm includes obtaining the pose of a positioning device. The pose of the positioning device can specify the pose of a coordinate system defined by the positioning device (e.g., the positioning device base coordinate system) relative to a reference coordinate system. In some embodiments, the positioning device can be disposed on a connecting device and have a predetermined relative pose relationship with the connecting device. The pose of the positioning device can be used as the positioning reference pose for at least one motion arm. Figure 8 A schematic diagram of a connection device 810 disposed on a patient according to some embodiments of the present disclosure is shown. Figure 8 The coordinate system is defined as follows: the base coordinate system of the connecting device is {C}, with its origin located at the center of the insertion notch of the connecting device. It is aligned with the axial or longitudinal direction of the main body of the connecting device. Direction such as Figure 8 As shown. The positioning device's base coordinate system is {L}, with its origin located at the installation position of the positioning device and the connecting device. It is aligned with the axial or length direction of the main body of the positioning device. Direction such as Figure 8 As shown. The reference coordinate system {w} can be the coordinate system of the space where the mobile station or workbench is located, such as the world coordinate system, as shown. Figure 8 As shown. It is understandable, for clarity, Figure 8The base coordinate system {C} of the connecting device and the connecting device 400 are shown as separate, and the base coordinate system {L} of the positioning device and the positioning device 1000 are shown as separate, but they coincide.

[0054] like Figure 8 As shown, the connecting device 810 can be disposed on the worktable 860 (e.g., in the surgical incision 881) to indicate the positioning reference pose of the end effector of at least one motion arm on the mobile station. The positioning device 820 can be detachably mounted on the body of the connecting device 810, and the connecting device 810 and the positioning device 820 have a predetermined relative pose relationship. For example, the operating table 860 can be configured with a horizontal tabletop or an angled surface to the ground, and the connecting device 810 can be inserted into the body of a patient 880 lying on the operating table 860 via the surgical incision 881. The positioning device 820 can include a positioning device body 821 and a connecting assembly 822. In some embodiments, the positioning device 820 can be mounted (e.g., engaged, clamped, etc.) on a connector (e.g., a joint) of the body of the connecting device 810 via the connecting assembly 822. Figure 4 The positioning device 820 can be mounted on the connecting device 810 with the axis of the positioning device body 821 orthogonal to the axis of the connecting device body. The pose of the connecting device 810, such as the position and orientation of the connecting device base coordinate system {C} relative to the reference coordinate system {w}, can be determined based on the pose of the positioning device 820 and the relative pose relationship between the positioning device 820 and the connecting device 810 (e.g., the transformation relationship between the positioning device base coordinate system {L} and the connecting device base coordinate system {C}). Similarly, a positioning label (e.g., ...) can be provided on the positioning device body 821. Figure 5 The location label shown is 500 or Figure 6 As shown in ArUco identifier 600), the pose of positioning device 820 is determined based on the positioning image of positioning device 820.

[0055] In some embodiments, the RCM of at least one moving arm may be located on the connecting device, for example, it may be the center point of the cross section that coincides with the incision 881 when the connecting device 810 is inserted into the human body, such as... Figure 8 As shown. The position of the RCM can be determined based on the pose of the connecting device or the positioning device. For example, the position of the RCM can be the position of the connecting device offset by a certain amount along the attitude direction, and the attitude of the RCM can be consistent with the attitude of the connecting device. The positioning reference pose can be the pose of the RCM, the connecting device, or the positioning device. The positioning point in the positioning space can correspond to the RCM point.

[0056] It should be understood that the connecting device and positioning device are not limited to the structures described above. Any connecting device that can be connected to the end of at least one moving arm and any positioning device that can indicate the position of the connecting device are not outside the scope of this disclosure. In some embodiments, the connecting device or positioning device can be used in conjunction with an endoscope to assist the user in adjusting the orientation of the connecting device so that the insertion angle of the sheath of the connecting device is directed toward the lesion inside the patient's body.

[0057] It should be understood that determining the positioning reference pose of the motion arm is not limited to obtaining the pose of the positioning device or the connecting device. For example, the positioning reference pose can also be predetermined based on the working area on the worktable or preset by the user.

[0058] Continue reading Figure 4 In step 405, the target pose of the mobile station is determined based on the matching points and positioning reference pose of the mobile station. The matching points of the mobile station can be used for the positioning of at least one motion arm. The mobile station (e.g., Figure 1 The mobile station 120 shown Figure 2 Mobile station 220 shown Figure 3 The mobile station 300 shown Figure 9 (a) Figure 9 (b) and Figure 10 The mobile station shown is 900. Figure 12 The mobile station shown is 1200. Figure 14 The mobile station shown is 1400 or Figure 16 The motion arm of the mobile station 1610 (shown) includes multiple joints and therefore has multiple degrees of freedom. When the mobile station is positioned in the target pose, after at least one motion arm is positioned at a positioning point corresponding to the matching point, the configuration of the motion arm can be adjusted so that the end of the motion arm or the connecting device connected to the end of the motion arm rotates within a certain range around the RCM, forming a rotation range, such as pitch and yaw ranges. This rotation range is constrained by various conditions, such as the structure and size of the motion arm, the joint space of each joint on the motion arm, interference relationships between motion arms, etc. In some embodiments, the target pose of the mobile station can be determined by matching the matching point with the positioning reference pose, so that the mobile station moves to the target pose. After positioning, at least one motion arm, by adjusting the configuration of the motion arm, achieves a maximum or greater than a threshold rotation range around the RCM (e.g., the center of the incision 881 on the patient 880), such as a pitch range ψ. Pitch and yaw range ψ Yaw ,like Figure 8 As shown.

[0059] In some embodiments, the matching point corresponds to a positioning point in the positioning space of at least one motion arm. In this disclosure, the positioning space of the motion arm can represent the relationship between the positioning position of the end effector of the motion arm and its positioning capability. Figure 9 (a) Figure 9 (b) A schematic diagram showing the positioning space of the motion arm mounted on a mobile station 900 according to some embodiments of the present disclosure, wherein Figure 9 (a) A schematic diagram showing the positioning space and positioning point of the motion arm. Figure 9 (b) A schematic diagram showing the matching point of the mobile station 900 with the positioning reference pose. In some embodiments, the mobile station 900 may have a matching point with the positioning reference pose. Figure 3 The mobile station 300 shown has a similar structure, including a mobile station body and at least one motion arm. The mobile station body may include a base 911, a column (not shown) extending vertically from the base 911, and a crossbeam 913 mounted on top of the column. A pan-tilt unit 914 may be provided at the distal end of the crossbeam 913. Figure 9 (a) Figure 9 (b) The coordinate system is defined as follows: The positioning space coordinate system {T} of the rover station is fixed on the pan-tilt head of the rover station and rotates with the pan-tilt head. The origin can be located at the center of the pan-tilt head. The centerline of the gimbal can be aligned with the centerline of the pan-tilt unit. When the gimbal is in the zero position relative to the main body of the rover (e.g., beam 913), the centerline of the gimbal can coincide with the zero position direction. Direction such as Figure 9 (a) Figure 9 As shown in (b). The rover base coordinate system {V} has its origin located on the base of the rover station. It should be aligned with the orientation of the mobile station or the direction of the extended line of the crossbeam. Direction such as Figure 9 (a) Figure 9 As shown in (b). The reference coordinate system {w} can be the coordinate system of the space where the mobile station or workbench is located, such as the world coordinate system, as shown in 9(a). Figure 9 As shown in (b).

[0060] like Figure 9 As shown in (a), the positioning space of the motion arm mounted on the mobile station 900 includes multiple positioning points P, and the positioning points P indicate the positioning position of at least one motion arm. T P P And it corresponds to the swinging capability of at least one moving arm. The swinging capability of at least one moving arm can be based on the rotation range of the end of at least one moving arm or the connecting device connected to the end of at least one moving arm in the swinging position. This rotation range can be the pitch range and / or yaw range of at least one moving arm after swinging. For example... Figure 9 As shown in (a), the placement point P in the placement space can correspond to the position of the end of at least one motion arm in the placement space coordinate system {T} (placement position). T P PThe pitch range ψ of the end of the motion arm at the pendulum point P. Pitch and yaw range ψ Yaw wait.

[0061] In some embodiments, the motion arm can be described by a kinematic model, which can be determined based on the structure of the motion arm. It should be understood that a kinematic model can be a mathematical model representing the motion relationship between the joint space and the task space of the motion arm. For example, the kinematic model can be established using methods such as the Denavit-Hartenberg (DH) parameter method and the exponential product representation method. For example, the DH matrix corresponding to the joints of the motion arm is determined, and the kinematic model of the motion arm is determined based on the DH matrix of the joints. Based on the end-effector pose and the kinematic model of the motion arm, the configuration of the motion arm can be calculated using an inverse kinematics algorithm. In some embodiments, based on the end-effector pose and the kinematic model of the motion arm, the joint values ​​of some or all of the joints of the motion arm can be calculated using an inverse kinematics algorithm as the configuration of the motion arm. In some embodiments, an ergonomic algorithm can be used to calculate the positioning capability of at least one motion arm relative to a positioning point P. For example, the pivot point P can be used as the RCM. The end effector or connecting device of the motion arm can be incremented or decremented by a predetermined adjustment value in the pitch or yaw direction around the pivot point P. The inverse kinematics model of the motion arm can be used to determine whether the motion arm has a configuration that satisfies the corresponding end effector position and attitude requirements. This determines the pitch range ψ of the end effector or connecting device at the pivot point P. Pitch and / or yaw range ψ Yaw This allows us to determine the placement capability of the placement point P.

[0062] In some embodiments, the positioning capability is determined for multiple positioning points in the space surrounding the mobile station based on the inverse kinematics model of at least one motion arm, the interference relationship between at least one motion arm, and the pose relationship of the end effector of at least one motion arm. In some embodiments, when the mobile station is equipped with multiple motion arms (e.g., two, three, or four motion arms), one of the multiple motion arms can be designated as a characteristic motion arm, and its rotation range at positioning point P can be determined. Furthermore, based on the relative positional relationship between the end effectors of the motion arms (e.g., corresponding to the shape of the surgical procedure or connecting device), the joint movement limits of the motion arms, the interference relationship between the motion arms, and other factors, the rotation range of the end effectors of the other motion arms at positioning point P can be determined. The overall rotation range of the multiple motion arms at positioning point P can be determined based on the rotation range of each motion arm at positioning point P; for example, the minimum rotation range of the end effectors of the multiple motion arms can be used as the overall rotation range of the multiple motion arms. Alternatively, in some embodiments, the overall movement of the multiple motion arms can be considered. The end effectors or connecting devices of multiple motion arms can be incrementally adjusted by predetermined values ​​in the pitch or yaw directions around a pivot point P. The inverse kinematics model of the motion arms can then be used to determine whether a configuration exists that satisfies the corresponding end effector position and attitude requirements. During the solution process, factors such as the relative positional relationships between the end effectors (e.g., corresponding to the surgical technique or the shape of the connecting device), the joint movement limits of the motion arms, and the interference relationships between the motion arms can be considered. Therefore, the overall pitch range ψ of the end effectors or connecting devices of the multiple motion arms at the pivot point P can be determined. Pitch and / or yaw range ψ Yaw This allows us to determine the placement capability of the placement point P.

[0063] In some embodiments, determining the interference relationship between the motion arms may include: determining predetermined positioning joint values ​​for a characteristic joint among a plurality of joints of at least one motion arm; and determining positioning joint values ​​for other joints of at least one motion arm based on the positioning pose of the end effector of at least one motion arm, the predetermined positioning joint values, and the kinematic model of at least one motion arm. In some embodiments, the characteristic joint among the plurality of joints of the motion arm may be a joint among the plurality of joints that is prone to collision with other motion arms or structures. It should be understood that when the robot system includes multiple motion arms (e.g., two, three, or four motion arms), the predetermined positioning joint values ​​for the characteristic joints of different motion arms may be different. In some embodiments, the positioning joint values ​​of other joints may include the positioning joint values ​​of all other joints of the motion arm except for the characteristic joint. In some embodiments, the positioning joint values ​​of other joints of the motion arm can be calculated by an inverse kinematics algorithm based on the positioning pose of the end effector of the motion arm, the predetermined positioning joint values, and the kinematic model of the motion arm. In some embodiments, other joints of at least one motion arm may include a first rotary joint (e.g., the joint connecting the motion arm to the mobile station body) Figure 3 As shown in the first rotary joint 3211, the mobile station body and at least one moving arm can rotate relative to each other around the first rotary joint. The range of motion of the first rotary joint of at least one moving arm is determined by the connection relationship between the moving arm and the mobile station body. In some embodiments, the range of motion of the first rotary joint of each moving arm can be determined by judging whether different moving arms interfere with each other. In some embodiments, the first rotary joints of multiple moving arms can rotate simultaneously, so that the multiple moving arms rotate as a whole.

[0064] By calculating the positioning capability of at least one motion arm in the space surrounding the mobile station, the positioning space of at least one motion arm can be determined. In some embodiments, the positioning space of at least one motion arm may include a two-dimensional positioning space or a three-dimensional positioning space. The two-dimensional positioning space may be predetermined, such as the two-dimensional cross-section with the largest area in the three-dimensional positioning space. The height of the mobile station can be adjusted so that the height of the predetermined two-dimensional positioning space or the matching point matches the height in the positioning reference pose. The two-dimensional positioning space may also be determined based on the positioning reference pose. Method 400 may include determining the two-dimensional positioning space based on the positioning reference pose and the three-dimensional positioning space. For example, based on the height in the positioning reference pose, a cross-section corresponding to that height can be determined in the three-dimensional positioning space as the two-dimensional positioning space.

[0065] In some embodiments, the end of at least one motion arm can be positioned at different heights to form a three-dimensional positioning space. Figure 10 (a) Figure 10(b) A schematic diagram showing the positioning space of the motion arm of a mobile station 900 at different heights according to some embodiments of the present disclosure, wherein Figure 10 (a) is a schematic diagram of the positioning space of the end of the motion arm or connecting device at the first height. Figure 10 (b) is a schematic diagram of the positioning space of the end effector or connecting device of the motion arm at the second height. For ease of explanation, Figure 10 (a) Figure 10 (b) Only the alternative placement options for the motion arm are shown; details will be described later. Figure 10 (a) Figure 10 As shown in (b), the size and shape of the positioning space (alternative positioning space) of the motion arm of the mobile station 900 change when the end of the motion arm is positioned at different heights. In this way, the relationship between the positioning space of at least one motion arm and the height of the end of the motion arm can be shown in three-dimensional space, where each cross section represents the two-dimensional positioning space of the end of the motion arm at a certain height, thereby generating a three-dimensional positioning space of at least one motion arm between the upper and lower motion limits of the end of the motion arm.

[0066] The positioning space of at least one motion arm (e.g., a two-dimensional positioning space or a three-dimensional positioning space) may include alternative positioning spaces, which may consist of positioning points in the positioning space with positioning capabilities above a threshold.

[0067] In some embodiments, the range of rotation of the distal end of at least one robotic arm can be scored, thereby representing the positioning space of the robotic arm in a two-dimensional plane or three-dimensional space through gradient hierarchies in the form of evaluation grades. Evaluation grades may include, for example, the size of the range of rotation, whether the range of rotation includes a preset posture corresponding to the type of procedure (e.g., the abdominal entry angle corresponding to the type of surgical procedure or lesion location), etc. The positioning space may include multiple evaluation grades determined by the score size. Figure 9 As shown in (a), multiple rating levels can decrease as the color depth of the point at the location becomes lighter. In some embodiments, the positioning capability includes a segmented weighted score of the pitch range and / or yaw range of at least one moving arm after positioning. For example, the pitch range ψ of the positioning point P can be... Pitch and / or yaw range ψ YawThe range of motion is segmented and weighted, and then summed to obtain the final score. For example, the pitch range [0°, 45°] can be divided into 9 intervals of 5°, and each interval can be assigned the same or decreasing score (e.g., the further away from 0°, the lower the weight). Similarly, the yaw range [0°, ±90°] can be divided into intervals for every 10° increase and decrease, and each interval can be assigned the same or decreasing score (e.g., the further away from 0°, the lower the weight). Different weights can also be assigned to the pitch and yaw ranges, and then the scores for the entire pitch and yaw ranges can be summed. Different intervals can be divided according to the total score to correspond to the evaluation level of the yaw space. It should be understood that the distribution of the yaw space of the moving arm is not limited to... Figure 9 As shown in (a), the rotation range can have different value intervals, and different scores are assigned to different value spaces.

[0068] In some embodiments, the space comprised of placement points with scores above a threshold in the placement space of the motion arm can be determined as a candidate placement space for at least one motion arm, for example... Figure 9 (a) is the space formed by the darkest black dots. In some embodiments, matching points for matching with a positioning reference pose can be determined based on the alternative positioning space of at least one moving arm, so as to determine the target pose of the mobile station for matching with the positioning reference pose.

[0069] The matching point may correspond to a placement point located in the approximate central region of the candidate placement space. Method 400 may include determining the matching point based on the two-dimensional placement space. For example, in the candidate placement space of the two-dimensional placement space, a placement point located at the center or in the central region is selected as the matching point. In some embodiments, such as Figure 9 As shown in (a), the largest inscribed circle M of the candidate positioning space of the motion arm can be determined in the two-dimensional positioning space, and the positioning point located at the center of the inscribed circle M is used as the matching point of the mobile station.

[0070] In a three-dimensional positioning space, a positioning point located at the center or in the central region of a candidate positioning space can be selected as the matching point. For example, the largest inscribed sphere of the candidate positioning space for the motion arm can be determined in the three-dimensional positioning space, and the positioning point located at the center of the inscribed sphere can be used as the matching point for the mobile station. Alternatively, the largest two-dimensional positioning space or a two-dimensional positioning space at an intermediate height can be determined in the three-dimensional positioning space, and a positioning point located at the center or in the central region of the candidate positioning space in this two-dimensional positioning space can be selected, for example, the positioning point corresponding to the center of the largest inscribed circle of the candidate positioning space, as the matching point for the mobile station.

[0071] Determining the matching point in the approximate central region of the alternative positioning space provides redundancy in selection and control. By redundantly selecting the matching point of the mobile station, adjustments can be made if the mobile station fails to reach the target pose during its approach to the worktable; details will be described later. It should be understood that the method for determining the matching point of the mobile station in the alternative positioning space is not limited to the method described above, and other methods can also be used to determine the matching point of the mobile station in the alternative positioning space of at least one motion arm. In some embodiments, the matching point can also be any positioning point in the alternative positioning space.

[0072] It should be understood that the positioning space and alternative positioning spaces of at least one motion arm can be discrete. For example, the space surrounding the mobile station can be divided into a grid with a fixed step size, and the corner points of each grid can be used as positioning points for the motion arm. The rotation range and positioning capability of the motion arm can be determined for each positioning point. In some embodiments, new positioning points can be generated between two adjacent positioning points using interpolation methods to ensure that there is a positioning point in the alternative positioning space that corresponds to the matching point of the mobile station.

[0073] In some embodiments, the target pose of the mobile station can be determined by matching the matching point of the mobile station with the positioning reference pose. For example, the target pose of the mobile station can be determined based on the matching relationship between the matching point of the mobile station and the positioning reference pose. The matching relationship can include the matching relationship between the position of the matching point and the position of the positioning reference pose, and the matching relationship between the center pose of the matching point and the pose of the positioning reference pose. For example, the matching relationship can include the position of the matching point at the target pose corresponding to the position of the positioning reference pose, and the center pose of the matching point coinciding with the projection of the pose of the positioning reference pose onto a two-dimensional coordinate plane (e.g., a horizontal plane or a plane parallel to the worktable plane). In some embodiments, the correspondence between the position of the matching point and the position of the positioning reference pose can include the position of the matching point being consistent with or offset from the position of the positioning reference pose by a certain amount. For example, the position of the matching point at the target pose may be consistent with the position of the RCM. In some embodiments, the center pose of the matching point can be determined based on the rotation range of the positioning point (e.g., positioning point P) corresponding to the matching point. For example, as... Figure 9 As shown in (a), the rotation range of at least one moving arm at the swing point P corresponding to the matching point of the mobile station, such as the yaw range ψ, can be based on the rotation range of at least one moving arm at the swing point P corresponding to the matching point of the mobile station. Yaw Determine the center pose R of the matching point. P Center attitude R P It can be the end of the motion arm or a connecting device connected to the end of the motion arm within the lateral swing range ψ. YawThe central posture ensures that at least one moving arm, when positioned at the matching point, has a large range of forward and reverse rotation at its end or connecting device. It should be understood that the central posture can also be based on the pitch range ψ. Pitch Sure.

[0074] In some embodiments, the target pose of the mobile station can be determined based on the location of the matching point, the center attitude of the pitch and / or yaw range of the matching point, the positioning reference pose of at least one moving arm, and the matching relationship. For example... Figure 9 As shown in (b), when the mobile station 900 moves to the target position in the target pose, the matching point of the mobile station is matched with the RCM (e.g., the center of the incision 881 on the patient 880) through a matching relationship. The matching relationship between the matching point of the mobile station and the positioning reference pose (e.g., the pose of the RCM, the pose of the connecting device 810, or the pose of the positioning device 820, etc.) may include: the position of the matching point and the position of the positioning reference pose being consistent with or offset by a certain amount in the coordinate system, and the projections of the center pose of the matching point and the pose of the positioning reference pose on the two-dimensional coordinate plane (e.g., the xy plane) of the coordinate system coinciding.

[0075] For example, such as Figure 9 As shown in (b), when the rover 900 reaches the target pose, the position of the matching point in the reference coordinate system {w} is consistent with the position of the positioning reference pose based on the worktable 960 (e.g., the height of the matching point is consistent with the height of the RCM point (or the z-coordinate in the reference coordinate system {w}), and the coordinates of the matching point and the RCM point in the xy-plane of the reference coordinate system {w} are consistent). The center pose of the matching point coincides with the projection of the pose of the positioning reference pose in the xy-plane of the reference coordinate system {w} (e.g., the solid arrow used to show the projection of the center pose of the matching point and the dashed arrow used to show the projection of the pose of the positioning reference pose coincide in the figure). Therefore, based on the position of the positioning reference pose, the position of the matching point in the rover base coordinate system {V}, the projection of the center pose of the matching point in the xy-plane of the rover base coordinate system {V}, and the projection of the pose of the positioning reference pose in the xy-plane of the reference coordinate system {w}, the pose of the rover base coordinate system {V} relative to the reference coordinate system {w} can be determined as the target pose of the rover.

[0076] In some embodiments, the position of the matching point in the mobile station base coordinate system {V} and the projection of the center orientation of the matching point onto the xy plane of the mobile station base coordinate system {V} can be determined based on the configuration of the mobile station (e.g., an initial configuration or a target configuration). The configuration of the mobile station may include the height and length of the mobile station, and the deflection angle of the mobile station relative to at least one motion arm (e.g., the deflection angle of the positioning space coordinate system {T} relative to the mobile station base coordinate system {V}). Those skilled in the art will understand that... Figure 9 (a) In comparison, Figure 9 In (b), the configuration of the mobile station 900 has changed, causing the positioning space coordinate system {T} to deflect relative to the mobile station base coordinate system {V}, which can be further described in the following text.

[0077] In some embodiments, method 400 may further include: determining an initial configuration of the mobile station; and, based on the initial configuration of the mobile station, determining the position of the matching point of the mobile station in the mobile station base coordinate system, wherein the initial configuration includes the deflection angles of the mobile station and at least one motion arm. Based on the deflection angles, the projection of the center pose of the matching point of the mobile station onto the two-dimensional coordinate plane of the mobile station base coordinate system can be determined. In some embodiments, the initial configuration of the mobile station can be determined based on the size of the mobile station and the pose relationships between the various structures. For example, with Figure 3 Similarly, the main body of the mobile station 900, as shown in the diagram, may include a base 911, a column 912 (not shown) extending vertically from the base 911, a crossbeam 913 mounted on top of the column 912, and a gimbal 914 fixedly or rotatably mounted at the distal end of the crossbeam 913. The initial configuration of the mobile station 900 can be determined based on the initial height of the column 912, the initial length of the crossbeam 913, and the initial angle of the gimbal 914 relative to the crossbeam. The initial configuration of the mobile station can be the configuration when the mobile station begins to move, such as the basic configuration when the mobile station is stored. It should be understood that the initial configuration of the mobile station can be predetermined and can be pre-stored in the robot system's memory. By determining the initial configuration of the mobile station, the pose relationship between the mobile station's base coordinate system {V} and the positioning space coordinate system {T} can be determined, for example, the pose relationship between the base 911 and the gimbal 914 of the mobile station 900. In some embodiments, the position of the matching point of the mobile station in the mobile station base coordinate system {V} and the projection of the center pose of the matching point onto the xy plane of the mobile station base coordinate system {V} can be determined based on the pose relationship between the mobile station base coordinate system {V} and the positioning space coordinate system {T} and the pose of the positioning point corresponding to the matching point in the positioning space coordinate system {T}.

[0078] In some embodiments, method 400 may further include: determining an initial configuration of the mobile station; and determining a target configuration of the mobile station based on the matching point of the mobile station, the initial configuration of the mobile station, and the positioning reference pose. The initial configuration and the target configuration include the height of the mobile station. Determining the target configuration of the mobile station may include determining the target height of the mobile station. For example, the matching point of the mobile station (e.g., a center point or a positioning point in the central region) may be determined from alternative positioning spaces in a three-dimensional positioning space. In some embodiments, the matching point of the mobile station determined by the three-dimensional positioning space may not match the positioning height of the positioning reference pose. To address this, by determining the target configuration of the mobile station, the height of the mobile station's column can be adjusted so that the matching point of the mobile station (or the two-dimensional positioning space corresponding to the matching point) matches the positioning height of the positioning reference pose, thereby enabling the end effector of at least one motion arm to match the positioning reference pose at the positioning height, thus achieving positioning.

[0079] In some embodiments, Figure 9 (a) The alternative placement space shown is the lateral range ψ Yaw Satisfying [0°, ±90°], pitch range ψ Pitch The set of placement points satisfying [0°, 45°]. At this point, the projection of the center pose of the matching point corresponding to these placement points onto the xy plane of the placement space coordinate system {T} is... The directions are consistent, such as coincident or parallel. Based on the position of the positioning reference pose, the position of the matching point relative to the positioning space coordinate system {T}, the projection of the center pose of the matching point onto the xy plane of the positioning space coordinate system {T}, the position of the matching point in the rover base coordinate system {V}, and the matching relationship, the pose of the rover relative to the reference coordinate system {w} can be determined as the target pose of the rover.

[0080] Those skilled in the art will understand that the positioning space and positioning point of the motion arm, as well as the matching point of the mobile station, can be predetermined and stored in the robot system's memory. When controlling the robot system to be in position, the control device determines the target pose of the mobile station based on the positioning reference pose using a lookup method.

[0081] In some embodiments, it is necessary to prevent the mobile station from colliding with other objects (e.g., workbench, auxiliary equipment, etc.) when determining the target pose of the mobile station. Figure 11 A flowchart illustrating a method 1100 for determining a matching point of a mobile station according to some embodiments of the present disclosure is shown. Method 1100 may be implemented or performed by hardware, software, or firmware. In some embodiments, method 1100 may be performed by a robotic system (e.g., Figure 1 The robot system 100 shown is... Figure 2 The robot system 200 shown Figure 16The robot system 1600 shown is executed. In some embodiments, method 1100 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 1 The control device 110 shown or Figure 16 The control device 1680 shown reads and executes the instructions. For example, a control device for a robot system may include a processor configured to execute method 1100. In some embodiments, these instructions may be stored on a computer-readable medium.

[0082] See Figure 11 In step 1101, a collision plane that may collide with the mobile station is determined. The following description uses a worktable as an example, but this is not a limitation. The collision plane of the worktable can refer to the plane containing the collision-prone surface of the worktable, which may include one or more sides of the worktable that are prone to collision with the mobile station due to their movement path toward the mobile station. The collision plane of the worktable may be perpendicular to the movement plane of the mobile station. Determining the collision plane of the worktable may include determining the outer envelope of the worktable. In some embodiments, the representation of the collision plane of the worktable in the reference coordinate system {w} can be determined. In some embodiments, the representation of the collision plane of the worktable in the reference coordinate system {w} can be determined based on a positioning image of the worktable. For example, positioning labels (e.g., ...) may be provided on the worktable. Figure 5 The location label shown is 500 or Figure 6 As shown in ArUco label 600, a positioning image of the worktable is captured by an image acquisition device placed in the environment or on the worktable. The pose of the worktable can be determined based on the positioning image, and thus the representation of the collision-prone surface in the reference coordinate system {w} can be determined based on the pose of the collision-prone surface in the worktable base coordinate system. Alternatively, calibration labels can also be placed on the collision-prone surface of the worktable, and the pose of the collision-prone surface in the reference coordinate system {w} can be determined based on the positioning image of the collision-prone surface.

[0083] Continue reading Figure 11 In step 1103, the alternative positioning space of at least one moving arm is adjusted based on the collision plane and the alternative positioning space of at least one moving arm. Figure 12A schematic diagram illustrating the collision relationship between a mobile station 1200 and a worktable 1260 according to some embodiments of the present disclosure is provided. For the matching point of the mobile station, a representation of the worktable or the collision plane of the worktable can be generated in the positioning space coordinate system {T} or reference coordinate system {w} based on the matching relationship between the matching point and the positioning reference pose (e.g., the matching point and the positioning reference pose are aligned in the positioning space coordinate system {T} or reference coordinate system {w}, and the projections of the center pose of the matching point and the pose of the positioning reference pose coincide in the xy plane of the positioning space coordinate system {T} or reference coordinate system {w}) and the representation of the collision plane of the worktable in the reference coordinate system {w}. For example... Figure 12 The worktable 1260 is shown. In some embodiments, the alternative positioning space of the motion arm can be adjusted based on the interference relationship between the representation of the collision plane of the worktable and the representation of the base of the mobile station. For example, each positioning point in the alternative positioning space can be determined as a matching point, and based on the matching relationship between the matching point of the mobile station and the positioning reference pose and the representation of the collision plane of the worktable in the reference coordinate system {w}, representations of the collision planes of multiple worktables corresponding to the matching points are generated to check the interference relationship between the base 1211 of the mobile station and the collision plane of the worktable 1260 one by one. Adjusting the alternative positioning space of the motion arm may include reducing the alternative positioning space, excluding positioning points corresponding to matching points that may cause interference between the collision plane of the mobile station and the worktable, and determining multiple positioning points from the alternative positioning space that will not cause the mobile station to collide with the worktable. The multiple positioning points can constitute a new alternative positioning space for determining the matching point of the mobile station.

[0084] Continue reading Figure 11 In step 1105, the matching point of the mobile station is determined based on the adjusted alternative positioning space of at least one moving arm. In some embodiments, the method for determining the matching point of the mobile station based on the adjusted alternative positioning space of at least one moving arm can be similar to... Figure 9 (a) Similarly, the matching point of the mobile station can be determined by the point corresponding to any point in the adjusted alternative placement space, or the center of the largest inscribed circle or the center of the largest inscribed sphere in the alternative placement space.

[0085] In some embodiments, method 1100 may further include: determining the target pose of the mobile station based on the positioning reference pose and the redefined matching point of the mobile station. In some embodiments, the method for determining the target pose of the mobile station may be implemented similarly to step 405 in method 400.

[0086] Figure 13A flowchart illustrating a method 1300 for adjusting a target configuration of a mobile station according to some embodiments of the present disclosure is shown. Method 1300 may be implemented or performed by hardware, software, or firmware. In some embodiments, method 1300 may be performed by a robotic system (e.g., Figure 1 The robot system 100 shown is... Figure 2 The robot system 200 shown Figure 16 The robot system 1600 shown is executed. In some embodiments, method 1300 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., Figure 1 The control device 110 shown or Figure 16 The control device 1680 shown reads and executes the instructions. For example, a control device for a robot system may include a processor configured to execute method 1300. In some embodiments, these instructions may be stored on a computer-readable medium.

[0087] See Figure 13 In step 1301, a collision plane that may collide with the mobile station is determined. In some embodiments, the method for determining the collision plane that may collide with the mobile station can be implemented similarly to step 1101 in method 1100.

[0088] Continue reading Figure 13 In step 1303, the target configuration of the mobile station is adjusted based on the collision plane and the alternative placement space of at least one motion arm. Figure 14 This diagram illustrates the adjustment of the collision relationship between the mobile station 1400 and the worktable 1460 according to some embodiments of this disclosure. Similar to step 1103 in method 1100, a representation of the base can be generated in the positioning space coordinate system {T} or reference coordinate system {w} of at least one motion arm based on the pose relationship between the base and the gimbal of the mobile station. Figure 14 The base 1411 is shown. Furthermore, based on the matching relationship between the matching point and the positioning reference pose, and the representation of the collision plane of the worktable in the reference coordinate system {w}, a representation of the worktable or the collision plane of the worktable can be generated in the positioning space coordinate system {T} or the reference coordinate system {w} of at least one moving arm, for example... Figure 14 The worktable 1460 is shown. In some embodiments, it can be determined whether the mobile station interferes with the collision plane of the worktable at the target pose corresponding to the matching point based on the interference relationship between the representation of the collision plane of the worktable and the base of the mobile station. In some embodiments, in response to the interference between the base of the mobile station and the collision plane of the worktable, the target configuration of the mobile station can be adjusted to avoid the collision plane of the worktable.

[0089] In some embodiments, adjusting the target configuration of the mobile station may include, for example, adjusting the length of the mobile station and / or adjusting the deflection angle of at least one motion arm relative to the mobile station. Figure 14 As shown, in some embodiments, the crossbeam 1413 can extend and retract along its length under the drive of a driving device (e.g., a motor) to adjust the length of the mobile station 1400, thereby causing the gimbal 1414 and at least one motion arm mounted on the gimbal 1414 to move back and forth as a whole. For example, the length of the crossbeam 1414 of the mobile station 1400 can be increased by a predetermined adjustment value to adjust the target configuration of the mobile station 1400. Alternatively, the gimbal 1414 can rotate relative to the end of the crossbeam 1413 under the drive of a driving device (e.g., a motor) to cause at least one motion arm to rotate as a whole, adjusting the deflection angle of at least one motion arm relative to the main body of the mobile station. For example, the angle of the gimbal 1414 at the distal end of the crossbeam 1413 can be increased or decreased by a predetermined adjustment value. In this way, the length of the mobile station and / or the angle of at least one motion arm relative to the mobile station can be adjusted until the mobile station does not interfere with the collision plane of the worktable or the interference is less than a threshold, thereby achieving the adjustment of the target configuration of the mobile station, such as adjusting to Figure 14 The configuration is shown by the dashed line.

[0090] Continue reading Figure 13 In step 1305, the target pose of the mobile station is determined based on the adjusted target configuration of the mobile station. In some embodiments, the method for determining the target pose of the mobile station based on the adjusted target configuration of the mobile station can be implemented similarly to step 405 in method 400. Method 1300 may also include determining the relative pose relationship (e.g., height, distance, deflection angle) between the mobile station and the motion arm based on the adjusted target configuration of the mobile station, and determining the target pose of the mobile station based on the matching point of the mobile station, the positioning reference pose, and the relative pose relationship between the mobile station and the motion arm.

[0091] Continue reading Figure 4 In step 407, a motion path for the mobile station is determined based on the initial pose and target pose of the mobile station. In some embodiments, the motion path for the mobile station can be determined through path planning based on the initial pose and target pose of the mobile station. Path planning can include static path planning and dynamic path planning. For example, path planning can include Dijkstra's algorithm, AStar algorithm, DStar (Dynamic AStar) algorithm, spline curve fitting method, etc. In some embodiments, the motion path for the mobile station can also be determined based on intelligent path planning methods, such as swarm intelligence-based path planning methods (e.g., genetic algorithms, ant colony algorithms, etc.) and machine learning-based path planning methods (e.g., neural network algorithms, reinforcement learning algorithms, etc.).

[0092] In some embodiments, determining the motion path for the mobile station may include: determining an environmental map of the environment in which the robot system is located; and determining the motion path for the mobile station based on the environmental map, the initial pose, and the target pose of the mobile station. In some embodiments, the environmental map may be determined based on pre-input environmental information (e.g., a structural diagram of the environment). Alternatively, a grid map including the global or local environment may be constructed based on environmental images captured by an image acquisition device.

[0093] In some embodiments, the motion path for the mobile station can be determined using a curve fitting method based on a global or local map of the environment and the initial and target poses of the mobile station. In some embodiments, the motion path for the mobile station can be determined using a spline curve fitting method. For example, a motion path from the initial pose to the target pose of the mobile station can be generated using quadratic or cubic spline curve fitting.

[0094] In some embodiments, the path for the rover station can be optimized based on path optimization conditions. In some embodiments, path optimization conditions may include at least one of the following: environmental information of the rover station's environment, position priority constraints, the rover station's configuration, the configuration of at least one motion arm, etc. In some embodiments, environmental information may include an environmental map, such as the distribution, type, and size of objects in the environment, as well as the length and width of passageways. Position priority constraints may include the rover station's initial pose space; for example, the rover station needs to enter the environment from the outside via a passageway (e.g., the entrance to an operating room or laboratory) in a specific pose.

[0095] In some embodiments, the configuration of the mobile station can be considered when planning the motion path to prevent collisions between the mobile station body and / or the motion arm and objects in the environment during movement. In some embodiments, the bounding box of the mobile station can be determined based on the configuration of the mobile station and the configuration of the mounted motion arm, serving as a path optimization condition for the mobile station. For example, a grid map can be constructed based on the maximum diameter of the mobile station's bounding box, and then a motion path for the mobile station can be determined based on a path planning algorithm. In some embodiments, the mobile station can be considered as a variable-direction convex hull, and the minimum directed bounding box of the mobile station can be determined. The control device can construct a grid map with variable diameter based on the minimum directed bounding box of the mobile station, and then determine a motion path for the mobile station based on a path planning algorithm.

[0096] Continue reading Figure 4In step 409, based on the motion path of the mobile station, the mobile station is controlled to move towards the target pose. In some embodiments, control methods such as feedback control, active disturbance rejection control, adaptive control, robust control, and sliding mode control can be used to control the mobile station to move towards the target pose, so as to meet the requirements of real-time performance, robustness, and driving stability of the mobile station.

[0097] In some embodiments, determining the motion path for the mobile station may include iteratively determining the intermediate pose of the mobile station. Controlling the mobile station to move toward the target pose may include controlling the mobile station to move toward the intermediate pose. In some embodiments, the path of the mobile station may be tracked by feedback control to control the mobile station to move along the motion path. In some embodiments, controlling the mobile station to move toward the target pose may include: tracking the actual path of the mobile station; and controlling the mobile station to return to the motion path in response to the actual path deviating from the motion path. For example, the control device may compare the actual pose of the mobile station with the intermediate pose on the motion path during the control of the mobile station's movement, and determine whether the actual path of the mobile station deviates from the motion path based on the difference between the actual pose and the intermediate pose, and control the mobile station to return to the motion path using a PID (Proportional Integral Derivative) control algorithm. In some embodiments, the method for determining the actual pose of the mobile station may be implemented similarly to step 401 in method 400.

[0098] In some embodiments, controlling the mobile station to move toward a target pose may include: sensing an object on the mobile station's motion path; updating path optimization conditions in response to sensing an object; and adjusting the motion path to avoid the object based on the updated path optimization conditions. Sensing an object on the mobile station's motion path may include sensing the object's pose and size. For example, when a new object is sensed on the motion path, the control device may update the path optimization conditions to reflect the information of the new object and determine a motion path for the mobile station based on the updated path optimization conditions.

[0099] In some embodiments, during the control of the mobile station's movement toward a target pose, the control device can adjust the mobile station's configuration to achieve the target configuration and / or avoid collisions between the mobile station and objects. In some embodiments, controlling the mobile station's movement toward the target pose may include: adjusting the mobile station's configuration; and / or adjusting the configuration of at least one motion arm. For example, the control device can adjust the mobile station's configuration by adjusting its height, length, or the overall angle of at least one motion arm, or by driving the joints of the motion arm to rotate to adjust the configuration of at least one motion arm. In some embodiments, the control device can generate multiple intermediate configurations between the initial and target configurations of the mobile station using an interpolation method to meet the continuity requirements of mobile station configuration changes and achieve a smooth transition in the mobile station's configuration.

[0100] During the movement of the mobile station towards the target pose, changes in the environment or the object being manipulated may prevent the mobile station from reaching the target position in the target pose. In some embodiments, method 400 may include: in response to the mobile station's inability to reach the target pose, updating the matching point with a placement point adjacent to the placement point in the alternative placement space; and updating the target pose of the mobile station based on the updated matching point. For example, in response to the mobile station's inability to reach the target pose, a placement point adjacent to the placement point can be selected in the alternative placement space of at least one motion arm, such as a placement point spaced at a fixed step distance from the placement point, and the adjacent placement point can be updated as the matching point of the mobile station, for example... Figure 9 (b) shows the placement point P'. In some embodiments, the method for updating the target pose of the rover station based on the updated matching point can be implemented similarly to step 405 in method 400.

[0101] In some embodiments, after the mobile station reaches the target pose, the control device can adjust the configuration of at least one motion arm on the mobile station to make it operationally ready. For example, after the mobile station is in place, the control device can control the positioning of multiple motion arms on the mobile station so that the ends of the multiple motion arms reach the initial pose for performing the task. In some embodiments, the motion path of at least one motion arm can be determined based on the current pose and target pose of the end of at least one motion arm and the inverse kinematics model of the motion arm.

[0102] In some embodiments of this disclosure, a computer device is also provided, including a memory and a processor. The memory may be used to store at least one instruction, and the processor is coupled to the memory for executing the at least one instruction to perform some or all of the steps in the method of this disclosure, such as... Figure 4 , 11 Some or all of the steps in the method disclosed in 13.

[0103] Figure 15 A schematic block diagram of a computer device 1500 according to some embodiments of the present disclosure is shown. See also Figure 15 The computer device 1500 may include a central processing unit (CPU) 1501, a system memory 1504 including random access memory (RAM) 1502 and read-only memory (ROM) 1503, and a system bus 1505 connecting the various components. The computer device 1500 may also include an input / output system and a mass storage device 1507 for storing an operating system 1513, application programs 1514, and other program modules 1515. The input / output devices include an input / output controller 1510, primarily composed of a display 1508 and input devices 1509.

[0104] Mass storage device 1507 is connected to central processing unit 1501 via a mass storage controller (not shown) connected to system bus 1505. Mass storage device 1507 or computer-readable media provides non-volatile storage for computer devices. Mass storage device 1507 may include computer-readable media (not shown) such as hard disk or compact disc read-only memory (CD-ROM) drives.

[0105] Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM, ROM, flash memory or other solid-state storage technologies, CD-ROM, or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the above-mentioned types. The aforementioned system memories and mass storage devices can be collectively referred to as memory.

[0106] Computer device 1500 can be connected to network 1512 via network interface unit 1511 connected to system bus 1505.

[0107] The system memory 1504 or mass storage device 1507 is also used to store one or more instructions. The central processing unit 1501 implements all or part of the steps of the methods in some embodiments of this disclosure by executing the one or more instructions.

[0108] In some embodiments of this disclosure, a computer-readable storage medium is also provided, storing at least one instruction that is executed by a processor to cause a computer to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 4 , 11 Some or all of the steps in the method disclosed in 13. Examples of computer-readable storage media include memory for computer programs (instructions), such as read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage devices.

[0109] Figure 16 A schematic diagram of a robot system 1600 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [link to schematic diagram]. Figure 16 The robot system 1600 may include a mobile station 1610 and a control device 1680. The mobile station 1610 includes at least one motion arm 1620. The control device 1680 is configured to connect to the mobile station 1610 and the at least one motion arm 1620 to control the mobile station 1610 and / or the motion arm 1620 to form a specified configuration and move to a target pose. The control device 1680 is used to perform some or all of the steps in the methods of some embodiments of this disclosure, such as... Figure 4 , 11 Some or all of the steps in the method disclosed in 13.

[0110] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for controlling the positioning of a robot system, characterized in that, The robot system includes a mobile station, the mobile station including at least one motion arm, and the method includes: Determine the initial pose of the mobile station; Obtain a positioning reference pose for the positioning of the at least one moving arm; Based on the matching point of the mobile station and the positioning reference pose, the target pose of the mobile station is determined, wherein the matching point of the mobile station is used for the positioning of the at least one moving arm. Based on the initial pose and the target pose, a motion path for the mobile station is determined; and Based on the motion path of the mobile station, control the mobile station to move toward the target pose; The matching point corresponds to a swing point in the swing space of the at least one moving arm. The swing space includes multiple swing points. The swing point corresponds to the swing capability of the at least one moving arm. The swing capability is based on the pitch range and / or yaw range of the at least one moving arm after swinging. The placement space includes a two-dimensional placement space or a three-dimensional placement space, and the matching point is located in the approximate central area of ​​the candidate placement space formed by placement points with placement capabilities above a threshold in the placement space.

2. The method according to claim 1, characterized in that, Also includes: Based on the positioning reference pose and the three-dimensional positioning space, the two-dimensional positioning space is determined; as well as The matching point is determined based on the two-dimensional placement space.

3. The method according to claim 1, characterized in that, Determining the target pose of the mobile station includes: Based on the position of the matching point, the center attitude of the pitch range and / or yaw range of the matching point, the positioning reference pose, and the matching relationship, the target pose of the mobile station is determined. The matching relationship includes that the position of the matching point corresponds to the position of the positioning reference pose at the target pose, and that the center attitude of the matching point coincides with the projection of the attitude of the positioning reference pose onto the two-dimensional coordinate plane.

4. The method according to any one of claims 1-3, characterized in that, Also includes: Determine the initial configuration of the mobile station; as well as Based on the matching point of the rover, the initial configuration of the rover, and the positioning reference pose, the target configuration of the rover is determined, wherein the initial configuration and the target configuration include the height of the rover; and / or Based on the initial configuration of the mobile station, the position of the matching point of the mobile station in the mobile station base coordinate system is determined, wherein the initial configuration includes the deflection angle between the mobile station and the at least one motion arm.

5. The method according to claim 1, characterized in that, Also includes: Determine the collision plane that may collide with the mobile station; Based on the collision plane and the alternative placement space of the at least one moving arm, adjust the alternative placement space of the at least one moving arm; as well as The matching point of the mobile station is determined based on the adjusted alternative placement space of the at least one moving arm.

6. The method according to claim 1, characterized in that, Also includes: Determine the collision plane that may collide with the mobile station; Based on the collision plane and the alternative placement space of the at least one moving arm, adjust the target configuration of the mobile station; as well as Based on the adjusted target configuration of the mobile station, the target pose of the mobile station is determined.

7. The method according to claim 6, characterized in that, Adjusting the target configuration of the mobile station includes: Adjust the length of the mobile station and / or adjust the deflection angle of the at least one motion arm relative to the mobile station.

8. The method according to any one of claims 1-3, characterized in that, The positioning capability includes a segmented weighted score of the pitch and / or yaw range of the at least one moving arm after positioning; and / or The positioning capability is determined based on the inverse kinematics model of the at least one moving arm, the interference relationship between the at least one moving arm, and the pose relationship of the end effector of the at least one moving arm, for multiple positioning points in the space surrounding the mobile station.

9. The method according to any one of claims 1-3, characterized in that, Obtaining a positioning reference pose for the positioning of the at least one moving arm includes: The position of the positioning device or the connection device for connecting to the at least one motion arm is obtained.

10. The method according to any one of claims 1-3, characterized in that, Also includes: In response to the fact that the mobile station cannot reach the target pose, the matching point is updated with the placement points adjacent to the placement point in the alternative placement space; The target pose of the mobile station is updated based on the updated matching points.

11. A computer device, comprising: Memory, used to store at least one instruction; as well as A processor, coupled to the memory, is configured to execute the at least one instruction to perform the method according to any one of claims 1-10.

12. A computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to perform the method according to any one of claims 1-10.

13. A robotic system, comprising: A mobile station, including at least one motion arm; as well as A control device configured to perform the method according to any one of claims 1-10.

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