Method for controlling the positioning of a robot system comprising multiple mobile stations based on an interference space

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 at least two mobile stations, each of which comprises at least one motion arm. The method comprises: determining initial poses of the mobile stations; obtaining a positioning reference pose for positioning of the at least one motion arm of each mobile station; determining a target pose space of each mobile station based on the respective positioning reference pose, the target pose space comprising a plurality of candidate target poses; determining an interference space for preventing interference of the mobile stations; determining a target pose of each mobile station based on the interference space and the target pose space of each mobile station; determining a motion path for each mobile station based on the initial pose and the target pose of each mobile station; and controlling each mobile station to move to the respective target pose synchronously or sequentially based on the motion path of each mobile station.

Description

Technical Field

[0001] This disclosure relates to the field of robot control, and more particularly to a method and robot system for positioning a robot system including multiple mobile stations based on interference space control. Background Technology

[0002] With technological advancements, computer-controlled robot systems are increasingly moving autonomously to work areas to perform tasks. A robot system can include multiple mobile stations for collaborative work. In some tasks, the robot system needs to plan motion paths based on the pose of the work object and its environment, driving multiple mobile stations within the system to move along their respective paths to the corresponding target poses, thereby enabling collaborative work 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 at least two mobile stations, each of the at least two mobile stations including at least one motion arm. The method includes: determining a first initial pose of a first mobile station among the at least two mobile stations; determining a second initial pose of a second mobile station among the at least two mobile stations; obtaining a first positioning reference pose for positioning of at least one motion arm of the first mobile station; obtaining a second positioning reference pose for positioning of at least one motion arm of the second mobile station; determining a first target pose space of the first mobile station based on the first positioning reference pose, the first target pose space including a plurality of first alternative target poses; and determining a second target pose space of the second mobile station based on the second positioning reference pose, the second target pose space including a plurality of second alternative target poses. Two alternative target poses; determining an interference space to prevent interference between at least two rover stations; determining a first target pose of the first rover station based on the interference space and the first target pose space; determining a second target pose of the second rover station based on the interference space and the second target pose space; determining a first motion path for the first rover station based on the first initial pose and the first target pose; determining a second motion path for the second rover station based on the second initial pose and the second target pose; and synchronously or sequentially controlling the first rover station and the second rover station to move toward their respective target poses based on the first motion path and the second motion path.

[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 robotic system comprising: at least two mobile stations, each of the at least two mobile stations 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 first mobile station according to some embodiments of the present disclosure is shown;

[0011] Figure 4 A flowchart illustrating a method for positioning at least two mobile stations of a control robot system 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 A schematic diagram of the structure of a first connecting device according to some embodiments of the present disclosure is shown;

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

[0016] Figure 9 (a) Figure 9 (b) shows a schematic diagram of the first positioning space of the motion arm mounted on the first mobile station according to some embodiments of the present disclosure, wherein Figure 9 Figure (a) shows a schematic diagram of the first swing position space and the first swing point of the motion arm. Figure 9 Figure (b) shows a schematic diagram of the first positioning space of the motion arm and the first target pose space of the first mobile station;

[0017] Figure 10 (a) Figure 10 Figure (b) shows a schematic diagram of the first positioning space of the motion arm of the first mobile station 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 the first connecting device at the first height. Figure 10 (b) is a schematic diagram of the positioning space of the end of the motion arm or the first connecting device at the second height;

[0018] Figure 11 A flowchart illustrating a method for updating a first target pose space of a first mobile station according to some embodiments of the present disclosure;

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

[0020] Figure 13 A flowchart illustrating a method for determining an interference space according to some embodiments of the present disclosure is shown;

[0021] Figure 14 A schematic diagram illustrating the determination of an interference space for preventing interference between a first mobile station and a second mobile station according to some embodiments of the present disclosure is shown.

[0022] Figure 15 A flowchart illustrating a method for determining a first target pose of a first mobile station according to some embodiments of the present disclosure;

[0023] Figure 16 A schematic diagram illustrating the determination of a first target pose of a first mobile station according to some embodiments of the present disclosure is shown.

[0024] Figure 17 A flowchart illustrating a method for updating a first target pose space of a first mobile station according to other embodiments of the present disclosure;

[0025] Figure 18 A schematic diagram showing an adjustment of the target configuration of the first mobile station according to some embodiments of the present disclosure;

[0026] Figure 19 A schematic block diagram of a computer device according to some embodiments of the present disclosure is shown;

[0027] Figure 20 A schematic diagram of a robot system according to some embodiments of the present disclosure is shown. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] In this disclosure, the pose of a rover station refers to the pose of the rover station's defined coordinate system (e.g., the rover station's base coordinate system) relative to its spatial coordinate system or world coordinate system. In this disclosure, the rover station's pose can include its position and orientation, where the position can be the two-dimensional coordinates of the rover station's main body in the spatial coordinate system or world coordinate system, and the orientation can be the rover station's main body's facing direction or direction of movement. In this disclosure, the rover station's configuration can include the rover station's dimensions (e.g., the rover station's height, length, etc.) and / or the deflection angle of the entire motion arm mounted on the rover station relative to the rover station (e.g., the deflection angle of the entire motion arm relative to the rover station). In this disclosure, the rover station's initial pose can be the pose at the starting point of the motion path, and the rover station's target pose can be the pose at the ending point of the motion path. In this disclosure, the rover station's motion path can include the rover station's global path or local path within its environment. 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 station on which the motion arm is located, 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 composed 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 ​​of a joint 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 of the motion arm relative to the reference coordinate system. In this disclosure, the motion path of the rover station refers to the path traversed by the rover 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.

[0032] Figure 1 A structural block diagram of a robot system 100 according to some embodiments of the present disclosure is shown. Figure 1 As shown, the robot system 100 may include a control device 110 and at least two mobile stations connected to the control device 110. For example, as Figure 1As shown, at least two mobile stations may include a first mobile station 120 and a second mobile station 130. In some embodiments, the first mobile station 120 and the second mobile station 130 may be mobile platforms with wheels at their bottoms for wheeled movement, such as steering wheel trolleys, differential trolleys, omnidirectional trolleys, etc. The control device 110 can control the movement of the first mobile station 120 and the second mobile station 130 to move them to the desired positions and postures, respectively, to achieve positioning. For example, the control device 110 can send drive signals to the first mobile station 120 and the second mobile station 130 respectively via a CAN bus to control the movement of the first mobile station 120 and the second mobile station 130 in the form of differential drive or synchronous drive, thereby realizing the movement and posture adjustment of the first mobile station 120 and the second mobile station 130. Those skilled in the art will understand that the control device 110 may be integrated into the first mobile station 120 or the second mobile station 130, or may be separate from the first mobile station 120 and the second mobile station 130, or may be located outside the robot system 100.

[0033] In some embodiments, the first mobile station 120 and the second mobile station 130 may each include at least one motion arm (e.g., Figure 2 The multiple motion arms 222, 232 or shown Figure 3 Multiple motion arms 320 are shown. A motion arm may include a multi-degree-of-freedom motion arm composed of multiple joints. In some embodiments, the motion arm may include a motion arm end effector at its distal or distal end, where an end effector (e.g., a device for handling end effectors) may be provided. Figure 2 The end devices 223, 233 or shown 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 motion arms to adjust their configuration, thereby controlling the motion arms to avoid obstacles, position themselves, and control the end effector on the motion arms to perform operations. In this disclosure, positioning refers to adjusting the configuration of at least one motion arm of the mobile station to achieve a positioning configuration that allows it to perform operations, such as enabling the end of the motion arm to connect to a connecting device, or enabling the end effector to perform operations. In some embodiments, positioning of at least one motion arm may include the deployment, adjustment, and positioning of at least one motion arm.

[0034] In some embodiments, the robot system 100 can determine a first motion path for the first mobile station 120 and a second motion path for the second mobile station 130 based on the environment of the mobile station, and control the first mobile station 120 and the second mobile station 130 to move towards the target area along the first motion path and the second motion path respectively, so as to achieve automatic positioning of the first mobile station 120 and the second mobile station 130. Furthermore, the robot system 100 can adjust the configuration of at least one motion arm during the movement of the first mobile station 120 and / or the second mobile station 130 or after positioning 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 of the motion arm can, for example, connect with a connecting device (e.g., a connecting device). Figure 2 The first connecting device 270 shown Figure 7 The first connecting device 700 shown or Figure 8 The first connecting device 810 shown is connected, 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.

[0035] 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 at least two mobile stations, such as a first mobile station 220 and a second mobile station 230. In some embodiments, the first mobile station 220 may include a mobile station body 221 and at least one motion arm 222, such as one to 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 moving arm 222 can be movably mounted on the crossbeam of the first mobile station. In some embodiments, the second mobile station 230 may have a similar structure to the first mobile station 220, including a mobile station body and at least one moving arm 232, for example, one to four moving arms. It should be understood that the first mobile station 220 and the second mobile station 230 may differ in size (e.g., height, length, etc. of the mobile station) or have different numbers of moving arms.

[0036] The following uses the first mobile station as an example to illustrate the structure of the mobile station. Figure 3 A schematic diagram of the structure of a first mobile station 300 according to some embodiments of the present disclosure is shown. Figure 3 As shown, the first mobile station 300 may include a mobile station body 310 and at least one motion arm 320. Figure 3In this example, four motion arms 320 are used. 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 first 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 first 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 first 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.

[0037] 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 joints 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.

[0038] 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 first 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 7 The 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).

[0039] 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 endpoints of the movement paths of the first mobile station 220 and the second mobile station 230. Mobile station positioning may include the first mobile station 220 moving to the vicinity of the workbench 260 in a first target pose, and the second mobile station 230 moving to the vicinity of the workbench 260 in a second target pose.

[0040] In some embodiments, such as Figure 2As 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.

[0041] 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 first mobile station 220 and the second mobile station 230 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 motion paths for the mobile stations.

[0042] 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 first mobile station 220, the second mobile station 230, and the workbench 260, etc.). In some embodiments, the control device (not shown) can receive positioning images from the image acquisition device and process them to determine the position, orientation, and size of each observed object. In some embodiments, the control device can implement visual servo control of the mobile stations based on the positioning images. For example, the control device can determine the pose of the mobile stations in the environment based on the positioning images and control the mobile stations to move towards their respective target poses by introducing visual feedback information in the control loop.

[0043] Some embodiments of this disclosure provide a method for controlling the positioning of a robot system. Figure 4A flowchart illustrating a method 400 (hereinafter also referred to as "method 400") for positioning at least two mobile stations of a control robot system according to some embodiments of the present disclosure. 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 20 The robot system 2000 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 20 The control device 2080 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.

[0044] See Figure 4 In step 401, a first initial pose of the first mobile station among at least two mobile stations is determined. In some embodiments, the first initial pose of the first mobile station can be predetermined and stored in the memory of the robot system. For example, the first mobile station can be docked in a predetermined position in the environment, such as a storage area for mobile stations, with a predetermined posture. Upon receiving a work instruction, the first mobile station starts from the predetermined first initial pose and moves along a first motion trajectory to the first target pose to perform the work.

[0045] In some embodiments, the first initial pose of the first mobile station can be determined based on image processing. In some embodiments, image processing can be performed based on a positioning image of the first mobile station captured by an image acquisition device to determine the first initial pose of the first mobile station. For example, at least one positioning tag can be provided on the first 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 first initial pose of the first mobile station can be determined based on identifying a positioning tag in a positioning image of the first mobile station acquired by an image acquisition device. In this disclosure, the first initial pose of the first mobile station may include the first initial position and first initial orientation of the first mobile station in the environment.

[0046] Figure 5 A schematic diagram of a location tag 500 according to some embodiments of the present disclosure is shown. Figure 5As 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.

[0047] 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). Based on the 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.

[0048] 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.

[0049] 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 first 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 first mobile station where the ArUco identifier 600 is located can be determined, such as the initial pose or the real-time pose.

[0050] In some embodiments, the pose of the first mobile station can also be determined based on the positioning signal of the first mobile station. For example, a locator can be installed on the first mobile station, and the locator can transmit 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.

[0051] In some embodiments, the initial pose of the first mobile station can also be determined through image processing and / or signal sensing. In some embodiments, the first 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 first mobile station within the map.

[0052] Continue reading Figure 4 In step 403, a second initial pose of the second mobile station among at least two mobile stations is determined. In some embodiments, the method for determining the second initial pose of the second mobile station can be implemented similarly to step 401 in method 400.

[0053] Continue reading Figure 4 In step 405, a first positioning reference pose is obtained for positioning at least one motion arm of the first mobile station. In this disclosure, the positioning reference pose is used to guide the positioning of at least one motion arm of the mobile station and can be associated with the positioning pose of at least one motion arm. For example, in some embodiments, the height in the first positioning reference pose can indicate the positioning height of the end effector of at least one motion arm, which can be the height at which the at least one motion arm performs operations on the workbench, for example, the height at which it is connected to a connecting device.

[0054] In some embodiments, obtaining a first positioning reference pose for positioning at least one motion arm of a first mobile station includes obtaining a pose for a first connecting device for connecting to at least one motion arm. The pose of the first connecting device may refer to the pose of a coordinate system defined by the first connecting device (e.g., a base coordinate system of the first connecting device) relative to a reference coordinate system.

[0055] like Figure 2 As shown, the robot system 200 may include a first connecting device 270 for a first mobile station 220 and a second connecting device (not shown) for a second mobile station 230. A portion of the first connecting device 270 may be positioned in the working area of ​​the worktable 260, for example, one end of the first connecting 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 first connecting device 270 may be used to detachably connect to the end effector 222 of at least one motion arm 222 of the first mobile station 220 to achieve positioning of the end effector 223 for better task execution. In some embodiments, the first connecting 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.

[0056] In some embodiments, the first 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 first connecting device 700 according to some embodiments of the present disclosure is shown. Figure 7 As shown, the first 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 first mobile station. For example, the first connecting device 700 may include four sheaths 701a-701d to respectively correspond to... Figure 3 The images show the ends of four motion arms 320 mounted on the first mobile station 300. In some embodiments, the first connecting device 700 may have connectors 711 on the main body 710 to connect the ends of at least one characteristic motion arm, and / or the first 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 3The ends of the plurality of moving arms 320 of the first 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 parts 702a-702d, thereby realizing a detachable fixed connection between the distal end of the moving arm and the first connecting device.

[0057] In some embodiments, the pose of the first connecting device can be determined based on a positioning image of the first connecting device. A positioning tag may be provided on the first connecting device; the positioning tag may be, for example, a positioning image of the first connecting device. Figure 5 The location label shown is 500 or Figure 6 The ArUco identifier 600 is shown. For example, in Figure 7 A positioning tag may be provided on the outer periphery of the body 710 of the first connecting device 700 shown. Positioning images of the body 710 can be captured by an image acquisition device located in the environment or a robotic system (e.g., a first mobile station and / or a second mobile station). The pose of the first connecting device 700 can be determined based on the positioning images of the body 710 captured by the image acquisition device. In some embodiments, determining the pose of the first connecting device may include determining the poses of multiple sheaths on the first connecting device 700. The pose of sheath 701a (e.g., sheath 701a may be a rigid sheath for connection to a specific mobile arm among multiple mobile arms) can be determined based on the pose of the first connecting device 700 and the current job type or the shape of the first connecting device 700, and the poses of other sheaths 701b-701d (e.g., sheaths 701b-701d may be flexible sheaths for connection to other mobile arms among multiple mobile arms) on the first connecting device 700 can be determined based on the relative pose relationships between the sheaths. In some embodiments, positioning tags may be provided on the sheaths 701a-701d (e.g., at the distal end). An image acquisition device installed in the environment or robotic system can capture positioning images of the connecting segment. The pose of the sheaths 701a-701d can be determined based on the positioning images of the sheaths 701a-701d captured by the image acquisition device. In some embodiments, the pose of the sheath connected to the featured motion arm among a plurality of sheaths (e.g., the pose of sheath 701a) can be used as the first positioning reference pose of at least one motion arm of the first mobile station.

[0058] In some embodiments, obtaining a first positioning reference pose for the positioning of at least one motion arm of the first mobile station includes obtaining the pose of a first positioning device. The pose of the first positioning device may refer to the pose of a coordinate system defined by the first positioning device (e.g., the base coordinate system of the first positioning device) relative to a reference coordinate system. In some embodiments, the first positioning device may be disposed on a first connecting device and have a predetermined relative pose relationship with the first connecting device. The pose of the first positioning device can be used as the first positioning reference pose for at least one motion arm of the first mobile station. Figure 8A schematic diagram of a first connecting 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 first connecting device is {C1}, with its origin located at the center of the insertion notch of the first connecting device. It is aligned with the axial or length direction of the main body of the first connecting device. Direction such as Figure 8 As shown. The first positioning device uses a base coordinate system {L1}, with its origin located at the installation position of the first positioning device and the first connecting device. It is aligned with the axial or length direction of the main body of the first positioning device. Direction such as Figure 8 As shown. The reference coordinate system {w} can be the coordinate system of the space where the first rover station, the second rover station, or the work platform is located, such as the world coordinate system, as shown. Figure 8 As shown. It is understandable, for clarity, Figure 8 The first connecting device base coordinate system {C1} and the first connecting device 810 are shown as separate, and the first positioning device base coordinate system {L1} and the first positioning device 820 are shown as separate, but they coincide.

[0059] like Figure 8 As shown, a first connecting device 810 may be disposed on a worktable 860 (e.g., in a surgical incision 881) to indicate a first positioning reference pose of the end effector of at least one motion arm on a first mobile station. A first positioning device 820 may be detachably mounted on the body of the first connecting device 810, and the first connecting device 810 and the first positioning device 820 have a predetermined relative pose relationship. For example, the operating table 860 may be configured with a horizontal table surface or an angled surface to the ground, and the first connecting device 810 may be inserted into the body of a patient 880 lying on the operating table 860 via the surgical incision 881. The first positioning device 820 may include a first positioning device body 821 and a connecting assembly 822. In some embodiments, the first positioning device 820 may be mounted (e.g., engaged, clamped, etc.) to a connector (e.g., a joint) on the body of the first connecting device 810 via the connecting assembly 822. Figure 4The first positioning device 820 can be mounted on the first connecting device 810 with the axis of the first positioning device body 821 orthogonal to the axis of the first connecting device body. The pose of the first connecting device 810, such as the position and orientation of the first connecting device base coordinate system {C1} relative to the reference coordinate system {w}, can be determined based on the pose of the first positioning device 820 and the relative pose relationship between the first positioning device 820 and the first connecting device 810 (e.g., the transformation relationship between the first positioning device base coordinate system {L1} and the first connecting device base coordinate system {C1}). Similarly, a positioning tag (e.g., ...) can be provided on the first positioning device body 821. Figure 5 The location label shown is 500 or Figure 6 As shown in ArUco identifier 600, the pose of the first positioning device 820 is determined based on the positioning image of the first positioning device 820.

[0060] In some embodiments, the RCM of at least one moving arm of the first mobile station may be located on the first connecting device, for example, it may be the center point of the cross-section that coincides with the incision 881 when the first 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 first connecting device or the first positioning device. For example, the position of the RCM can be the position of the first 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 first connecting device. The first positioning reference pose can be the pose of the RCM, the first connecting device, or the first positioning device. The positioning point in the positioning space of at least one motion arm can correspond to the RCM point, as detailed later.

[0061] Continue reading Figure 4 In step 407, a second positioning reference pose for the positioning of at least one motion arm of the second mobile station is obtained. In some embodiments, the method for obtaining the second positioning reference pose for the positioning of at least one motion arm of the second mobile station can be implemented similarly to step 405 in method 400. For example, obtaining the second positioning reference pose for the positioning of at least one motion arm of the second mobile station may include obtaining the pose of a second connecting device for connection with at least one motion arm. Alternatively, obtaining the second positioning reference pose for the positioning of at least one motion arm of the second mobile station may include obtaining the pose of a second positioning device, wherein the second positioning device may be disposed on the second connecting device and have a predetermined relative pose relationship with the second connecting device. In some embodiments, the second connecting device may have a connection with the first connecting device (e.g., Figure 2 The first connecting device 270 shown Figure 7 The first connecting device 700 shown or Figure 8 The second positioning device may have a structure similar to the first positioning device (e.g., the first connecting device 810 shown), and may have a structure similar to the first positioning device (e.g., the first connecting device 810 shown). Figure 8 The structure is similar to that of the first positioning device 820 shown. Similarly, positioning tags (e.g., ...) can be provided on the second connecting device and / or the second positioning device. Figure 5 The location label shown is 500 or Figure 6 The ArUco identifier 600 shown is used to determine the pose of the second connecting device and / or the second positioning device based on the positioning image, as the second swing reference pose of at least one moving arm of the second mobile station.

[0062] It should be understood that the first and second connecting devices and the first and second positioning devices are not limited to the structures described above. Any connecting device that can be connected to the end of at least one motion arm of the first or second mobile station 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 posture 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.

[0063] It should be understood that determining the positioning reference pose of at least one moving arm of the first or second mobile station is not limited to obtaining the pose of the corresponding positioning device or connecting device. For example, the first positioning reference pose and / or the second positioning reference pose may also be predetermined based on the working area on the worktable or preset by the user.

[0064] Continue reading Figure 4 In step 409, based on the first positioning reference pose, a first target pose space for the first rover is determined. In this disclosure, the first target pose space for the first rover may include multiple first alternative target poses for positioning the first rover. The first rover (e.g., Figure 1 The mobile station 120 shown Figure 2 Mobile station 220 shown Figure 3 The first mobile station 300 shown Figure 9 (a) Figure 9 (b) Figure 10 (a) and Figure 10 The first mobile station 900 shown in (b) Figure 12 , Figure 14 and Figure 16 The first mobile station 1210 shown Figure 20The motion arm of the first mobile station (2010) shown includes multiple joints and therefore has multiple degrees of freedom. When the first mobile station is positioned in a first alternative target pose in the first target pose space, after at least one motion arm is positioned at a first swing point corresponding to the first alternative target pose, the configuration of the motion arm can be adjusted so that the end of the motion arm or the first connecting device connected to the end of the motion arm can rotate around the RCM within a certain range, forming a rotation range, such as a pitch range and a yaw range. 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, the interference relationship between the motion arms, etc. In some embodiments, multiple first alternative target poses of the first mobile station can be determined based on the first swing reference pose to constitute the first target pose space of the first mobile station, so that the first mobile station moves to the first alternative target pose, and after the at least one motion arm is positioned, the configuration of the motion arm can be adjusted to achieve 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. and yaw range ,like Figure 8 As shown.

[0065] In some embodiments, method 400 further includes: determining a first target pose space of the first mobile station based on a first positioning space and a first positioning reference pose of at least one motion arm of the first mobile station. 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) shows a schematic diagram of the first positioning space of the motion arm mounted on the first mobile station 900 according to some embodiments of the present disclosure, wherein Figure 9 Figure (a) shows a schematic diagram of the first swing position space and the first swing point of the motion arm. Figure 9 Figure (b) shows a schematic diagram of the first positioning space of the motion arm and the first target pose space of the first mobile station 900. In some embodiments, the first mobile station 900 may have a... Figure 3 The structure of the first mobile station 300 shown is similar, 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 gimbal 914 may be provided at the distal end of the crossbeam 913. Figure 9 (a) Figure 9 The coordinate system in (b) is defined as follows: the first positioning spatial coordinate system {T1} of the motion arm mounted on the first mobile station is fixed on the gimbal of the first mobile station and rotates with the gimbal. The origin can be located at the center of the gimbal. The centerline of the gimbal can be aligned with the centerline of the pan-tilt unit. When the pan-tilt unit is in the zero position relative to the main body of the rover (e.g., beam 913), the centerline of the pan-tilt unit can coincide with the zero position direction. Direction such as Figure 9 (a) Figure 9 As shown in (b), the first rover's base coordinate system {V1} is fixed on the first rover and rotates with it. Its origin can be located at the rotation center of the first rover (e.g., the center of the base 911). It should be aligned with the orientation of the first 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 first rover station, the second rover station, or the workbench is located, such as the world coordinate system, as shown in 9(a). Figure 9 As shown in (b).

[0066] like Figure 9 As shown in (a), the first positioning space of the motion arm mounted on the first mobile station 900 includes multiple first positioning points P, and the first positioning points P indicate the positioning position of at least one motion arm. And it corresponds to the swing capability of at least one moving arm. The swing capability of at least one moving arm can be based on the rotation range of the end of at least one moving arm or a first connecting device connected to the end of at least one moving arm in the swing 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 first positioning point P in the first positioning space can correspond to the position of the end of at least one motion arm in the first positioning space coordinate system {T1} (positioning position). The pitch range of the end of the moving arm at the first swing point P and yaw range wait.

[0067] 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's pose and the motion arm's kinematic model, the configuration of the motion arm can be calculated using an inverse kinematics algorithm. In some embodiments, based on the end-effector's pose and the motion arm's kinematic model, 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 ergodic algorithm can be used to calculate the positioning capability of at least one motion arm relative to a first positioning point P. For example, the first pivot point P can be taken as the RCM. The end effector of the motion arm or the first connecting device can be increased or decreased by a predetermined adjustment value in the pitch or yaw direction around the first pivot point P. The inverse kinematics model of the motion arm can be used to solve whether the motion arm has a configuration that meets the corresponding end effector position and attitude requirements. This determines the pitch range of the end effector of the motion arm or the first connecting device at the first pivot point P. and / or yaw range This allows us to determine the placement capability of the first placement point P.

[0068] In some embodiments, the positioning capability of at least one motion arm of the first mobile station is determined 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, for multiple first positioning points in the space surrounding the first mobile station. In some embodiments, when multiple motion arms (e.g., two, three, or four motion arms) are configured on the first mobile station, one of the multiple motion arms can be designated as a characteristic motion arm, and the rotation range of the characteristic motion arm at the first 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 the first 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 the first positioning point P can be determined. The overall rotation range of the multiple motion arms at the first positioning point P can be determined based on the rotation range of each motion arm at the first positioning point P; for example, the minimum value among the rotation ranges 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 ends of multiple motion arms or the first connecting device can be adjusted by incrementing or decrementing predetermined values ​​in the pitch or yaw directions around the first pivot point P. The inverse kinematics model of the motion arms is 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 ends of the motion arms (e.g., corresponding to the surgical technique or the shape of the first connecting device), the joint movement limits of the motion arms, and the interference relationships between the motion arms can be considered. Thus, the overall pitch range of the ends of the multiple motion arms or the first connecting device at the first pivot point P is determined. and / or yaw range This allows us to determine the placement capability of the first placement point P.

[0069] In some embodiments, determining the interference relationship between the motion arms may include: determining a predetermined positioning joint value for a characteristic joint among a plurality of joints of at least one motion arm; and determining the 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 first mobile station includes a plurality of 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 ​​for other joints may include the positioning joint values ​​for all other joints of the motion arm except for the characteristic joint. In some embodiments, the positioning joint values ​​for 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.

[0070] A first positioning space for at least one motion arm can be determined by calculating the positioning capability of at least one motion arm in the space surrounding the first mobile station. In some embodiments, the first positioning space for 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, for example, it may be the two-dimensional cross-section with the largest area in the three-dimensional positioning space. The height of the first mobile station can be adjusted so that the height of the first positioning point in the predetermined two-dimensional positioning space matches the height in the first positioning reference pose. The two-dimensional positioning space may also be determined based on the first positioning reference pose. Method 400 may include determining the two-dimensional positioning space based on the first positioning reference pose and the three-dimensional positioning space. For example, based on the height in the first 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.

[0071] 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 10Figure (b) shows a schematic diagram of the first positioning space of the motion arm of the first 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 the first connecting device at the first height. Figure 10 (b) is a schematic diagram of the positioning space of the end of the motion arm or the first connecting device at the second height. For ease of explanation, Figure 10 (a) Figure 10 Image (b) shows only the first alternative placement space for the motion arm; details will be described later. Figure 10 (a) Figure 10 As shown in (b), the size and shape of the first positioning space (first alternative positioning space) change when the end of the motion arm of the first mobile station 900 is positioned at different heights. In this way, the relationship between the first positioning space of at least one motion arm and the height of the end is 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.

[0072] The first positioning space (e.g., a two-dimensional positioning space or a three-dimensional positioning space) of at least one motion arm may include a first alternative positioning space, which may be composed of a first positioning point in the first positioning space with a positioning capability above a threshold.

[0073] In some embodiments, the range of rotation of the distal end of at least one robotic arm can be scored, thereby representing a first 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 first 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 of the first positioning point P can be... and / or yaw range The segments are divided 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 first yaw space. It should be understood that the distribution of the first 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. In some embodiments, the space formed by the first swing points in the first swing space of the moving arm with scores above a threshold can be determined as the first alternative swing space of at least one moving arm, for example... Figure 9 The space in (a) is formed by the darkest black dots.

[0074] It should be understood that the first positioning space and the first alternative positioning space of at least one motion arm can be discrete. For example, the space surrounding the first mobile station can be divided into a grid with a fixed step size, and the corner point of each grid can be used as the first positioning point of the motion arm. The rotation range and positioning capability of the motion arm can be determined for each first positioning point. In some embodiments, a new first positioning point can be generated between two adjacent first positioning points by interpolation methods to ensure that there are optional first alternative target poses in the first target pose space of the first mobile station, as detailed later.

[0075] In some embodiments, method 400 further includes: determining a plurality of first candidate target poses of the first mobile station based on a first placement point and a first placement reference pose in a first candidate placement space, to form a first target pose space. The first candidate target poses include a first candidate target position and a first candidate target attitude.

[0076] In some embodiments, multiple first candidate target poses of the first mobile station can be determined based on the matching relationship between multiple first placement points and a first placement reference pose in a first candidate placement space. The matching relationship can include the matching relationship between the position of the first placement point and the position of the first placement reference pose, and the matching relationship between the center pose of the first placement point and the pose of the first placement reference pose. For example, the matching relationship can include the first mobile station being at a first candidate target pose, the position of the first placement point corresponding to the position of the first placement reference pose, and the center pose of the first placement point coinciding with the projection of the pose of the first placement 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 first placement point and the position of the first placement reference pose can include the position of the first placement point being consistent with or offset from the position of the first placement reference pose by a certain amount. For example, the first mobile station being at a first candidate target pose, the position of the first placement point being consistent with the position of the RCM. In some embodiments, the center pose of the first placement point can be determined based on the rotation range of the first placement point. For example, as... Figure 9 As shown in (a), the rotation range of at least one moving arm at the first swing point P, such as the yaw range, can be based on the rotation range of the first swing point P. Determine the center orientation of the first pendulum point P. Central attitude It can be the end of the motion arm or a first connecting device connected to the end of the motion arm in the lateral range. The central posture ensures that, when at least one moving arm is positioned at the first pivot point, the end effector of the moving arm or the first connecting device has a large range of forward and reverse rotation. It should be understood that the central posture can also be based on the pitch range. Sure.

[0077] In some embodiments, a first candidate target pose of the first rover station can be determined based on the position of the first pendulum point, the center attitude of the pitch range and / or yaw range of the first pendulum point, the pose of the first pendulum reference pose, and the matching relationship. For example... Figure 9 As shown in (b), when the first mobile station 900 moves to the first alternative target position in the first alternative target pose, the first positioning point P corresponding to the first alternative target pose 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 first positioning point and the first positioning reference pose (e.g., the pose of the RCM, the pose of the connecting device 810 or the positioning device 820, etc.) may include: the position of the first positioning point and the position of the first positioning reference pose are consistent or offset by a certain amount in the coordinate system, and the projections of the center pose of the first positioning point and the pose of the first positioning reference pose on the two-dimensional coordinate plane (e.g., the xy plane) of the coordinate system coincide.

[0078] For example, such as Figure 9 As shown in (b), the first mobile station 900 arrives at the first alternative target pose. In the reference coordinate system {w}, the position of the first staking point P is consistent with the position of the first staking reference pose based on the worktable 960 (for example, the height of the first staking point P is consistent with the height of the RCM point (or the z coordinate in the reference coordinate system {w}), and the coordinates of the positions of the first staking point P and the RCM point are consistent in the xy plane of the reference coordinate system {w}). The center pose of the first staking point P coincides with the projection of the pose of the first staking reference pose in the xy plane of the reference coordinate system {w} (for example, the solid arrow used to show the projection of the center pose of the first staking point P and the dashed arrow used to show the projection of the pose of the first staking reference pose coincide in the figure). Therefore, based on the position of the first positioning reference pose, the position of the first positioning point P in the first positioning space coordinate system {T1}, the projection of the center attitude of the first positioning point P onto the xy plane of the first positioning space coordinate system {T1}, the representation of the first positioning space in the first rover base coordinate system {V1}, and the projection of the attitude of the first positioning reference pose onto the xy plane of the reference coordinate system {w}, the pose of the first rover base coordinate system {V1} relative to the reference coordinate system {w} can be determined for the first positioning point P, and used as the first candidate target pose of the first rover corresponding to the first positioning point P.

[0079] In some embodiments, the representation of the first positioning space in the first mobile station base coordinate system {V1} can be determined based on the configuration of the first mobile station (e.g., an initial configuration or a target configuration). The configuration of the first mobile station may include the height and length of the first mobile station, and the deflection angle of the first mobile station relative to at least one motion arm (e.g., the deflection angle of the first positioning space coordinate system {T1} relative to the first mobile station base coordinate system {V1}). Those skilled in the art will understand that, with... Figure 9 Compared to (a), in Figure 9 In (b), the configuration of the first mobile station 900 has changed, causing the first positioning spatial coordinate system {T1} to deflect relative to the first mobile station base coordinate system {V1}, which can be further described in the following text.

[0080] In some embodiments, method 400 may further include: determining an initial configuration of the first mobile station; and, based on the initial configuration of the first mobile station, determining a representation of the first positioning space in the base coordinate system of the first mobile station, wherein the initial configuration of the first mobile station includes deflection angles of the first mobile station and at least one motion arm. Based on the deflection angles, the projection of the center pose of the first positioning point onto the two-dimensional coordinate plane of the base coordinate system {V1} of the first mobile station can be determined. In some embodiments, the initial configuration of the first mobile station can be determined based on the dimensions of the first mobile station and the pose relationships between the various structures. For example, with Figure 3Similarly, the main body of the first 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 first 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 first mobile station can be the configuration when the first mobile station begins to move, such as the basic configuration when the first mobile station is stored. It should be understood that the initial configuration of the first mobile station can be predetermined and can be pre-stored in the memory of the robot system. By determining the initial configuration of the first rover, the pose relationship between the first positioning space coordinate system {T1} and the first rover base coordinate system {V1} can be determined. For example, it can be the pose relationship between the gimbal 914 and the base 911 of the first rover 900, thereby determining the representation of the first positioning space in the first rover base coordinate system {V1}.

[0081] In some embodiments, method 400 may further include: determining an initial configuration of a first mobile station; and determining a target configuration of the first mobile station based on a first positioning space, the initial configuration of the first mobile station, and a first positioning reference pose. The initial configuration and target configuration of the first mobile station include the height of the mobile station. Determining the target configuration of the first mobile station may include determining a target height of the first mobile station. For example, the target pose space of the first mobile station may be determined based on a two-dimensional positioning space that is a two-dimensional cross-section of a three-dimensional positioning space and the first positioning reference pose. In some embodiments, the height of the two-dimensional positioning space may not match the positioning height of the first positioning reference pose. To address this, by determining the target configuration of the first mobile station, the height of the column of the first mobile station can be adjusted to match the positioning height of the two-dimensional positioning space with the positioning height of the first positioning reference pose, so that when the first mobile station moves to the first alternative target pose, the end of at least one motion arm can match the first positioning reference pose at the positioning height, thereby achieving positioning.

[0082] In some embodiments, Figure 9 The first alternative placement space shown in (a) is the lateral range. Satisfying [0°, ±90°], pitch range The set of first pendulum positions satisfying [0°, 45°]. At this point, the projection of the center orientation of these first pendulum positions onto the xy plane of the first pendulum position space coordinate system {T1} is... The orientations are consistent, such as coincident or parallel. The pose of the first rover relative to the reference coordinate system {w} can be determined based on the position of the first positioning reference pose, the position of the first positioning point in the first positioning space coordinate system {T1}, the projection of the center attitude of the first positioning point onto the xy plane of the first positioning space coordinate system {T1}, the representation of the first positioning space in the first rover base coordinate system {V1}, and the matching relationship. This pose is then used as the first candidate target pose of the first rover corresponding to the first positioning point.

[0083] By determining the corresponding first candidate target pose of the first rover for each first placement point in the first candidate placement space, these first candidate target poses constitute the first target pose space of the first rover. For example, as... Figure 9 (a) Figure 9 As shown in (b), for each first position point P in the first candidate positioning space, these first position points P are matched with the RCM based on the matching relationship to determine the corresponding first candidate target pose. These first candidate target poses constitute the first target pose space of the first mobile station 900. It should be understood that in Figure 9 The first target pose space of the first mobile station 900 shown in (b) is only an example. The first alternative target pose corresponds to the center pose of the first swing point. Based on the different ranges of the lateral swing range of the first swing point, the first alternative target pose in the first target pose space of the first mobile station 900 can point in different directions.

[0084] Continue reading Figure 4 In step 411, a second target pose space for the second mobile station is determined based on the second positioning reference pose. The second target pose space for the second mobile station may include multiple second alternative target poses for positioning the second mobile station. In some embodiments, the method for determining the second target pose space of the second mobile station based on the second positioning reference pose can be implemented similarly to step 409 in method 400. In some embodiments, similar to the first mobile station, multiple second alternative target poses for the second mobile station can be determined based on the second positioning reference pose to constitute the second target pose space of the second mobile station, such that the second mobile station moves to the second alternative target pose. After positioning, at least one motion arm adjusts its configuration to achieve a maximum or greater than a threshold rotation range around the RCM at its end, such as a pitch range. and yaw range .

[0085] In some embodiments, method 400 further includes: determining a second target pose space of the second mobile station based on a second positioning space and a second positioning reference pose of at least one motion arm of the second mobile station. The second positioning space includes a plurality of second positioning points for positioning at least one motion arm, the second positioning points corresponding to the positioning capabilities of at least one motion arm, the positioning capabilities being based on the pitch range and / or yaw range of at least one motion arm after positioning.

[0086] A second positioning space for at least one motion arm can be determined by calculating the positioning capability of at least one motion arm in the space surrounding the second mobile station. In some embodiments, the second positioning space for at least one motion arm may include a two-dimensional positioning space or a three-dimensional positioning space. Method 400 further includes determining a two-dimensional positioning space based on the second positioning reference pose and the three-dimensional positioning space. In some embodiments, the second positioning space for at least one motion arm (e.g., a two-dimensional positioning space or a three-dimensional positioning space) may include a second alternative positioning space, which may consist of second positioning points in the second positioning space with positioning capabilities above a threshold.

[0087] In some embodiments, method 400 further includes: determining a plurality of second alternative target poses of the second rover station based on a second positioning point and a second positioning reference pose in the second alternative positioning space, to form a second target pose space. The second alternative target poses of the second rover station include a second alternative target position and a second alternative target orientation of the second rover station.

[0088] In some embodiments, a second alternative target pose of the second rover station can be determined based on the position of the second sway point, the center attitude of the pitch range and / or yaw range of the second sway point, the pose of the second sway reference pose, and the matching relationship. The matching relationship between the second sway point and the second sway reference pose may include: the position of the second sway point and the position of the second sway reference pose being consistent or offset by a certain amount in the coordinate system, and the projections of the center attitude of the second sway point and the attitude of the second sway reference pose onto the two-dimensional coordinate plane (e.g., the xy plane) of the coordinate system coinciding.

[0089] In some embodiments, method 400 may further include: determining an initial configuration of the second mobile station; and determining, based on the initial configuration of the second mobile station, a representation of the second positioning space in the base coordinate system of the second mobile station, wherein the initial configuration of the second mobile station includes the deflection angles of the second mobile station and at least one motion arm. In some embodiments, method 400 may further include: determining an initial configuration of the second mobile station; and determining a target configuration of the second mobile station based on the second positioning space, the initial configuration of the second mobile station, and the second positioning reference pose.

[0090] 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 space of the mobile station. Figure 11 A flowchart illustrating a method 1100 for updating a first target pose space of a first 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 20 The robot system 2000 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 20 The control device 2080 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.

[0091] See Figure 11 In step 1101, a first collision plane that may collide with the first 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. The collision-prone surface may include one or more sides of the worktable that are prone to colliding with the mobile station due to their movement path toward the mobile station, such as the first collision plane that may collide with the base of the first 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 bounding box or outer envelope of the worktable.

[0092] Figure 12 A schematic diagram illustrating the collision relationship between the first mobile station 1210 and the second mobile station 1220 and the worktable 1260 according to some embodiments of the present disclosure is shown. Figure 12 As shown, the first mobile station 1210 and the second mobile station 1220 can have the same... Figure 3 The structure is similar to the first mobile station 300 shown. In some embodiments, such as Figure 18 As shown, the first mobile station 1210 may include a mobile station body and at least one motion arm. The mobile station body may include a base 1211, a column (not shown) extending vertically from the base 1211, and a crossbeam 1213 mounted on the top of the column. A gimbal 1214 may be provided at the far end of the crossbeam 1213.

[0093] In some embodiments, the representation of the collision plane of the worktable 1260 in the reference coordinate system {w} can be determined. In some embodiments, the representation of the first collision plane of the worktable 1260 in the reference coordinate system {w} can be determined based on a positioning image of the worktable 1260. For example, a positioning label (e.g., ...) can be provided on the worktable 1260. Figure 5 The location label shown is 500 or Figure 6 As shown in ArUco identifier 600, a positioning image of the worktable 1260 is captured by an image acquisition device installed in the environment or on a mobile station. The pose of the worktable 1260 can be determined based on the positioning image, and thus the representation of the first collision plane in the reference coordinate system {w} can be determined based on the pose of the first collision plane in the worktable base coordinate system. Alternatively, a calibration label can also be placed on the first collision plane of the worktable 1260, and the pose of the first collision plane in the reference coordinate system {w} can be determined based on the positioning image of the first collision plane.

[0094] Continue reading Figure 11 In step 1103, a first collision boundary is determined based on the first collision plane and the collision radius of the first mobile station to form a first collision space. The collision radius of the mobile station can be the radius of the largest circular area swept by the base of the mobile station when it rotates around the rotation center. In some embodiments, such as Figure 12 As shown, the origin of the first rover base coordinate system {V1} can be defined as the rotation center of the base of the first rover 1210. The collision radius of the first rover 1210 can be the radius of the maximum envelope generated by the rotation of the base of the first rover 1210 with the origin of the first rover base coordinate system {V1} as the center (e.g., the radius of the maximum envelope generated by the rotation of the base of the first rover 1210). Figure 12 (The radius of circle A1 shown). It should be understood that the method for determining the collision radius of the mobile station is not limited to the method described above, and the collision radius of the mobile station can change according to the position of the origin of the mobile station's base coordinate system.

[0095] In some embodiments, the representation of the first collision plane of the worktable 1260 in the reference coordinate system {w}, offset by the collision radius of the first mobile station 1210 in the first target pose space, can be used as the first collision boundary K1 for limiting the movement of the first mobile station 1210, such as... Figure 12 As shown. The region between the representation of the first collision plane in the reference coordinate system {w} and the first collision boundary K1 is the first collision space used to prevent the first mobile station 1210 from colliding with the worktable 1260. By ensuring that the target position in the target pose of the first mobile station 1210 is outside the first collision boundary K1, it can be ensured that no collision occurs between the base and the first collision plane when the first mobile station 1210 is in place.

[0096] Continue reading Figure 11In step 1105, in response to the intersection of the first collision space and the first target pose space, the first alternative target pose located within the first collision space is removed from the first target pose space to update the first target pose space. In some embodiments, such as Figure 12 As shown, based on the first target pose space of the first mobile station 1210, for each first candidate target pose in the first target pose space, it can be checked one by one whether the position of the first candidate target in each first candidate target pose is within the first collision space defined by the representation of the first collision plane in the reference coordinate system {w} and the first collision boundary K1. The first candidate target pose located within the first collision space is the first candidate target pose that may cause the first mobile station 1210 to collide with the worktable 1260. Updating the first target pose space of the first mobile station 1210 may include reducing the first target pose space, removing the first candidate target poses located within the first collision space, and determining multiple first candidate target poses from the first target pose space that will not cause the first mobile station 1210 to collide with the worktable 1260. The multiple first candidate target poses can constitute a new first target pose space for determining the first target pose of the first mobile station.

[0097] In some embodiments, method 400 may further include: determining a second collision plane that may collide with the second mobile station; determining a second collision boundary based on the second collision plane and the collision radius of the second mobile station to form a second collision space; and, in response to the second collision space intersecting with the second target pose space, removing a second alternative target pose located within the second collision space from the second target pose space to update the second target pose space. In some embodiments, the worktable may include a second collision plane that may collide with the base of the second mobile station. The second collision plane of the worktable may be the same collision-prone surface as the first collision plane, or it may be a different collision-prone surface from the first collision plane, such as the other side of the worktable perpendicular to the plane containing the first collision plane. In some embodiments, the method for updating the second target pose space of the second mobile station may be implemented similarly to method 1100. It should be understood that if the dimensions of the first mobile station 1210 and the second mobile station 1220 are different, or if the methods for determining the collision radii of the first mobile station 1210 and the second mobile station 1220 are different, the collision radius of the second mobile station 1220 may differ from that of the first mobile station 1210. This would cause the second collision boundary K2 to be farther or closer to the worktable 1260 compared to the first collision boundary K1. Figure 12 As shown.

[0098] Continue reading Figure 4In step 413, an interference space is determined to prevent interference between at least two mobile stations. In this disclosure, the interference space can be an area where at least two mobile stations are at risk of interfering with each other during movement. The interference space can be defined by interference boundaries; the area within the interference boundaries is the interference space with interference risk, and the area outside the interference boundaries is a safe space where the mobile stations can move. In some embodiments, the interference space can be defined by at least two interference boundaries corresponding to at least two mobile stations, for example, it may include a first interference boundary for a first mobile station and a second interference boundary for a second mobile station.

[0099] In this disclosure, the target pose space of the mobile station, determined based on the positioning space of at least one moving arm and the positioning reference pose, is spatially correlated with the positioning reference pose. For example, as... Figure 9 (a) Figure 9 (b) Figure 12 As shown, when the gimbal of the first rover is located at the zero position relative to the main body of the rover (e.g., the crossbeam), the first positioning spatial coordinate system {T1} is... The direction relative to the first rover base coordinate system {V1} When the directions coincide or are parallel, the extension of the projection of the first positioning reference pose onto the two-dimensional coordinate plane (e.g., the xy plane) intersects the first target pose space of the first rover. When the configuration of the first rover changes (e.g., the gimbal rotates relative to the crossbeam and leaves its zero position), causing the first positioning space coordinate system {T1} to deflect relative to the first rover's base coordinate system {V1}, the first target pose space of the first rover will shift according to the rotation direction of the gimbal relative to the extension of the projection of the first positioning reference pose onto the two-dimensional coordinate plane. Therefore, based on the positioning reference pose corresponding to the rover, the interference boundary for the rover can be determined to assess which alternative target poses in the target pose space pose the rover is at risk of interference.

[0100] In some embodiments, considering that the first and second mobile stations will mutually restrict each other's safety space, the first and second interference boundaries of the interference space can be determined simultaneously based on the first positioning reference pose corresponding to the first mobile station and the second positioning reference pose corresponding to the second mobile station. In some embodiments, method 400 further includes: determining the first interference boundary of the interference space based on the first positioning reference pose, the second positioning reference pose, and the interference radius of the first mobile station; and determining the second interference boundary of the interference space based on the first positioning reference pose, the second positioning reference pose, and the interference radius of the second mobile station. Figure 13A flowchart illustrating a method 1300 for determining an interference space 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 20 The robot system 2000 shown is executed in this embodiment. 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., a dedicated processor). Figure 1 The control device 130 shown or Figure 20 The control device 2080 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.

[0101] See Figure 13 In step 1301, a spatial reference line for the interference space is determined based on the projection of the first positioning reference pose onto the two-dimensional coordinate plane and the projection of the second positioning reference pose onto the two-dimensional coordinate plane. The spatial reference line for the interference space can serve as a baseline for determining the first and second interference boundaries. In some embodiments, the interference relationship between the first and second mobile stations can be equivalent to the interference relationship between the first mobile station and the spatial baseline, and the interference relationship between the second mobile station and the spatial baseline, as detailed later.

[0102] Figure 14 A schematic diagram illustrating the determination of an interference space for preventing interference between the first mobile station 1210 and the second mobile station 1220, according to some embodiments of the present disclosure, is shown. Figure 14 As shown, the interference space may include a spatial reference line L0, a first interference boundary L1 for the first rover station 1210, and a second interference boundary L2 for the second rover station 1220.

[0103] In some embodiments, the spatial reference line L0 of the interference space can be determined based on the projection of the first positioning reference pose corresponding to the first mobile station 1210 onto the two-dimensional coordinate plane (e.g., the dashed arrow on one side of the first mobile station 1210) and the projection of the second positioning reference pose corresponding to the second mobile station 1220 onto the two-dimensional coordinate plane (e.g., the dashed arrow on one side of the second mobile station 1220). In some embodiments, the projections of the first and second positioning reference poses may intersect on the two-dimensional coordinate plane, and the spatial reference line L0 of the interference space can be the angle bisector of the angle between the two projections, such as... Figure 14As shown. In other embodiments, the projections of the first and second positioning reference poses may be parallel on a two-dimensional coordinate plane, and the spatial reference line L0 of the interference space may be an intermediate parallel line located between the two projections.

[0104] It should be understood that the spatial reference line L0 is not limited to being located at the midpoint between the projections of the first and second positioning reference poses (e.g., an angle bisector or a midline). In some embodiments, the spatial reference line L0 may also be biased towards one side of the projections of the first or second positioning reference poses. For example, the first rover 1210 and the second rover 1220 may be different in size, and the spatial reference line L0 may be weighted towards the rover with the smaller size.

[0105] Continue reading Figure 13 In step 1303, based on the spatial reference line and the interference radius of the first rover station, the first interference boundary of the interference space is determined. The interference radius of the rover station can be the radius of the circular area swept by the rover station when it rotates around the rotation center. In some embodiments, such as Figure 14 As shown, the origin of the first rover base coordinate system {V1} can be defined as the rotation center of the base of the first rover 1210, and the interference radius of the first rover 1210 can be the maximum enclosing circle or envelope of the first rover 1210 rotating around the origin of the first rover base coordinate system {V1} (e.g., Figure 14 The radius of circle B1 shown is, for example, the distance from the center of the base to the far end of the gimbal. In some embodiments, the deployment enclosing circle or deployment envelope of the first mobile station 1210 can also be determined based on the deployment configuration of at least one motion arm mounted on the first mobile station 1210. The interference radius of the first mobile station 1210 can be the maximum distance between the origin of the first mobile station base coordinate system {V1} and the deployment enclosing circle or deployment envelope of the first mobile station 1210.

[0106] It should be understood that the method for determining the interference radius of the rover is not limited to the method described above, and the interference radius of the rover can be changed according to the size of the rover and the position of the origin of the rover's base coordinate system. In some embodiments, the center of the rover's base coordinate system may not coincide with the rotation center of the rover.

[0107] In some embodiments, the interference radius of the spatial reference line L0 offset from the first mobile station 1210 towards the first target pose space can be used as the first interference boundary L1 of the interference space, such as... Figure 14As shown. In this way, by placing the first rover 1210 outside the first interference boundary L1, it can be ensured that the first rover 1210 does not interfere with the space reference line L0, thereby ensuring that there is no risk of interference between the first rover 1210 and the second rover 1220.

[0108] Continue reading Figure 13 In step 1305, a second interference boundary of the interference space is determined based on the interference radius of the space reference line and the second rover station. In some embodiments, the method for determining the second interference boundary of the interference space based on the interference radius of the space reference line and the second rover station can be implemented similarly to step 1303 in method 1300. Figure 14 As shown, the interference radius of the second rover 1220 offset from the spatial reference line L0 towards the second target pose space can be used as the second interference boundary L2 of the interference space. The first interference boundary L1 and the second interference boundary L2 define the interference space used to prevent interference between the first rover 1210 and the second rover 1220. It should be understood that if the dimensions of the first rover 1210 and the second rover 1220 are different, or if the methods for determining the interference radii of the first rover 1210 and the second rover 1220 are different (e.g., the origins of the first rover base coordinate system {V1} and the second rover base coordinate system {V2} are defined differently), the interference radius of the second rover 1220 may be different from that of the first rover 1210, thus causing the second interference boundary L2 to be farther away from or closer to the spatial reference line L0 compared to the first interference boundary L1.

[0109] Continue reading Figure 4 In step 415, the first target pose of the first mobile station is determined based on the interference space and the first target pose space. In some embodiments, the first target pose space can be updated based on the intersection relationship between the interference space and the first target pose space, and the first target pose of the first mobile station can be determined from the first target pose space. Figure 15 A flowchart illustrating a method 1500 for determining a first target pose of a first mobile station according to some embodiments of the present disclosure is shown. Method 1500 may be implemented or performed by hardware, software, or firmware. In some embodiments, method 1500 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 20 The robot system 2000 shown is executed in this embodiment. In some embodiments, method 1500 can be implemented as computer-readable instructions. These instructions can be executed by a general-purpose processor or a special-purpose processor (e.g., a dedicated processor). Figure 1 The control device 150 shown or Figure 20The control device 2080 shown reads and executes the instructions. For example, a control device for a robot system may include a processor configured to execute method 1500. In some embodiments, these instructions may be stored on a computer-readable medium.

[0110] See Figure 15 In step 1501, in response to the intersection of the interference space and the first target pose space, the first candidate target pose located within the interference space is removed from the first target pose space to update the first target pose space. In some embodiments, such as Figure 14 As shown, based on the first target pose space of the first rover station 1210, for each first candidate target pose in the first target pose space, it can be checked one by one whether the position of the first candidate target in each first candidate target pose is within the interference space defined by the first interference boundary L1 and the second interference boundary L2. The first candidate target pose located within the interference space is the first candidate target pose that may cause interference between the first rover station 1210 and the second rover station 1220 (or the spatial reference line L0). Updating the first target pose space of the first rover station 1210 may include reducing the first target pose space, removing the first candidate target poses located within the interference space, and determining multiple first candidate target poses from the first target pose space that will not cause interference between the first rover station 1210 and the second rover station 1220. The multiple first candidate target poses can constitute a new first target pose space for determining the first target pose of the first rover station.

[0111] Continue reading Figure 15 In step 1503, the first target pose of the first mobile station is determined based on the first target pose space.

[0112] In some embodiments, determining the first target pose of the first mobile station includes selecting a pose located approximately in the central region of a first target pose space (e.g., the determined first target pose space or the updated first target pose space) as the first target pose. In some embodiments, a first alternative target pose located at the center or a first alternative target pose in the central region of the target pose space may be selected as the first target pose of the first mobile station. For example, as... Figure 14 As shown, the largest inscribed circle N1 of the first target pose space of the first mobile station can be determined in the first target pose space, and the first alternative target pose Q1 located at the center of the inscribed circle N1 can be used as the first target pose of the first mobile station.

[0113] By selecting a candidate target pose located approximately in the central region of the target pose space as the rover's target pose, redundancy in selection and control can be introduced. By redundantly selecting the rover's target pose, the target pose can be updated if it is found that the rover cannot 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 rover's target pose in the target pose space is not limited to the method described above; other methods can also be used to determine the rover's target pose in the target pose space. In some embodiments, the rover's target pose can also be any candidate target pose in the target pose space.

[0114] In some embodiments, the first target pose of the first mobile station can be determined based on the first collision space, the interference space, and the first target pose space. For example, the first target pose space can be updated based on the interference space and the first collision space, and the first target pose of the first mobile station can be determined. In some embodiments, updating the first target pose space according to the first collision space can be implemented similarly to steps 1101 to 1105 in method 1100. The method of updating the first target pose based on the interference space and the first target pose space can be implemented similarly to step 1501 in method 1500. Figure 16 A schematic diagram illustrating the determination of a first target pose of a first mobile station according to some embodiments of the present disclosure is shown.

[0115] For example, such as Figure 16 As shown, based on the first target pose space of the first rover 1210 updated according to the first collision space, for each first candidate target pose in the first target pose space, it can be checked one by one whether the position of the first candidate target in each first candidate target pose is within the interference space. Adjusting the first target pose space of the first rover 1210 may include reducing the first target pose space, removing the first candidate target poses located within the interference space, and determining multiple first candidate target poses from the first target pose space that will not cause interference between the first rover 1210 and the second rover 1220. The multiple first candidate target poses can constitute a new first target pose space for determining the first target pose of the first rover.

[0116] In some embodiments, method 400 may further include: determining a first target pose of the first mobile station based on the adjusted first target pose space. In some embodiments, the method for determining the first target pose of the first mobile station based on the adjusted first target pose space can be implemented similarly to step 1503 in method 1500. For example, Figure 16As shown, the largest inscribed circle M1 of the first target pose space of the first mobile station 1210 can be determined in the adjusted first target pose space, and the first alternative target pose R1 located at the center of the inscribed circle M1 can be used as the first target pose of the first mobile station.

[0117] It should be understood that the method for determining the first target pose of the first mobile station based on the first collision space, the interference space, and the first target pose space is not limited to the method described above. In some embodiments, the first target pose space may be updated first based on the interference space and the first target pose space, and then the first target pose space may be adjusted based on the first target pose space updated according to the interference space and the first collision space. Alternatively, the first collision space and the interference space may be introduced simultaneously into the first target pose space to reduce the first target pose space.

[0118] In some embodiments, when the first target pose space is reduced based on the first collision space and / or interference space to determine the first target pose of the first mobile station, there may be a situation where the number of first candidate target poses in the reduced first target pose space is too small or there are no first candidate target poses. Figure 17 A flowchart illustrating a method 1700 for updating a first target pose space of a first mobile station according to other embodiments of the present disclosure is shown. Method 1700 may be implemented or performed by hardware, software, or firmware. In some embodiments, method 1700 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 20 The robot system 2000 shown is executed. In some embodiments, method 1700 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 170 shown or Figure 20 The control device 2080 shown reads and executes the instructions. For example, a control device for a robot system may include a processor configured to execute method 1700. In some embodiments, these instructions may be stored on a computer-readable medium.

[0119] See Figure 17 In step 1701, in response to the number of first candidate target poses in the first target pose space being less than a threshold, the target configuration of the first mobile station is adjusted. Figure 18A schematic diagram illustrating the adjustment of a target configuration of a first rover 1210 according to some embodiments of the present disclosure is shown. In some embodiments, updating the first target pose space may include determining the number of first alternative target poses in the first target pose space. In some embodiments, in response to the number of first alternative target poses in the first target pose space being less than a threshold, the target configuration of the first rover may be adjusted to increase the number of first alternative target poses in the first target pose space. The threshold for the number of first alternative target poses may be predetermined based on empirical values ​​or statistical data.

[0120] In some embodiments, adjusting the target configuration of the first mobile station may include, for example, adjusting the length of the first mobile station and / or adjusting the deflection angle of at least one motion arm relative to the first mobile station. Figure 18 As shown, in some embodiments, the crossbeam 1213 can extend and retract along its length under the drive of a driving device (e.g., a motor) to adjust the target length of the first mobile station 1210, thereby causing the gimbal 1214 and at least one motion arm mounted on the gimbal 1214 to move back and forth as a whole. For example, the length of the crossbeam 1214 of the first mobile station 1210 can be increased by a predetermined adjustment value to adjust the target configuration of the first mobile station 1210. Alternatively, the gimbal 1214 can rotate relative to the end of the crossbeam 1213 under the drive of a driving device (e.g., a motor) to drive at least one motion arm to rotate as a whole, adjusting the target deflection angle of at least one motion arm relative to the main body of the mobile station. For example, the angle of the gimbal 1214 at the distal end of the crossbeam 1213 can be increased or decreased by a predetermined adjustment value.

[0121] Continue reading Figure 17 In step 1703, the target pose space of the first rover is updated based on the adjusted target configuration of the first rover. In some embodiments, the method of updating the first target pose space of the first rover based on the adjusted target configuration of the first rover can be implemented similarly to step 409 in method 400. Method 1700 may also include determining the representation of the first positioning space in the first rover base coordinate system {V1} based on the adjusted target configuration of the first rover, and determining a plurality of candidate target poses of the first rover based on the first alternative positioning space of the motion arm mounted on the first rover, the representation of the first positioning space in the first rover base coordinate system {V1}, and the first positioning reference pose, to form a new first target pose space. Alternatively, the transformation relationship between the first target pose space based on the initial configuration and the first target pose space based on the target configuration can be determined based on the initial configuration and the target configuration of the first rover, and a new first target pose space of the first rover can be determined based on the transformation relationship.

[0122] Similar to method 1500, method 1700 further includes updating the target pose space of the first mobile station, determined according to the adjusted target configuration of the first mobile station, based on the first collision space and / or interference space. This allows adjustment of the target length of the first mobile station and / or the target deflection angle of at least one motion arm relative to the first mobile station until the number of first candidate target poses in the first target pose space exceeds a threshold, thereby adjusting the target configuration of the first mobile station, for example, adjusting it to... Figure 18 The configuration is shown by the dashed line.

[0123] Continue reading Figure 4 In step 417, a second target pose of the second mobile station is determined based on the interference space and the second target pose space. In some embodiments, method 400 may include: in response to the intersection of the interference space and the second target pose space, removing second alternative target poses located within the interference space in the second target pose space to update the second target pose space; and determining the second target pose of the second mobile station based on the second target pose space. In some embodiments, the method of updating the second target pose space based on the interference space and the second target pose space can be implemented similarly to step 1501 in method 1500.

[0124] In some embodiments, the method for determining the second target pose of the second mobile station based on the second target pose space can be implemented similarly to step 1503 in method 1500. In some embodiments, a pose located approximately in the central region of the second target pose space (e.g., the determined first target pose space or the updated first target pose space) can be selected as the second target pose. For example, as Figure 14 As shown, the maximum inscribed circle N2 of the second target pose space of the second mobile station 1220 can be determined in the second target pose space, and the second alternative target pose Q2 located at the center of the inscribed circle N2 can be used as the second target pose of the second mobile station.

[0125] In some embodiments, the second target pose of the second mobile station can also be determined based on the second collision space, the interference space, and the second target pose space. In some embodiments, the method for determining the second target pose of the second mobile station based on the second collision space, the interference space, and the second target pose space can be implemented similarly to step 415 in method 400.

[0126] In some embodiments, the collision space and / or interference space do not intersect with the target pose space of the rover. When updating the target pose space of the rover, the collision space and / or interference space that do not intersect with the target pose space can be ignored. For example, as... Figure 16As shown, the second collision space defined by the second collision boundary K2 and the worktable 1260 does not intersect with the second target pose space of the second mobile station 1620. Therefore, the second collision space does not affect the adjustment of the second target pose space. The maximum inscribed circle M2 in the adjusted second target pose space and Figure 14 The largest inscribed circle N2 shown is the same inscribed circle, and the second candidate target pose R2 located at the center of the inscribed circle M2 is the same as... Figure 14 The second alternative target pose Q2, located at the center of the inscribed circle N2, is the same second alternative target pose.

[0127] Similar to the first rover, when reducing the second target pose space based on the second collision space and / or interference space to determine the second target pose of the second rover, there may be a situation where the number of second candidate target poses in the reduced second target pose space is too small or there are no second candidate target poses. In some embodiments, method 400 may further include: adjusting the target configuration of the second rover in response to the number of second candidate target poses in the second target pose space being less than a threshold, and determining the second target pose space of the second rover based on the adjusted target configuration of the second rover. In some embodiments, the method for adjusting the target configuration of the second rover may be implemented similarly to step 1701 in method 1700, and the determination of the second target pose space of the second rover based on the adjusted target configuration of the second rover may be implemented similarly to step 409 in method 400 or step 1703 in method 1700.

[0128] Those skilled in the art will understand that the positioning space and positioning point of the motion arm can be predetermined and can be pre-stored in the memory of the robot system. When controlling the robot system to be in place, the control device determines the target pose space and target pose of at least two motion stations in two-dimensional space based on the representation of at least two positioning reference poses corresponding to at least two mobile stations and the collision plane of the worktable, using a lookup method.

[0129] Continue reading Figure 4In step 419, a first motion path for the first rover is determined based on the first initial pose and the first target pose. In some embodiments, the first motion path for the first rover can be determined by path planning based on the first initial pose and the first target pose. 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 rover 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.).

[0130] In some embodiments, determining a first motion path for the first mobile station may include: determining an environmental map of the environment in which the robot system is located; and determining a first motion path for the first mobile station based on the environmental map, a first initial pose, and a first target pose of the first 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 a global or local environment may be constructed based on environmental images captured by an image acquisition device.

[0131] In some embodiments, a first motion path for the first rover station can be determined using a curve fitting method based on a global or local map of the environment and the first initial pose and first target pose of the first rover station. In some embodiments, the first motion path for the first rover station can be determined using a spline curve fitting method. For example, a first motion path from the first initial pose to the first target pose of the first rover station can be generated using quadratic or cubic spline curve fitting.

[0132] In some embodiments, a first motion path for a first 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 environment in which the first rover station is located, position priority constraints, the configuration of the first rover station, 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 initial pose space of the first rover station; for example, the first rover station needs to enter the environment from the outside through a passageway (e.g., the entrance to an operating room or laboratory) in a specific pose.

[0133] In some embodiments, when planning the motion path, the configuration of the first mobile station can be considered to prevent collisions between the main body of the first mobile station and / or the mounted motion arm and objects in the environment during movement. In some embodiments, the bounding box of the first mobile station can be determined based on the configuration of the first mobile station and the configuration of the mounted motion arm, serving as a path optimization condition for the first mobile station. For example, a grid map can be constructed based on the maximum diameter of the bounding box of the first mobile station, and then a first motion path for the first mobile station can be determined based on a path planning algorithm. In some embodiments, the first mobile station can be considered as a variable-direction convex hull, and the minimum directed bounding box of the first 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 first mobile station, and then determine the motion path for the first mobile station based on a path planning algorithm.

[0134] Continue reading Figure 4 In step 421, a second motion path for the second mobile station is determined based on the second initial pose and the second target pose. In some embodiments, the method for determining the second motion path for the second mobile station based on the second initial pose and the second target pose can be implemented similarly to step 419 in method 400.

[0135] In some embodiments, a second motion path for the second mobile station can be determined based on a second initial pose and a second target pose of the second mobile station and a first motion path of the first mobile station. For example, the outer envelope of the first motion path can be determined based on the first motion path and the bounding box of the first mobile station, and the second motion path for the second mobile station can be determined based on the second initial pose, the second target pose, the bounding box of the second mobile station, and the outer envelope of the first motion path.

[0136] Alternatively, the first motion path for the first mobile station and the second motion path for the second mobile station may overlap. In some embodiments, the second motion path for the second mobile station may include an initial corrected path for moving the second mobile station from a second initial pose to the first motion path of the first mobile station, an intermediate path overlapping the first motion path, and a target corrected path for moving the second mobile station from the intermediate path to a second target pose. Method 400 may further include: determining an initial corrected path for the second mobile station based on the second initial pose of the second mobile station and the first motion path of the first mobile station, and determining a target corrected path for the second mobile station based on the first motion path of the first mobile station and the second target pose of the second mobile station. In some embodiments, the intermediate path may include a first intermediate pose located at the end of the initial corrected path and a second intermediate pose located at the beginning of the target corrected path.

[0137] Continue reading Figure 4In step 423, based on the first motion path and the second motion path, the first rover station and the second rover station are controlled to move towards their respective target poses synchronously or sequentially.

[0138] 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 first and second mobile stations to move toward their respective target poses, so as to meet the requirements of real-time performance, robustness, and driving stability of the mobile stations.

[0139] Controlling the mobile station to move toward a target pose may include controlling the mobile station to move toward a path pose. In some embodiments, the path of the mobile station can 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 a 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 path 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 path 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 or step 403 in method 400.

[0140] In some embodiments, the initial positions of the first and second mobile stations can be distributed in different areas of the environment. The control device can simultaneously control the first and second mobile stations to move towards their respective target poses. In some embodiments, the first and second mobile stations can communicate with each other to ensure a safe distance between them. Alternatively, the mobile stations can sequentially control the first and second mobile stations to move to their respective target poses, or the second mobile station can temporarily stop on the movement path to wait for the first mobile station to take its position.

[0141] In some embodiments, similar to step 421 in method 400, the second motion path for the second mobile station may include an intermediate path that partially overlaps with the first motion path for the first mobile station. The control device may control the movement of the second mobile station at least partially based on control information from the first mobile station. For example, after the first mobile station begins to move or is positioned, the control device may control the second mobile station to move from a second initial pose along an initial correction path to an intermediate path, and based on the control information of the first mobile station, control the second mobile station to move from a first intermediate pose to a second intermediate pose; and after the second mobile station reaches the second intermediate pose, control the second mobile station to move along a target correction path to a second target pose.

[0142] In some embodiments, during the control of the first and second mobile stations to move toward their respective target poses, the control device can adjust the configuration of the mobile stations to avoid collisions with objects. In some embodiments, controlling the movement of the mobile stations toward the target poses may include: adjusting the height and / or orientation of the mobile stations; and / or adjusting the configuration of at least one motion arm. For example, the control device can adjust the height of the mobile stations by driving their lifting mechanism, and adjust the configuration of the motion arms by driving the joints of the motion arms to rotate. In some embodiments, the control device can generate multiple intermediate configurations between the initial and target configurations of the mobile stations using an interpolation method to meet the continuity requirements of mobile station configuration changes and achieve a smooth transition in mobile station configuration.

[0143] During the movement of the first and / or second mobile stations toward 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 first mobile station failing to reach the first target pose, updating the first target pose with a first alternative target pose in the first target pose space that is adjacent to the first target pose and farther away from the first target pose than the first target pose and / or interference space; and / or in response to the second mobile station failing to reach the second target pose, updating the second target pose with a second alternative target pose in the second target pose space that is adjacent to the second target pose and farther away from the second target pose and / or interference space than the second target pose. For example, as Figure 14 or Figure 16 As shown, in response to the first mobile station 1210 failing to reach the first target pose (e.g., Figure 14 The candidate target pose Q1 corresponding to the center of the inscribed circle N1 is shown below. Figure 16 The candidate target pose R1 corresponding to the center of the inscribed circle M1 can be selected from the first target pose space. This first candidate target pose is adjacent to the first target pose but farther away from the first collision space and / or interference space than the first target pose. For example, a first candidate target pose spaced at a fixed step size from the first candidate target pose can be used. The selected first candidate target pose is then updated to the first target pose of the first mobile station. Figure 14 The first alternative target pose Q1' shown is or Figure 16 The first alternative target pose R1' is shown. Similar to the first rover 1210, in response to the second rover 1220 failing to reach the second target pose (e.g., ...), Figure 14 The alternative target pose Q2 corresponding to the center of the inscribed circle N2 is shown below. Figure 16The candidate target pose R2 corresponding to the center of the inscribed circle M2 shown can be selected from the second target pose space. This second candidate target pose is adjacent to the second target pose but farther away from the second collision space and / or interference space than the second target pose. For example, a second candidate target pose spaced at a fixed step size from the second candidate target pose can be used. The selected second candidate target pose is then updated to the second target pose of the second rover station. Figure 14 The first alternative target pose Q2' shown is or Figure 16 The first alternative target pose R2' is shown.

[0144] In some embodiments, after the first or second mobile station reaches the target pose, the control device can adjust the configuration of at least one motion arm on the mobile station to prepare for operation. 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.

[0145] Those skilled in the art will understand that when a robot system includes multiple mobile stations (e.g., three or more mobile stations), the interference space may include a first interference space for preventing interference between the first and second mobile stations, and a second interference space for preventing interference between the second and third mobile stations, etc. Similar to method 400, the target pose and motion path of each mobile station can be determined based on the corresponding interference space and / or the collision space corresponding to each mobile station, thereby synchronously or sequentially controlling multiple mobile stations to move to their respective target poses.

[0146] 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 methods disclosed in 13, 15, and 17.

[0147] Figure 19 A schematic block diagram of a computer device 1900 according to some embodiments of the present disclosure is shown. See also... Figure 19The computer device 1900 may include a central processing unit (CPU) 1901, a system memory 1904 including random access memory (RAM) 1902 and read-only memory (ROM) 1903, and a system bus 1905 connecting the various components. The computer device 1900 may also include an input / output system and a mass storage device 1907 for storing the operating system 1913, application programs 1914, and other program modules 1919. The input / output devices include an input / output controller 1910, primarily composed of a display 1908 and input devices 1909.

[0148] Mass storage device 1907 is connected to central processing unit 1901 via a mass storage controller (not shown) connected to system bus 1905. Mass storage device 1907 or computer-readable media provides non-volatile storage for computer devices. Mass storage device 1907 may include computer-readable media (not shown) such as hard disk or compact disc read-only memory (CD-ROM) drives.

[0149] 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.

[0150] Computer device 1900 can be connected to network 1912 via network interface unit 1911 connected to system bus 1905.

[0151] The system memory 1904 or mass storage device 1907 is also used to store one or more instructions. The central processing unit 1901 implements all or part of the steps of the methods in some embodiments of this disclosure by executing the one or more instructions.

[0152] 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 , 11Some or all of the steps in the methods disclosed in 13, 15, and 17. 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.

[0153] Figure 20 A schematic diagram of a robot system 2000 according to some embodiments of the present disclosure is shown. In some embodiments of the present disclosure, see [link to relevant documentation]. Figure 20 The robot system 2000 may include a control device 2080 and at least two mobile stations, such as a first mobile station 2010 and a second mobile station 2020. The first mobile station 2010 includes at least one motion arm 2011, and the second mobile station 2020 includes at least one motion arm 2021. The control device 2080 is configured to connect to the first mobile station 2010, the at least one motion arm 2011, the second mobile station 2020, and the at least one motion arm 2021 to control the first mobile station 2010, the second mobile station 2020, and / or the motion arms 2011 and 2021 to form a specified configuration and move to a target pose. The control device 2080 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 methods disclosed in 13, 15, and 17.

[0154] 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 at least two mobile stations, each of the at least two mobile stations including at least one motion arm, and the method includes: Determine the first initial pose of the first mobile station among the at least two mobile stations; Determine the second initial pose of the second of the at least two mobile stations; Obtain a first positioning reference pose for the positioning of at least one motion arm of the first mobile station; Obtain a second positioning reference pose for the positioning of at least one motion arm of the second mobile station; Based on the first positioning reference pose, a first target pose space of the first mobile station is determined, and the first target pose space includes a plurality of first alternative target poses. Based on the second positioning reference pose, the second target pose space of the second mobile station is determined, and the second target pose space includes multiple second alternative target poses; Determine the interference space to prevent interference between the at least two mobile stations; Based on the interference space and the first target pose space, the first target pose of the first mobile station is determined; Based on the interference space and the second target pose space, the second target pose of the second mobile station is determined; Based on the first initial pose and the first target pose, a first motion path is determined for the first mobile station; Based on the second initial pose and the second target pose, a second motion path is determined for the second mobile station; and Based on the first motion path and the second motion path, the first mobile station and the second mobile station are controlled to move toward their respective target poses synchronously or sequentially. The interference space includes a first interference boundary and a second interference boundary, and the method further includes: Based on the first positioning reference pose, the second positioning reference pose, and the interference radius of the first rover, the first interference boundary of the interference space is determined; and The second interference boundary of the interference space is determined based on the first positioning reference pose, the second positioning reference pose, and the interference radius of the second rover.

2. The method according to claim 1, characterized in that, The method further includes: Determine the first collision plane that may collide with the first mobile station; Based on the first collision plane and the collision radius of the first mobile station, a first collision boundary is determined to form a first collision space; and In response to the intersection of the first collision boundary and the first target pose space, remove the first candidate target pose located within the first collision space from the first target pose space to update the first target pose space; and / or The method further includes: Determine a second collision plane that may collide with the second mobile station; Based on the second collision plane and the collision radius of the second mobile station, a second collision boundary is determined to form a second collision space; and In response to the intersection of the second collision boundary and the second target pose space, the second alternative target pose located within the second collision space in the second target pose space is removed to update the second target pose space.

3. The method according to claim 1, characterized in that, Also includes: Based on the projection of the first positioning reference pose onto the two-dimensional coordinate plane and the projection of the second positioning reference pose onto the two-dimensional coordinate plane, the spatial reference line of the interference space is determined. Based on the spatial reference line and the interference radius of the first mobile station, the first interference boundary of the interference space is determined; as well as The second interference boundary of the interference space is determined based on the spatial reference line and the interference radius of the second mobile station.

4. The method according to claim 1, characterized in that, The method further includes: In response to the intersection of the interference space and the first target pose space, remove the first candidate target pose located within the interference space from the first target pose space to update the first target pose space; and / or The method further includes: In response to the intersection of the interference space and the second target pose space, the second alternative target pose located within the interference space in the second target pose space is removed to update the second target pose space.

5. The method according to any one of claims 1-4, characterized in that, Determining the first target pose of the first mobile station includes: Select the pose located in the central region of the first target pose space as the first target pose; and / or Determining the second target pose of the second rover station includes: The pose located in the central region of the second target pose space is selected as the second target pose.

6. The method according to claim 4, characterized in that, The method further includes: In response to the number of first candidate target poses in the first target pose space being less than a threshold, the target configuration of the first mobile station is adjusted, wherein adjusting the target configuration of the first mobile station includes adjusting the target length of the first mobile station and / or adjusting the target deflection angle of the at least one motion arm relative to the first mobile station; and Based on the adjusted target configuration of the first rover station, update the first target pose space of the first rover station; and / or The method further includes: In response to the number of second candidate target poses in the second target pose space being less than a threshold, the target configuration of the second mobile station is adjusted, wherein adjusting the target configuration of the second mobile station includes adjusting the target length of the second mobile station and / or adjusting the target deflection angle of the at least one motion arm relative to the second mobile station; and Based on the adjusted target configuration of the second rover station, the second target pose space of the second rover station is updated.

7. The method according to claim 2, characterized in that, Also includes: In response to the first mobile station being unable to reach the first target pose, the first target pose is updated with a first alternative target pose in the first target pose space that is adjacent to the first target pose and farther away from the first collision space and / or the interference space than the first target pose. and / or In response to the second mobile station being unable to reach the second target pose, the second target pose is updated with a second alternative target pose in the second target pose space that is adjacent to the second target pose and farther away from the second collision space and / or the interference space than the second target pose.

8. The method according to any one of claims 1-4, characterized in that, Determining the first target pose space of the first mobile station includes: Based on the first positioning space of at least one motion arm of the first mobile station and the first positioning reference pose, a first target pose space of the first mobile station is determined. The first positioning space includes a plurality of first positioning points for positioning of the at least one motion arm. The first positioning points correspond to the positioning capability of the at least one motion arm, and the positioning capability is based on the pitch range and / or yaw range of the at least one motion arm after positioning; and / or Determining the second target pose space of the second mobile station includes: Based on the second positioning space of at least one motion arm of the second mobile station and the second positioning reference pose, a second target pose space of the second mobile station is determined. The second positioning space includes a plurality of second positioning points for positioning of the at least one motion arm. The second positioning points correspond to the positioning capability of the at least one motion arm, which is based on the pitch range and / or yaw range of the at least one motion arm after positioning.

9. The method according to claim 8, characterized in that, The first placement space includes a two-dimensional placement space or a three-dimensional placement space, and also includes a first alternative placement space composed of first placement points in the first placement space with placement capabilities above a threshold. Determining the first target pose space of the first mobile station also includes: Based on multiple first placement points in the first candidate placement space and the first placement reference pose, multiple first candidate target poses of the first mobile station are determined to form the first target pose space; and / or The second placement space includes a two-dimensional placement space or a three-dimensional placement space, and also includes a second alternative placement space composed of second placement points in the second placement space with placement capabilities above a threshold. Determining the second target pose space of the second mobile station also includes: Based on multiple second placement points and the second placement reference pose in the second alternative placement space, multiple second alternative target poses of the second mobile station are determined to form the second target pose space.

10. The method according to claim 9, characterized in that, Determining the first target pose space of the first mobile station also includes: Based on the position of the first sway point, the center attitude of the pitch and / or yaw range of the first sway point, the pose of the first sway reference pose, and a first matching relationship, a first candidate target pose of the first mobile station is determined, wherein the first matching relationship includes the first mobile station being at the first candidate target pose, the position of the first sway point corresponding to the position of the first sway reference pose, and the center attitude of the first sway point coinciding with the projection of the pose of the first sway reference pose onto a two-dimensional coordinate plane; and / or Determining the second target pose space of the second mobile station also includes: Based on the position of the second sway point, the center attitude of the pitch range and / or yaw range of the second sway point, the pose of the second sway reference pose, and the second matching relationship, a second candidate target pose of the second mobile station is determined. The second matching relationship includes the second mobile station being at the second candidate target pose, the position of the second sway point corresponding to the position of the second sway reference pose, and the center attitude of the second sway point coinciding with the projection of the attitude of the second sway reference pose onto the two-dimensional coordinate plane.

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: At least two mobile stations, each of the at least two mobile stations 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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