A method and device for determining a gripping parameter, equipment, medium

Abstract

The present disclosure provides a method and device for determining a grasping parameter, equipment and a medium, the grasping parameter includes a position parameter of a target grasping point and a rotation parameter of the target grasping point, the method includes: determining the position parameter of the target grasping point based on a position parameter of a geometric center of a spherical target, a base plane positioning parameter of a robot base and positioning information of the target grasping point; determining a first direction description parameter based on the position parameter of the target grasping point and the position parameter of the geometric center of the spherical target, determining a second direction description relationship, and determining the rotation parameter of the target grasping point in a robot base coordinate system based on the first direction description parameter and the second direction description relationship under the constraint relationship of a first direction and a second direction. The method can adapt to the base plane change of the robot base and ensure the reliability of the spherical target grasping.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method, apparatus, device, and medium for determining capture parameters. Background Technology

[0002] In the field of target detection, there are many scenarios for detecting spherical targets, such as the recovery of basketballs and soccer balls in sports fields, and the assembly of industrial spherical parts. In these scenarios, a mobile robot platform equipped with a robotic arm and a camera is used to complete the grasping or assembly of spherical targets.

[0003] In related technologies, the robotic arm platform mounted on the robot is affected by changes in terrain, which leads to errors in the determination of grasping parameters for spherical targets, making it difficult for the robotic arm to effectively grasp spherical targets. Summary of the Invention

[0004] According to one aspect of this disclosure, a method for determining grasping parameters is provided, the grasping parameters including position parameters and rotation parameters of the target grasping point in the coordinate system of the robotic arm base, the method comprising:

[0005] Based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target grasping point, the position parameters of the target grasping point are determined.

[0006] Based on the position parameters of the target grasping point and the position parameters of the geometric center of the spherical target, a first direction description parameter is determined. The first direction description parameter is used to describe the direction of the line connecting the target grasping point and the geometric center of the spherical target.

[0007] Using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, a second direction description relationship is determined. The second direction description parameter is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point.

[0008] Under the constraint of the first direction and the second direction, the rotation parameters of the target grasping point in the coordinate system of the robot arm base are determined based on the first direction description parameters and the second direction description formula. The constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction.

[0009] According to another aspect of this disclosure, a device for determining grasping parameters is provided, the grasping parameters including position parameters of a spherical target and rotation parameters of the spherical target, the device comprising:

[0010] The first determining module is used to determine the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target grasping point.

[0011] The second determining module is used to determine a first direction description parameter based on the position parameters of the target grasping point and the position parameters of the geometric center of the spherical target. The first direction description parameter is used to describe the direction of the line connecting the target grasping point and the geometric center of the spherical target. The second determining module is used to determine a second direction description relationship with the position parameters of the tangent point of the spherical target at the target grasping point as unknowns. The second direction description parameter is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point.

[0012] The third determining module is used to determine the rotation parameters of the target grasping point in the coordinate system of the robotic arm base, based on the first direction description parameters and the second direction description formula, under the constraint relationship between the first direction and the second direction. The constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction.

[0013] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0014] Processor; and,

[0015] Memory for stored programs;

[0016] The program includes instructions that, when executed by the processor, cause the processor to perform the method according to an exemplary embodiment of the present disclosure.

[0017] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided, the non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method according to exemplary embodiments of this disclosure.

[0018] One or more technical solutions provided in the exemplary embodiments of this disclosure can determine the position parameters of the target gripping point based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target gripping point. They can also determine a first direction description parameter based on the position parameters of the target gripping point and the position parameters of the geometric center of the spherical target, such that the first direction description parameter can be used to describe the line direction connecting the target gripping point and the geometric center of the spherical target. Simultaneously, using the position parameter of the tangent point of the spherical target at the target gripping point as an unknown, a second direction description relationship is determined. This second direction description parameter describes the line direction connecting the target gripping point and the tangent point of the spherical target at the target gripping point. Therefore, the exemplary embodiments of this disclosure can determine the rotation parameters of the target gripping point in the robotic arm base coordinate system based on the first direction description parameter and the second direction description relationship, under the constraint that the first direction is perpendicular to the second direction. Based on this, when the robotic arm grasps a spherical target at the target grasping point with the rotation parameters of the target grasping point, the robotic arm can adapt to the changes in the base plane of the robotic arm base and always grasp the spherical target with the maximum grasping force, thereby ensuring the reliability of grasping the spherical target. Attached Figure Description

[0019] Further details, features, and advantages of this disclosure are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A schematic flowchart of a method for determining capture parameters provided in an exemplary embodiment of this disclosure is shown.

[0021] Figure 2 A schematic diagram illustrating the process of determining the location parameters of the target grasping point in an exemplary embodiment of this disclosure is shown;

[0022] Figure 3 A schematic diagram illustrating the process of determining the second directional descriptive relational expression of an exemplary embodiment of this disclosure is shown;

[0023] Figure 4 This diagram illustrates the principle of calculating the rotation parameters of the target gripping point in an exemplary embodiment of the present disclosure.

[0024] Figure 5 A schematic block diagram of the functional modules of a grasping parameter determination device according to an exemplary embodiment of the present disclosure is shown;

[0025] Figure 6 A schematic block diagram of a chip according to an exemplary embodiment of the present disclosure is shown;

[0026] Figure 7 A structural block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure is shown. Detailed Implementation

[0027] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0028] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0029] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc., used in this disclosure are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] In related technologies, robots based on fixed bases such as wheels have limited terrain adaptability. When affected by terrain factors, the base posture may not be on the preset plane, and the grasping posture of the spherical target will be affected by the base posture, resulting in the robot grasping the spherical target incorrectly.

[0032] To address the aforementioned issues, this exemplary embodiment provides a method for determining grasping parameters. This method can combine the base plane positioning parameters of the robotic arm base to calculate the grasping parameters of a spherical target, enabling the robotic arm to grasp the spherical target with a more reliable posture, thereby improving the success rate of grasping the spherical target.

[0033] In practical applications, the grasping parameters of the spherical target in the exemplary embodiments of this disclosure may include the position parameters of the target grasping point and the rotation parameters of the target grasping point. The position parameters of the target grasping point can determine the position of the target grasping point on the surface of the spherical target, while the rotation parameters of the target grasping point can determine the posture of the robotic arm in grasping the spherical target at the target grasping point.

[0034] Figure 1 A schematic flowchart illustrating a method for determining capture parameters provided in an exemplary embodiment of this disclosure is shown. Figure 1 As shown, the method for determining the capture parameters in an exemplary embodiment of this disclosure may include:

[0035] Step 101: Based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target grasping point, determine the position parameters of the target grasping point. It should be understood that the exemplary embodiments of this disclosure can convert the position parameters of the geometric center of the spherical target and the base plane positioning parameters of the robotic arm base into the robotic arm base coordinate system to facilitate the calculation of the position parameters of the target grasping point.

[0036] In practical applications, the position parameters of the geometric center of a spherical target include: the position parameters of the geometric center of the spherical target in the coordinate system of the robot arm base. Based on the image of the spherical target, the position parameters of the geometric center of the spherical target in the camera coordinate system can be determined. Then, based on the position parameters of the geometric center of the spherical target in the camera coordinate system, the position parameters of the geometric center of the spherical target in the coordinate system of the robot arm base can be determined. At the same time, the radial dimension of the spherical target can also be determined based on the image of the spherical target.

[0037] For example, the robotic arm of the exemplary embodiment of this disclosure is equipped with a stereo camera, a lidar and other visual perception devices. After acquiring an image of a spherical target through the visual perception devices, the point cloud data of the spherical target can be extracted from the image of the spherical target. Then, the point cloud data of the spherical target is fitted to obtain the position parameters of the geometric center of the spherical target in the camera coordinate system and the radial dimension of the spherical target, such as the radius of the spherical target.

[0038] For example, the mapping relationship between the camera coordinate system and the robotic arm tool coordinate system can be pre-defined. (This can be simply called the hand-eye relationship matrix) and the mapping relationship between the robotic arm tool coordinate system and the robotic arm base coordinate system. (Obtained through robot teaching), then follow Position parameters of the geometric center of the spherical target in the camera coordinate system camera O is converted into the position parameter of the geometric center of the spherical target in the coordinate system of the robot arm base. base O.

[0039] To ensure that the grasping parameters can adapt to changes in the robot arm base's posture, an exemplary embodiment of this disclosure may introduce base plane positioning parameters for the robot arm base to position the robot arm base coordinate system. For example, the base plane positioning parameters of the robot arm base may include the normal vector of the robot arm base in the robot arm base coordinate system, which can be determined by the Z-axis direction vector of the robot arm base coordinate system.

[0040] The exemplary embodiments disclosed herein can obtain the rotation matrix of the robotic arm base coordinate system and the inertial sensor coordinate system. (such as rotation matrices), and rotation matrices between the inertial sensor coordinate system and the world coordinate system. Then use The normal vector of the robotic arm base in the world coordinate system w Z n Convert to the normal vector of the robot arm base in the robot arm base coordinate system. base Z n .

[0041] For example, the positioning information of the target grasping point in the exemplary embodiment of this disclosure includes the longitude parameter of the target grasping point, the latitude parameter of the target grasping point, and the radial dimension of the spherical target determined by the spherical target image. The position parameters of the target grasping point include the latitude positioning parameter of the target grasping point and the longitude positioning parameter of the target grasping point.

[0042] The latitude positioning parameter of the target grasping point is related to the latitude parameter of the target grasping point and the radial dimension of the spherical target, while the longitude positioning parameter of the target grasping point is related to the longitude parameter of the target grasping point and the radial dimension of the spherical target. Therefore, the latitude and longitude positioning parameters of the target grasping point can be adjusted by adjusting these parameters.

[0043] When the position parameters of the target gripping point include the position parameters of the target gripping point in the coordinate system of the robot arm base, the latitude positioning parameters of the target gripping point can include the Z-axis coordinate of the target gripping point in the coordinate system of the robot arm base, and the latitude positioning parameters of the target gripping point can include the X-axis coordinate and Y-axis coordinate of the target gripping point in the coordinate system of the robot arm base.

[0044] Step 102: Based on the position parameters of the target grab point and the position parameters of the geometric center of the spherical target, determine the first direction description parameter, which is used to describe the direction of the line connecting the target grab point and the geometric center of the spherical target.

[0045] The aforementioned first direction description parameter can be the direction vector of the line connecting the target grasping point and the geometric center of the spherical target. This vector direction indicates the direction from the target grasping point to the geometric center of the spherical target. For example, when the position parameters of the target grasping point include the position parameters of the target grasping point in the robot arm base coordinate system, and the position parameters of the geometric center of the spherical target include the position parameters of the geometric center of the spherical target in the robot arm base coordinate system, the first direction description parameter can be determined based on the position parameters of the target grasping point in the robot arm base coordinate system and the position parameters of the geometric center of the spherical target in the robot arm base coordinate system.

[0046] Step 103: Using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, determine the second direction description relationship. The second direction description parameter is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point.

[0047] This exemplary embodiment utilizes the fact that when the gripping direction of the robotic arm on the spherical target is the same as the first direction, the direction of the applied force is perpendicular to the first direction. This allows the robotic arm to grip the spherical target with maximum gripping force. Therefore, a second direction description relationship can be constructed using the position parameters of the tangent point of the spherical target at the target gripping point. This second direction description relationship describes the direction of the line connecting the target gripping point and the tangent point of the spherical target at the target gripping point. Since the position parameters of the tangent point of the spherical target at the target gripping point are unknowns, the second direction description relationship is essentially a vector relationship containing unknowns.

[0048] Step 104: Under the constraint of the first direction and the second direction, based on the first direction description parameter and the second direction description formula, determine the rotation parameters of the target grasping point in the coordinate system of the robot arm base. The constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction.

[0049] In practical applications, under the constraint of the first and second directions, the second direction description parameters can be determined based on the first direction description parameters and the second direction description relationship. Then, based on the first and second direction description parameters, the third direction description parameters can be determined. Finally, based on the first direction description parameters, the second direction description parameters, and the third direction description parameters, the rotation parameters of the target grasping point can be determined.

[0050] For example, considering that the first direction description parameter is used to describe the direction of the line connecting the target grasping point and the geometric center of the spherical target, and the second direction description relation is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point, the constraint relationship between these two directions is that the first direction is perpendicular to the second direction. Therefore, the first direction description parameter and the second direction description relation can be vectorized. By using the method that the vector dot product of the first direction description parameter and the second direction description relation is equal to 0, the unknown quantity contained in the second direction description relation, that is, the position parameter of the tangent point of the spherical target at the target grasping point, can be solved.

[0051] For example, when the first direction description parameter, the second direction description parameter, and the third direction description parameter are all represented in vector form, the rotation parameter of the target grasping point includes the unit vector of the target grasping point in the first direction, the unit vector of the target grasping point in the second direction, and the unit vector of the target grasping point in the third direction.

[0052] As one possible implementation method, Figure 2 A schematic diagram illustrating the process for determining the location parameters of the target grasping point in an exemplary embodiment of this disclosure is shown. Figure 2 As shown, the exemplary embodiment of this disclosure determines the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target grasping point, which may include:

[0053] Step 201: Based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, the latitude parameters of the target grasping point, and the radial dimensions of the spherical target, determine the latitude positioning parameters of the target grasping point and the positioning parameters of the spherical circle.

[0054] In practical applications, latitude reference information can be determined based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the radial dimensions of the spherical target. Then, based on the latitude reference information and the latitude parameters of the target grasping point, the positioning parameters and latitude positioning parameters of the spherical circle can be determined.

[0055] For example, when the base plane positioning parameters of the robotic arm base include the normal vector of the robotic arm base in the robotic arm base coordinate system, the latitude reference information can be determined based on the position parameters of the geometric center of the spherical target in the robotic arm base coordinate system and the normal vector of the robotic arm base in the robotic arm base coordinate system. This latitude reference information can refer to the positioning reference information of a spherical circle, which can describe the reference circle containing the geometric center of the spherical target. The plane containing this reference circle can be the latitude plane where the target grasping point is located when the latitude parameter is equal to 0°, and the radial dimension of this reference circle is the same as the radial dimension of the spherical target. Therefore, based on the latitude reference information and the latitude parameter of the target grasping point, the positioning parameters of the spherical circle and the latitude positioning parameters of the target grasping point can be determined, i.e., the Z-axis coordinate of the target grasping point in the robotic arm base coordinate system. It is understood that when determining the Z-axis coordinate of the target grasping point in the robotic arm base coordinate system, it can be determined that the target grasping point is located on the contour of the reference circle, but the specific location is not certain.

[0056] For example, given a fixed reference circle, the plane containing the reference circle, its geometric center, and its radius are all determined. Therefore, if the latitude parameters of the target grasping point are known, the radius and geometric center of the spherical circle can be determined using the radius of the reference circle and the latitude parameters of the target grasping point. It can be understood that the geometric center of the spherical circle and the geometric center of the reference circle lie on the same straight line, and this line coincides with the line containing the normal vector of the robotic arm's base coordinate system.

[0057] Step 202: Based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, the position parameters of the origin of the robotic arm base coordinate system, the longitude parameters of the target grasping point, and the radial dimensions of the spherical target, determine the longitude positioning parameters of the target grasping point.

[0058] In practical applications, longitude reference information can be determined based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, and the position parameters of the origin of the coordinate system of the robotic arm base. Then, based on the longitude reference information, the longitude parameters of the target grasping point, and the radial dimensions of the spherical target, the longitude positioning parameters of the target grasping point can be determined.

[0059] For example, when the positioning parameters of the spherical circle include the position parameters of the geometric center of the spherical circle and the radial dimension of the spherical circle, the longitude reference information determined based on the position parameters of the geometric center of the spherical circle, the position parameters of the geometric center of the spherical target, and the position parameters of the origin of the robot arm base coordinate system can be the description information of the longitude reference plane determined by the geometric center of the spherical circle, the geometric center of the spherical target, and the origin of the robot arm base coordinate system. This longitude reference plane can be considered as the plane where the target grasping point is located when the longitude parameter of the target grasping point is equal to 0°. Based on this, the longitude positioning parameters of the target grasping point, i.e., the X-axis coordinates and Y-axis coordinates of the target grasping point in the robot arm base coordinate system, can be obtained based on the longitude reference information, the longitude parameter of the target grasping point, and the radial dimension of the spherical target. It should be understood that when the X-axis coordinates and Y-axis coordinates of the target grasping point in the robot arm base coordinate system are determined, the specific position of the target grasping point on the contour line of the reference circle can be accurately located.

[0060] For example, the position parameters of the geometric center of the spherical circle, the position parameters of the geometric center of the spherical target, and the position parameters of the origin of the robot arm base coordinate system can all be characterized in the robot arm base coordinate system. For instance, the position parameters of the geometric center of the spherical target can be referred to the relevant description above, transforming from the camera coordinate system to the robot arm base coordinate system. Correspondingly, the position parameters of the geometric center of the spherical circle determined by this transformation can be the position parameters of the geometric center of the spherical circle in the robot arm base coordinate system. The position parameters of the origin of the robot arm base coordinate system can be referenced from the normal vector of the robot arm base in the world coordinate system. w Z n The process of transforming to the robot arm base coordinate system involves converting the position parameters of the robot arm base coordinate system at the origin of the world coordinate system using a rotation matrix between the robot arm base coordinate system and the inertial sensor coordinate system. (such as rotation matrices), and rotation matrices between the inertial sensor coordinate system and the world coordinate system. The origin of the robotic arm base coordinate system is converted into the positional parameters of the robotic arm base coordinate system.

[0061] As one possible way to achieve this, Figure 3 A schematic diagram illustrating the process of determining the second-direction descriptive relational expression according to an exemplary embodiment of this disclosure is shown. For example... Figure 3 As shown, an exemplary embodiment of this disclosure can determine a second directional descriptive relationship using the position parameter of the tangential point of the spherical target at the target grasping point as an unknown quantity, including:

[0062] Step 301: Determine the first vector description parameter based on the position parameters of the origin of the robotic arm base coordinate system and the position parameters of the target grasping point. For example, the first vector description parameter can be determined based on the position parameters of the origin of the robotic arm base coordinate system and the position parameters of the target grasping point in the robotic arm base coordinate system. This first vector description parameter can describe the vector from the origin of the robotic arm base coordinate system to the target grasping point.

[0063] Step 302: Using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, determine the second vector descriptive expression based on the position parameter of the origin of the robotic arm base coordinate system and the position parameter of the tangent point of the spherical target at the target grasping point. For example, the second vector descriptive expression can be determined based on the position parameter of the origin of the robotic arm base coordinate system and the position parameter of the tangent point of the spherical target at the target grasping point. It can describe the vector from the origin of the robotic arm base coordinate system to the tangent point of the spherical target at the target grasping point. However, since the position parameter of the tangent point of the spherical target at the target grasping point is an unknown, the second vector descriptive expression is essentially a vector expression containing unknowns.

[0064] The position parameters of the tangent point of the spherical target at the target grasping point in the exemplary embodiments of this disclosure can satisfy the tangent expression of the spherical target at the target grasping point. For example, the tangent normal vector of the spherical target at the target grasping point can be determined based on the position parameters of the geometric center of the spherical target and the position parameters of the target grasping point. Then, the tangent expression of the spherical target at the target grasping point can be determined based on the tangent normal vector of the spherical target at the target grasping point and the positioning information of the target grasping point.

[0065] Step 303: Determine the second directional description formula based on the first vector description parameter and the second vector description parameter. Here, the first vector description parameter describes the vector from the origin of the robotic arm base coordinate system to the target grasping point, while the second vector description formula describes the vector from the origin of the robotic arm base coordinate system to the tangent point of the spherical target at the target grasping point. Therefore, by using the first and second vector description parameters, the vector difference between the first vector and the second vector can be determined, thereby obtaining the second directional description formula, which is the vector from the origin of the robotic arm base coordinate system to the tangent point of the spherical target at the target grasping point.

[0066] Figure 4 A schematic diagram illustrating the principle of calculating the rotation parameters of the target gripping point in an exemplary embodiment of this disclosure is shown. Figure 4 As shown, an exemplary embodiment of this disclosure can establish a robot arm base coordinate system XYZ with B as the origin, based on the normal vector of the robot arm base in the robot arm base coordinate system. base Z nThe radius of the spherical target and the coordinates of its geometric center O in the XYZ coordinate system of the robotic arm base are used to determine the expression for the reference circle T of the spherical target. The plane containing the reference circle T can be parallel to the plane containing the X and Y axes of the robotic arm base coordinate system, and the center of the reference circle T is the geometric center O of the spherical target.

[0067] Assuming there is a target grasping point P on the surface of the spherical target, the positioning information of the target grasping point P can include the latitude θ and the longitude of the target grasping point. Therefore, the normal vector of the robot arm base in the robot arm base coordinate system can be determined by aligning the Z-axis direction with the base. base Z n Then, based on the expression of the reference circle T of the spherical target and the normal vector of the robot arm base in the XYZ coordinate system of the robot arm base... base Z n Given the latitude θ of the target grasping point, determine the Z-axis coordinates of the target grasping point P in the XYZ coordinate system of the robotic arm base, and the coordinates relative to the normal vector. base Z n The geometric center of a perpendicular spherical circle T' lies in the coordinates of the robot arm base coordinate system and the radius of the spherical circle T', and the geometric center of this spherical circle T' is defined as O'. The plane in which this spherical circle T' is formed is parallel to the plane containing the reference circle T.

[0068] We can take the geometric center O' of the spherical circle T' as the origin, and the direction of O'O as z. O' axial direction, x O' axis and z O' The plane formed by the axes is the BOO' plane. Construct a spherical circular coordinate system x. O' y O' z O' At this point, y can be obtained through O'O×O'B. O' The axial direction vector. The BOO' plane can be considered a longitude reference plane; therefore, the angle between the line connecting the target grab point P and the geometric center O' of the spherical circle and the BOO' plane, and the longitude of the target grab point, is... The same applies. Based on this, the BOO' plane expression can be determined using the coordinates of the geometric center O' of the spherical circle T' in the XYZ coordinate system of the robotic arm base, the coordinates of the geometric center O of the spherical target in the XYZ coordinate system of the robotic arm base, and the coordinates of the origin of the robotic arm base coordinate system in the XYZ coordinate system of the robotic arm base. Then, the BOO' plane expression is used as the longitude reference information. Based on the BOO' plane expression, the radius of the spherical target, and the longitude of the target grasping point,... Determine the X-axis and Y-axis coordinates of the target grasping point in the XYZ coordinate system of the robotic arm base.

[0069] As can be seen, the exemplary embodiments of this disclosure can adjust the Z-axis coordinate of the target grasping point P in the XYZ coordinate system of the robotic arm base, as well as the geometric center position and radius of the spherical circle T', by adjusting the latitude θ of the target grasping point, and by adjusting the longitude of the target grasping point. The X-axis and Y-axis coordinates of the target grasping point P in the XYZ coordinate system of the robotic arm base can be adjusted.

[0070] Typically, the grasping direction of a spherical target is determined by the line connecting the grasping point P and the geometric center O of the spherical target. The tangent expression of the spherical target at the grasping point can be determined by the normal vector of the tangent plane formed by the grasping point P and the geometric center O of the spherical target, as well as the coordinates of the grasping point P in the XYZ coordinate system of the robotic arm base. Then, using the tangent expression of the spherical target at the grasping point as a constraint, any point M on the tangent plane of the spherical target at the grasping point P can be obtained.

[0071] Assuming the target grab point P is the origin, establish a grab coordinate system x p y p z p This captures the z-axis of the coordinate system. p The axis is determined by the normal vector of the tangent plane formed by the target grab point P and the geometric center O of the spherical target, x p axis and y p The axis can be determined by the tangent plane of the spherical target at the target grasping point P. Any tangent point M can be obtained from the tangent plane of the spherical target at the target grasping point P. When the latitude θ = 0° of the target grasping point, the coordinates of the tangent point M in the XYZ coordinate system of the robotic arm base can be set as (0, m, 1). When θ > 0°, the coordinates of the tangent point M in the XYZ coordinate system of the robotic arm base can be set as (0, 1, m). Although the coordinates of this tangent point M in the XYZ coordinate system of the robotic arm base have unknowns, they satisfy the expression for the tangent plane of the spherical target at the target grasping point P.

[0072] The above captures the z-axis of the coordinate system. p The axial direction is essentially the first direction, which can represent the tangent normal vector of the target grab point. The direction, capturing the x-axis of the coordinate system p The axial direction is essentially the vector from the target grasping point P to the point on the tangent plane of the spherical target at the target grasping point. The direction can correspond to a second direction. And because... and Vertical, and therefore,

[0073] Since the coordinates of the target grasping point P in the robot arm base coordinate system XYZ, the coordinates of the origin B in the robot arm base coordinate system XYZ, and the coordinates of the geometric center O of the spherical target in the robot arm base coordinate system XYZ are known, the normal vector of the tangent formed by the target grasping point P and the geometric center O of the spherical target is... The vector formed by the origin B of the robotic arm base coordinate system and the target grasping point P All are known vectors. Based on this, when At that time, the vector determined by the origin B and the tangent point M of the robot arm base coordinate system can be solved. Since the coordinates of the origin B of the robotic arm base coordinate system in the XYZ coordinate system are known, it can be determined using vectors. Determine the coordinates of the tangent point M in the XYZ coordinate system of the robotic arm base by finding the coordinates of the origin B of the robotic arm base coordinate system and the coordinates of the tangent point M in the XYZ coordinate system of the robotic arm base.

[0074] Once the coordinates of the tangent point M in the robot arm base coordinate system XYZ are determined, the second direction description parameters can be determined based on the coordinates of the target grasping point P in the robot arm base coordinate system XYZ and the coordinates of the tangent point M in the robot arm base coordinate system XYZ. This is because the vector from the target grasping point P to the tangent point of the spherical target at the target grasping point... Given that, considering the y-axis of the grasping coordinate system... p The axial direction can be determined by the x-axis of the grasping coordinate system. p Axial direction and z-axis of the grab coordinate system p The vector product along the axis is solved, therefore, it can be based on Determine the y-coordinate of the capture coordinate system p Axial direction vector, i.e., third-party direction description parameter.

[0075] After determining the first direction description parameters, the second direction description parameters, and the third direction description parameters, all of which are represented by vectors, their unit vectors can be calculated to obtain the rotation parameters for the first, second, and third directions. These rotation parameters can then form the direction cosine matrix of the robotic arm's tool end, i.e., the rotation matrix from the target grasping point to the robotic arm base, thereby controlling the robotic arm's tool end to grasp the spherical target with maximum grasping force.

[0076] A rubber ball is used to simulate the target sphere. A robotic arm is mounted on a six-degree-of-freedom (DOF) platform, and an inertial sensor (IMU) is also mounted on the platform. A base coordinate system for the robotic arm can be established on the six-DOF platform. The rotation angles in the X and Y directions of this coordinate system are set to 10°, and the rotation angle in the Z direction is set to 0°. When θ = 0° and... When all parameters are converted to the coordinate system of the robotic arm, the calculation process is simplified, the grasping pose of any point on the sphere can be obtained, and the grasping pose can be guaranteed to be unaffected by changes in the robotic arm base.

[0077] As can be seen, one or more technical solutions provided in the exemplary embodiments of this disclosure can determine the position parameters of the target gripping point based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target gripping point. Furthermore, based on the position parameters of the target gripping point and the position parameters of the geometric center of the spherical target, a first direction description parameter can be determined, allowing the first direction description parameter to describe the line direction connecting the target gripping point and the geometric center of the spherical target. Simultaneously, using the position parameter of the tangent point of the spherical target at the target gripping point as an unknown, a second direction description relationship is determined. The second direction description parameter is used to describe the line direction connecting the target gripping point and the tangent point of the spherical target at the target gripping point. Therefore, the exemplary embodiments of this disclosure can determine the rotation parameters of the target gripping point in the robotic arm base coordinate system based on the first direction description parameter and the second direction description relationship, under the constraint that the first direction is perpendicular to the second direction. Based on this, when the robotic arm grasps a spherical target at the target grasping point with the rotation parameters of the target grasping point, the robotic arm can adapt to the changes in the base plane of the robotic arm base and always grasp the spherical target with the maximum grasping force, thereby ensuring the reliability of grasping the spherical target.

[0078] By dividing the functions into modules corresponding to each function, an exemplary embodiment of this disclosure provides a device for determining grasping parameters, wherein the grasping parameters include the position parameters and rotation parameters of the spherical target. Figure 5 A schematic block diagram of the functional modules of a grasping parameter determination device according to an exemplary embodiment of the present disclosure is shown. Figure 5 As shown, the device 500 for determining the grasping parameters includes:

[0079] The first determining module 501 is used to determine the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the positioning information of the target grasping point.

[0080] The second determining module 502 is used to determine a first direction description parameter based on the position parameters of the target grasping point and the position parameters of the geometric center of the spherical target. The first direction description parameter is used to describe the direction of the line connecting the target grasping point and the geometric center of the spherical target. The second direction description parameter is used to determine a second direction description relationship with the position parameters of the tangent point of the spherical target at the target grasping point as unknowns. The second direction description parameter is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point.

[0081] The third determining module 503 is used to determine the rotation parameters of the target grasping point in the coordinate system of the robotic arm base, based on the first direction description parameters and the second direction description formula, under the constraint relationship between the first direction and the second direction. The constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction.

[0082] As one possible implementation, the position parameters of the geometric center of the spherical target include: the position parameters of the geometric center of the spherical target in the coordinate system of the robot arm base. The first determining module 501 is further configured to: determine the position parameters of the geometric center of the spherical target in the camera coordinate system based on the image of the spherical target; and determine the position parameters of the geometric center of the spherical target based on the position parameters of the geometric center of the spherical target in the camera coordinate system.

[0083] As one possible implementation, the positioning information of the target grasping point includes the longitude parameter of the target grasping point, the latitude parameter of the target grasping point, and the radial dimension of the spherical target; the position parameters of the target grasping point include the latitude positioning parameter and the longitude positioning parameter of the target grasping point.

[0084] The latitude positioning parameter of the target grasping point is related to the latitude parameter of the target grasping point and the radial dimension of the spherical target, and the longitude positioning parameter of the target grasping point is related to the longitude parameter of the target grasping point and the radial dimension of the spherical target.

[0085] As one possible implementation, the first determining module 501 is used to determine the latitude positioning parameters of the target grasping point and the positioning parameters of the spherical circle based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, the latitude parameters of the target grasping point, and the radial dimension of the spherical target; and to determine the longitude positioning parameters of the target grasping point based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, the origin position parameters of the coordinate system of the robotic arm base, the longitude parameters of the target grasping point, and the radial dimension of the spherical target.

[0086] As one possible implementation, the positioning parameters of the spherical circle include the position parameters of the geometric center of the spherical circle and the radial dimension of the spherical circle. The second determining module 502 is used to determine the latitude reference information based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the radial dimension of the spherical target; and to determine the positioning parameters of the spherical circle and the latitude positioning parameters of the target grasping point based on the latitude reference information and the latitude parameters of the target grasping point.

[0087] As one possible implementation, the second determining module 502 is used to determine longitude reference information based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, and the position parameters of the origin of the coordinate system of the robotic arm base; and to determine the longitude positioning parameters of the target grasping point based on the longitude reference information, the longitude parameters of the target grasping point, and the radial dimension of the spherical target.

[0088] As one possible implementation, the second determining module 502 is used to determine a first vector description parameter based on the origin position parameter of the robotic arm base coordinate system and the position parameter of the target grasping point; using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, determine a second vector description formula based on the origin position parameter of the robotic arm base coordinate system and the position parameter of the tangent point of the spherical target at the target grasping point; and determine a second direction description formula based on the first vector description parameter and the second vector description parameter.

[0089] As one possible implementation, the position parameters of the spherical target's tangent point at the target grasping point satisfy the tangent expression of the spherical target at the target grasping point. The second determining module 502 is further configured to determine the tangent normal vector of the spherical target at the target grasping point based on the position parameters of the geometric center of the spherical target and the position parameters of the target grasping point; and to determine the tangent expression of the spherical target at the target grasping point based on the tangent normal vector of the spherical target at the target grasping point and the positioning information of the target grasping point.

[0090] As one possible implementation, the third determining module 503 is used to determine the second direction description parameter based on the first direction description parameter and the second direction description formula, under the constraint relationship between the first direction and the second direction; determine the third direction description parameter based on the first direction description parameter and the second direction description parameter; and determine the rotation parameter of the target grasping point based on the first direction description parameter, the second direction description parameter and the third direction description parameter.

[0091] As one possible implementation, the first direction description parameter, the second direction description parameter, and the third direction description parameter are all represented in vector form. The rotation parameter of the target grasping point includes the unit vector of the target grasping point in the first direction, the unit vector of the target grasping point in the second direction, and the unit vector of the target grasping point in the third direction.

[0092] Figure 6 A schematic block diagram of a chip according to an exemplary embodiment of the present disclosure is shown. Figure 6 As shown, the chip 600 includes one or more (including two) processors 601 and a communication interface 602. The communication interface 602 can perform the data transmission and reception steps in the above method, and the processor 601 can perform the data processing steps in the above method.

[0093] Optional, such as Figure 6 As shown, the chip 600 also includes a memory 603, which may include read-only memory and random access memory, and provides operation instructions and data to the processor. A portion of the memory may also include non-volatile random access memory (NVRAM).

[0094] In some implementations, such as Figure 6 As shown, processor 601 executes corresponding operations by calling operation instructions stored in memory (which may be stored in the operating system). Processor 601 controls the processing operations of any terminal device; processor can also be called a central processing unit (CPU). Memory 603 may include read-only memory and random access memory, and provides instructions and data to processor 601. A portion of memory 603 may also include NVRAM. For example, in applications, memory, communication interfaces, and other components are coupled together via a bus system, which may include, in addition to a data bus, a power bus, a control bus, and a status signal bus, etc. However, for clarity, in... Figure 6 The general designated all buses as Bus System 604.

[0095] The methods disclosed in the embodiments of this disclosure can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above methods can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this disclosure can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0096] Exemplary embodiments of this disclosure also provide an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the electronic device to perform a method according to an embodiment of this disclosure.

[0097] Exemplary embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a computer's processor, is used to cause the computer to perform a method according to embodiments of this disclosure.

[0098] Exemplary embodiments of this disclosure also provide a computer program product, including a computer program, wherein, when executed by a processor of a computer, the computer program is used to cause the computer to perform a method according to an embodiment of this disclosure.

[0099] refer to Figure 7The present invention describes a structural block diagram of an electronic device 700 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0100] like Figure 7 As shown, the electronic device 700 includes a computing unit 701, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. The RAM 703 may also store various programs and data required for the operation of the device 700. The computing unit 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0101] like Figure 7 As shown, multiple components in electronic device 700 are connected to I / O interface 705, including: input unit 706, output unit 707, storage unit 708, and communication unit 709. Input unit 706 can be any type of device capable of inputting information to electronic device 700. Input unit 706 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 707 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 708 may include, but is not limited to, disks and optical discs. Communication unit 709 allows electronic device 700 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0102] like Figure 7As shown, computing unit 701 can be various general-purpose and / or dedicated processing components with processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, central processing unit (CPU), graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the methods of exemplary embodiments of this disclosure can be implemented as computer software programs tangibly contained in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 700 via ROM 702 and / or communication unit 709. In some embodiments, computing unit 701 can be configured to perform the methods of exemplary embodiments of this disclosure by any other suitable means (e.g., by means of firmware).

[0103] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0104] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0105] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0106] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0107] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0108] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this disclosure are performed, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center integrating one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0109] Although this disclosure has been described in conjunction with specific features and embodiments, it will be apparent that various modifications and combinations can be made therein without departing from the spirit and scope of this disclosure. Accordingly, this specification and drawings are merely exemplary illustrations of the disclosure as defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this disclosure. It is obvious that those skilled in the art can make various alterations and modifications to this disclosure without departing from its spirit and scope. Thus, this disclosure is also intended to include any such modifications and modifications that fall within the scope of the claims of this disclosure and their equivalents.

Claims

1. A method for determining capture parameters, characterized in that, The grasping parameters include the position and rotation parameters of the target grasping point in the coordinate system of the robotic arm base, and the method includes: Based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, and the positioning information of the target grasping point, the position parameters of the target grasping point are determined. The positioning information of the target grasping point includes the longitude parameter, the latitude parameter, and the radial dimension of the spherical target. The position parameters of the target grasping point include the latitude positioning parameter and the longitude positioning parameter. The latitude positioning parameter is related to both the latitude parameter and the radial dimension of the spherical target, and the longitude positioning parameter is also related to both the longitude parameter and the radial dimension of the spherical target. The longitude positioning parameter is the X-axis and Y-axis coordinates of the target grasping point in the robotic arm base coordinate system, and the latitude positioning parameter is the Z-axis coordinate of the target grasping point in the robotic arm base coordinate system. Based on the position parameters of the target grasping point and the position parameters of the geometric center of the spherical target, a first direction description parameter is determined. The first direction description parameter is used to describe the direction of the line connecting the target grasping point and the geometric center of the spherical target. Using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, a second direction description formula is determined. The second direction description formula is used to describe the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point. Under the constraint of the first direction and the second direction, based on the first direction description parameter and the second direction description formula, the rotation parameter of the target grasping point in the coordinate system of the robot arm base is determined, and the constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction. The determination of the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, and the positioning information of the target grasping point includes: Based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, the latitude parameters of the target grasping point, and the radial dimensions of the spherical target, the latitude positioning parameters of the target grasping point and the positioning parameters of the spherical circle are determined. Based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, the position parameters of the origin of the coordinate system of the robotic arm base, the longitude parameters of the target grasping point, and the radial dimension of the spherical target, the longitude positioning parameters of the target grasping point are determined. The step of determining the second directional descriptive relationship using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown quantity includes: Based on the origin position parameters of the robotic arm base coordinate system and the position parameters of the target grasping point, the first vector description parameters are determined; Using the position parameter of the tangent point of the spherical target at the target grasping point as an unknown, and based on the position parameter of the origin of the coordinate system of the robotic arm base and the position parameter of the tangent point of the spherical target at the target grasping point, the second vector description parameter is determined. The second directional description relation is determined based on the first vector description parameter and the second vector description parameter.

2. The method according to claim 1, characterized in that, The position parameters of the geometric center of the spherical target include: the position parameters of the geometric center of the spherical target in the coordinate system of the robot arm base; the method further includes: Based on the image of the spherical target, determine the position parameters of the geometric center of the spherical target in the camera coordinate system; The position parameters of the geometric center of the spherical target are determined based on the position parameters of the geometric center of the spherical target in the camera coordinate system.

3. The method according to claim 1, characterized in that, The positioning parameters of the spherical circle include the position parameters of the geometric center of the spherical circle and the radial dimension of the spherical circle. The determination of the latitudinal positioning parameters of the target grasping point and the positioning parameters of the spherical circle based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, the latitude parameters of the target grasping point, and the radial dimension of the spherical target includes: Based on the position parameters of the geometric center of the spherical target, the base plane positioning parameters of the robotic arm base, and the radial dimensions of the spherical target, the latitude reference information is determined. Based on the latitude reference information and the latitude parameters of the target grasping point, the positioning parameters of the spherical circle and the latitude positioning parameters of the target grasping point are determined.

4. The method according to claim 1, characterized in that, The determination of the longitude positioning parameters of the target grasping point based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, the position parameters of the origin of the robotic arm base coordinate system, the longitude parameters of the target grasping point, and the radial dimension of the spherical target includes: Based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, and the position parameters of the origin of the coordinate system of the robotic arm base, the longitude reference information is determined. Based on the longitude reference information, the longitude parameters of the target grasping point, and the radial dimensions of the spherical target, the longitude positioning parameters of the target grasping point are determined.

5. The method according to any one of claims 1 to 4, characterized in that, The position parameters of the tangent point of the spherical target at the target grasping point satisfy the tangent expression of the spherical target at the target grasping point, and the method further includes: Based on the position parameters of the geometric center of the spherical target and the position parameters of the target grasping point, determine the tangential normal vector of the spherical target at the target grasping point; Based on the tangent normal vector of the spherical target at the target grasping point and the positioning information of the target grasping point, the tangent expression of the spherical target at the target grasping point is determined.

6. The method according to any one of claims 1 to 4, characterized in that, Under the constraint relationship between the first and second directions, the rotation parameters of the target grasping point in the coordinate system of the robotic arm base are determined based on the first direction description parameters and the second direction description formula, including: Under the constraint of the first direction and the second direction, the second direction description parameter is determined based on the first direction description parameter and the second direction description relation. Based on the first direction description parameter and the second direction description parameter, determine the third direction description parameter; Based on the first direction description parameter, the second direction description parameter, and the third direction description parameter, the rotation parameters of the target grasping point are determined.

7. The method according to claim 6, characterized in that, The first direction description parameter, the second direction description parameter, and the third direction description parameter are all represented in vector form. The rotation parameter of the target grasping point includes the unit vector of the target grasping point in the first direction, the unit vector of the target grasping point in the second direction, and the unit vector of the target grasping point in the third direction.

8. A device for determining grasping parameters, characterized in that, The grasping parameters include the position parameters and rotation parameters of the spherical target, and the device includes: The first determining module is used to determine the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, and the positioning information of the target grasping point. Determining the position parameters of the target grasping point based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, and the positioning information of the target grasping point includes: determining the latitude positioning parameters of the target grasping point and the positioning parameters of the spherical circle based on the position parameters of the geometric center of the spherical target, the base planar positioning parameters of the robotic arm base, the latitude parameters of the target grasping point, and the radial dimension of the spherical target; and determining the latitude positioning parameters of the target grasping point and the positioning parameters of the spherical circle based on the positioning parameters of the spherical circle, the position parameters of the geometric center of the spherical target, the origin position parameters of the robotic arm base coordinate system, the longitude parameters of the target grasping point, and the radial dimension of the spherical target. The radial dimension of the target grasping point is used to determine the longitude positioning parameters of the target grasping point. The positioning information of the target grasping point includes the longitude parameter, the latitude parameter, and the radial dimension of the spherical target. The position parameters of the target grasping point include the latitude positioning parameter and the longitude positioning parameter. The latitude positioning parameter is related to the latitude parameter and the radial dimension of the spherical target, and the longitude positioning parameter is related to the longitude parameter and the radial dimension of the spherical target. The longitude positioning parameter is the X-axis and Y-axis coordinates of the target grasping point in the robot arm base coordinate system, and the latitude positioning parameter is the Z-axis coordinate of the target grasping point in the robot arm base coordinate system. The second determining module is used to determine a first direction description parameter based on the position parameters of the target grasping point and the position parameters of the geometric center of the spherical target. The first direction description parameter describes the direction of the line connecting the target grasping point and the geometric center of the spherical target. It also determines a second direction description formula using the position parameters of the tangent point of the spherical target at the target grasping point as unknowns. This determination includes: determining a first vector description parameter based on the origin position parameters of the robotic arm base coordinate system and the position parameters of the target grasping point; determining a second vector description parameter using the position parameters of the tangent point of the spherical target at the target grasping point as unknowns, based on the origin position parameters of the robotic arm base coordinate system and the tangent point position parameters of the spherical target at the target grasping point; and determining the second direction description formula based on the first and second vector description parameters. The second direction description formula describes the direction of the line connecting the target grasping point and the tangent point of the spherical target at the target grasping point. The third determining module is used to determine the rotation parameters of the target grasping point in the coordinate system of the robotic arm base, based on the first direction description parameters and the second direction description formula, under the constraint relationship between the first direction and the second direction. The constraint relationship between the first direction and the second direction is that the first direction is perpendicular to the second direction.

9. An electronic device, characterized in that, include: processor; as well as, Memory for stored programs; The program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method according to any one of claims 1 to 7.

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