Method and apparatus for initial pose calibration of continuum robots

Abstract

This application discloses a method and apparatus for initial pose calibration of a continuum robot. The initial pose calibration method includes: acquiring ideal current data of a drive motor when the continuum robot is in an ideal initial pose, wherein the drive motor is used to drive multiple drive ropes included in the continuum robot; constructing an ideal current range based on the ideal current data; and controlling the rotation of the drive motor based on an initial pose calibration algorithm, such that the initial current data of the drive motor obtained through rotation is located within the ideal current range, thereby completing the initial pose calibration of the continuum robot, wherein the initial pose calibration algorithm is created based on the ideal current range and a successive approach strategy.

Description

Technical Field

[0001] This disclosure generally relates to the field of artificial intelligence technology, and more specifically, to a method and apparatus for initial pose calibration of a continuum robot. Background Technology

[0002] In related fields, continuum robots are an emerging robotics technology inspired by the softness and flexibility of living organisms. Compared to traditional rigid robots, continuum robots are made of soft materials, can freely transform their shape and structure, and can be designed to be very small, making them promising for a wide range of applications in the medical field. For example, continuum robots can be used to assist in medical tasks such as endoscopic examination, polyp removal, and lesion resection, utilizing the soft properties of continuum robots to perform precise and safe operations, such as inside the human body.

[0003] In the control of continuum robots, kinematic models are typically used to achieve this control. However, the initial pose of the continuum robot significantly impacts the control effectiveness (e.g., operational accuracy). Therefore, controlling the initial pose of the continuum robot is one of the key issues involved in this control approach. Summary of the Invention

[0004] The embodiments of this disclosure provide a method and apparatus for initial pose calibration of a continuum robot, thereby realizing the automatic calibration of the ideal initial pose of a rope-driven continuum robot.

[0005] In one general aspect, an initial pose calibration method for a continuum robot is provided. The initial pose calibration method includes: acquiring ideal current data of a drive motor when the continuum robot is in an ideal initial pose, wherein the drive motor drives multiple drive ropes included in the continuum robot; constructing an ideal current range based on the ideal current data; and controlling the rotation of the drive motor based on an initial pose calibration algorithm, such that the initial current data of the drive motor obtained through rotation falls within the ideal current range, thereby completing the initial pose calibration of the continuum robot, wherein the initial pose calibration algorithm is created based on the ideal current range and a successive approach strategy.

[0006] Optionally, the step of obtaining the ideal current data of the drive motor when the continuous robot is in the ideal initial pose may include: continuously collecting the current data of the drive motor when the continuous robot is in the ideal initial pose within a preset time period, and using it as the ideal current data.

[0007] Optionally, the step of constructing the ideal current interval based on the ideal current data may include: obtaining the ideal current mean and ideal current standard deviation of the ideal current data by calculating the mean and standard deviation of the ideal current data; and constructing the ideal current interval based on the ideal current mean and ideal current standard deviation.

[0008] Optionally, the step of controlling the rotation of the drive motor based on the initial pose calibration algorithm, so that the initial current data of the drive motor obtained through rotation is within the ideal current range, may include: continuously collecting the current current data of the drive motor of the continuous robot in the current initial pose within a preset time period; determining whether the continuous robot is currently in the ideal initial pose based on the comparison between the current current data and the ideal current range; in response to determining that the continuous robot is not currently in the ideal initial pose, adjusting the rotation direction and rotation amount of the drive motor based on the stepwise approach strategy, and controlling the rotation of the drive motor based on the rotation direction and rotation amount of the drive motor, so that the initial current data of the drive motor obtained through rotation is within the ideal current range.

[0009] Optionally, the step of determining whether the continuum robot is currently in the ideal initial pose based on the comparison between the current current data and the ideal current range may include: obtaining a current average value by averaging the current current data; obtaining the proportion of the current current data located in the ideal current range by comparing the current average value with the ideal average value corresponding to the ideal current range; and determining whether the continuum robot is currently in the ideal initial pose based on the proportion.

[0010] Optionally, the step of adjusting the rotation direction and rotation amount of the drive motor based on the stepwise approach strategy in response to determining that the continuum robot is not currently in the ideal initial pose may include: applying the stepwise approach strategy to the current average current and the ideal average current corresponding to the ideal current range in response to determining that the continuum robot is not currently in the ideal initial pose to obtain the rotation direction and rotation amount of the drive motor.

[0011] Optionally, the step of determining whether the continuum robot is currently in the ideal initial pose based on the percentage may include: determining that the continuum robot is currently in the ideal initial pose in response to the percentage being greater than or equal to a preset percentage threshold; and determining that the continuum robot is not currently in the ideal initial pose in response to the percentage being less than the preset percentage threshold.

[0012] Optionally, the steps of the stepwise approach strategy may include: performing the following processing at a preset current update step size: determining the rotation direction of the drive motor based on the mean data corresponding to the initial current data and the mean data corresponding to the ideal current range; using the current update step size as the rotation amount of the drive motor, and using the rotation direction and the rotation amount of the drive motor as the output result of the stepwise approach strategy.

[0013] In another general aspect, an initial pose calibration device for a continuum robot is provided. The initial pose calibration device includes: a data acquisition and analysis module configured to: acquire ideal current data of a drive motor when the continuum robot is in an ideal initial pose, wherein the drive motor drives multiple drive ropes included in the continuum robot, and the data acquisition and analysis module is further configured to: construct an ideal current range based on the ideal current data; and a data calibration module configured to: control the rotation of the drive motor based on an initial pose calibration algorithm, such that the initial current data of the drive motor obtained through rotation is located within the ideal current range, thereby completing the initial pose calibration of the continuum robot, wherein the initial pose calibration algorithm is created based on the ideal current range and a successive approach strategy.

[0014] Optionally, the operation of the data acquisition and analysis module to acquire the ideal current data of the drive motor when the continuous robot is in the ideal initial pose may include: continuously collecting the current data of the drive motor when the continuous robot is in the ideal initial pose within a preset time period, as the ideal current data.

[0015] Optionally, the operation of the data acquisition and analysis module in constructing the ideal current interval based on the ideal current data may include: obtaining the ideal current mean and ideal current standard deviation of the ideal current data by calculating the mean and standard deviation of the ideal current data; and constructing the ideal current interval based on the ideal current mean and ideal current standard deviation.

[0016] Optionally, the data calibration module controls the rotation of the drive motor based on an initial pose calibration algorithm, such that the initial current data of the drive motor obtained through rotation is within the ideal current range. This operation may include: continuously collecting the current current data of the drive motor of the continuous robot in the current initial pose within a preset time period; determining whether the continuous robot is currently in the ideal initial pose based on a comparison between the current current data and the ideal current range; and, in response to determining that the continuous robot is not currently in the ideal initial pose, adjusting the rotation direction and amount of the drive motor based on the stepwise approach strategy, and controlling the rotation of the drive motor based on the rotation direction and amount of rotation, so that the initial current data of the drive motor obtained through rotation is within the ideal current range.

[0017] Optionally, the operation by which the data calibration module determines whether the continuum robot is currently in the ideal initial pose based on a comparison between the current current data and the ideal current range may include: obtaining a current average value by averaging the current current data; obtaining the proportion of the current current data located in the ideal current range by comparing the current average value with the ideal average value corresponding to the ideal current range; and determining whether the continuum robot is currently in the ideal initial pose based on the proportion.

[0018] Optionally, the operation of the data calibration module in response to determining that the continuous robot is not currently in the ideal initial pose, adjusting the rotation direction and rotation amount of the drive motor based on the stepwise approach strategy may include: in response to determining that the continuous robot is not currently in the ideal initial pose, applying the stepwise approach strategy to the current average current value and the ideal average value corresponding to the ideal current range to obtain the rotation direction and rotation amount of the drive motor.

[0019] Optionally, the operation of the data calibration module in determining whether the continuum robot is currently in the ideal initial pose based on the proportion may include: determining that the continuum robot is currently in the ideal initial pose in response to the proportion being greater than or equal to a preset proportion threshold; and determining that the continuum robot is not currently in the ideal initial pose in response to the proportion being less than the preset proportion threshold.

[0020] Optionally, the operation of the stepwise approach strategy may include: performing the following processing at a preset current update step size: determining the rotation direction of the drive motor based on the mean data corresponding to the initial current data and the mean data corresponding to the ideal current range; using the current update step size as the rotation amount of the drive motor, and using the rotation direction and the rotation amount of the drive motor as the output result of the stepwise approach strategy.

[0021] In another general aspect, a computer program product is provided, the computer program product comprising a computer program / instructions that, when executed by a processor, implement the initial pose calibration method as described above.

[0022] In another general aspect, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device / server, enables the electronic device / server to perform the initial pose calibration method as described above.

[0023] In another general aspect, a computer device is provided, the computer device comprising: at least one processor; at least one memory storing computer-executable instructions, wherein, when executed by the at least one processor, the computer-executable instructions cause the at least one processor to perform the initial pose calibration method as described above.

[0024] The initial pose calibration method and apparatus for a continuum robot according to embodiments of this disclosure achieve automatic calibration of the ideal initial pose of the continuum robot by proposing an initial pose calibration algorithm to control the rotation of the drive motor, ensuring that the drive current distribution falls within the ideal current range. Furthermore, the initial pose calibration method for a continuum robot according to embodiments of this disclosure effectively fills the gap in the prior art where there is no automatic calibration method for rope-driven continuum robots. Attached Figure Description

[0025] The above and other objects and features of the embodiments of this disclosure will become clearer from the following description taken in conjunction with the accompanying drawings illustrating the embodiments, wherein:

[0026] Figure 1A and Figure 1B This is a flowchart illustrating an initial pose calibration method for a continuum robot according to an embodiment of the present disclosure;

[0027] Figure 2 This is a schematic diagram illustrating a rope-driven continuum robot according to an embodiment of the present disclosure;

[0028] Figure 3 This is a schematic diagram showing a cross-section of the control loop of a continuum robot according to an embodiment of the present disclosure;

[0029] Figure 4 This is a flowchart illustrating an example of an initial pose calibration method for a continuum robot according to an embodiment of the present disclosure;

[0030] Figure 5 This is a structural block diagram illustrating an initial pose calibration device for a continuum robot according to an embodiment of the present disclosure;

[0031] Figure 6 This is a block diagram illustrating a computer device according to an embodiment of the present disclosure. Detailed Implementation

[0032] The following detailed embodiments are provided to aid the reader in gaining a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but may be changed as will become clear upon understanding this disclosure, except for operations that must occur in a specific order. Furthermore, for clarity and conciseness, descriptions of features known in the art may be omitted.

[0033] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings, examples of which are illustrated in the drawings, wherein the same reference numerals always refer to the same parts. The embodiments will now be described with reference to the accompanying drawings in order to explain this disclosure.

[0034] In related technologies, the control of continuum robots is typically based on kinematic models. These models usually assume an initial horizontal posture (i.e., all drive cables are parallel to the horizontal plane). Based on this assumption, drive increments are input to control the motion of the continuum robot. However, due to encoder errors, drive cable slack, and mechanical friction, the continuum robot may experience initial pose deviation after a period of operation; that is, a shift in its initial position each time it is used. Since manually calibrating the initial pose of the continuum robot is tedious and inconvenient, this application proposes a method for automatically calibrating the ideal initial pose of the continuum robot.

[0035] Before detailing the method for automatically calibrating the ideal initial pose of a continuum robot, let's first refer to... Figure 2 and Figure 3 A brief description of the continuum robot involved in this application is provided. Figure 2 This is a schematic diagram illustrating a rope-driven continuum robot according to an embodiment of the present disclosure, and Figure 3This is a schematic diagram showing a cross-section of the control loop of a continuum robot according to an embodiment of the present disclosure.

[0036] According to embodiments of this disclosure, a continuum robot refers to a flexible robot capable of bending and deflecting in multiple directions, which is driven, for example, by ropes. Specifically, a continuum robot may include multiple continuums, each driven by multiple drive ropes. Hereinafter, Figure 2 and Figure 3 This invention uses an example to illustrate a continuum robot, but is not limited thereto.

[0037] For example, refer to Figure 2 and Figure 3 A continuum robot consists of two continuums (i.e., Figure 2 The continuous section shown is 1 and 2. Each continuous section is driven by, for example, but not limited to, three drive ropes, and each continuous section includes multiple control rings (or joint control rings), connecting rods, and two-way joints. Specifically, the control rings are fixed to the connecting rods and have evenly spaced holes around them for the drive ropes to pass through, ensuring that the drive ropes are always in close contact with the continuous section (e.g., ...). Figure 3 (As shown). Furthermore, a two-way joint is used to achieve bending and deflection of the continuum. Additionally, the drive rope is fixed to a pre-set joint control ring (e.g., as shown). Figure 2 As shown in the joint control ring 1 and joint control ring 2, the joint control ring ensures that the drive rope controls the continuous body.

[0038] The following reference Figures 1A to 5 A detailed description is provided of an initial pose calibration method and apparatus for a continuum robot according to embodiments of the present disclosure.

[0039] Figure 1A and Figure 1B This is a flowchart illustrating an initial pose calibration method 100 for a continuum robot according to an embodiment of the present disclosure.

[0040] Reference Figure 1A According to an embodiment of this disclosure, in step S101, the ideal current range for the drive motor is obtained when the continuum robot is in the ideal initial pose.

[0041] Here, the drive motors are used to drive the multiple drive ropes included in the continuum robot. Furthermore, the location of the drive motors is not shown, for example, Figure 2 The drive rope shown is connected to an external drive motor to enable the drive motor to drive the rope.

[0042] As an example, step S101 may further include steps S1011 and S1012: in step S1011, the ideal current data of the drive motor is obtained when the continuum robot is in the ideal initial pose; in step S1012, the ideal current range is constructed based on the ideal current data.

[0043] As an example, such as Figure 1B As shown, the above step S1011 can be combined with Figure 1B This corresponds to step S201, and step S1012 described above can be associated with... Figure 1B This corresponds to step S202 in the text.

[0044] For example, step S1011 may further include: continuously collecting current data of the drive motor when the continuum robot is in the ideal initial pose within a preset time period, as ideal current data.

[0045] Here, the initial rotation of each drive motor can be set first to put the continuous robot in the ideal initial position. Then, in this state, the current data of each drive motor within a preset time period can be collected as the ideal current data.

[0046] For example, step S1012 may further include: obtaining the ideal current mean and ideal current standard deviation of the ideal current data by calculating the mean and standard deviation of the ideal current data; and constructing an ideal current range based on the ideal current mean and ideal current standard deviation.

[0047] Here, the ideal current range refers to the current distribution range of the drive motors corresponding to each drive rope when the continuum robot is in the ideal initial pose.

[0048] As an example, the ideal current mean vector A of the drive motor can be obtained through step S1012. II and the standard deviation vector of the ideal current S II Therefore, the ideal current range R is obtained according to the following equation (1). I :

[0049] R I =[A II -S II A II +S II (1)

[0050] According to an embodiment of this disclosure, in step S102, the rotation of the drive motor is controlled based on the initial pose calibration algorithm, so that the initial current data of the drive motor obtained by rotation is in the ideal current range, thereby completing the initial pose calibration of the continuum robot.

[0051] As an example, the initial pose calibration algorithm is created based on an ideal current range and a stepwise approach strategy.

[0052] As an example, such as Figure 1B As shown, the above step S102 can be combined with Figure 1B This corresponds to step S203 in the text.

[0053] According to embodiments of this disclosure, the initial pose calibration algorithm for a continuum robot can be implemented as follows: by collecting and analyzing the current data of each drive motor in the current state of the continuum robot, the difference between the current current distribution and the current distribution in the ideal state is determined. Based on this difference, the rotation of each drive motor is controlled so that the current distribution gradually approaches the ideal current range, thereby making the pose of the continuum robot gradually approach the ideal initial pose, and finally realizing automatic control of the pose of the continuum robot to reach the ideal initial pose.

[0054] According to embodiments of this disclosure, the step-by-step approach strategy may include: performing the following processing at a preset current update step size: determining the rotation direction of the drive motor based on the mean data corresponding to the initial current data and the mean data corresponding to the ideal current range; using the current update step size as the rotation amount of the drive motor, and using the rotation direction and rotation amount of the drive motor as the output result of the step-by-step approach strategy.

[0055] According to embodiments of this disclosure, step S102 may further include steps S1021 to S1023:

[0056] In step S1021, within a preset time period, the current current data of the drive motor of the continuum robot at the current initial pose is continuously collected.

[0057] In step S1022, based on the comparison between the current current data and the ideal current range, it is determined whether the continuum robot is currently in the ideal initial pose.

[0058] For example, step S1022 may specifically include steps S1 to S3: In step S1, the average value of the current current is obtained by averaging the current current data; in step S2, the proportion of the current current data located in the ideal current range is obtained by comparing the current average value with the ideal average value corresponding to the ideal current range; in step S3, based on the proportion, it is determined whether the continuum robot is currently in the ideal initial pose.

[0059] As an example, step S3 may further include: in response to the proportion being greater than or equal to a preset proportion threshold, determining that the continuum robot is currently in an ideal initial pose; in response to the proportion being less than the preset proportion threshold, determining that the continuum robot is currently not in an ideal initial pose.

[0060] In step S1023, in response to determining that the continuum robot is not currently in the ideal initial pose, the rotation direction and rotation amount of the drive motor are adjusted based on the stepwise approach strategy, and the rotation of the drive motor is controlled based on the rotation direction and rotation amount of the drive motor, so that the initial current data of the drive motor obtained by rotation is in the ideal current range.

[0061] For example, in step S1023, in response to determining that the continuum robot is not currently in the ideal initial pose, the step of adjusting the rotation direction and rotation amount of the drive motor based on the stepwise approach strategy may include: in response to determining that the continuum robot is not currently in the ideal initial pose, applying the stepwise approach strategy to the current average current value and the ideal average value corresponding to the ideal current range to obtain the rotation direction and rotation amount of the drive motor.

[0062] The following is for reference Figure 4 To further illustrate the steps of the initial pose calibration method of this disclosure, we will provide further examples. Figure 4 This is a flowchart illustrating an example of an initial pose calibration method for a continuum robot according to an embodiment of the present disclosure.

[0063] Reference Figure 4 The flowchart of an example initial pose calibration method for a continuum robot includes steps S401 to S404:

[0064] In step S401, the current data of each drive is acquired. Specifically, within a preset time period, the current data of each drive motor of the continuous robot in its current state is collected, and this current data is analyzed.

[0065] For example, the data acquisition and analysis process is shown in Algorithm 1 below, where M represents the number of motors, T represents the total number of data acquisitions, and C... I A represents the proportion vector appearing in the ideal current range under the current state. I Let C represent the mean current vector under the current state, where m represents the m-th motor and t represents the t-th data acquisition. I It includes M elements, each representing a percentage, specifically the percentage of the number of times it appears in the current range to the total number of times T.

[0066] Algorithm 1:

[0067]

[0068] Here, it should be noted that These are not the average values, but rather the individual current values ​​used in subsequent calculations to determine the average current. Similarly, It is not the mean, but rather the proportions used to solve the proportion vector later.

[0069] In step S402, it is determined whether the current data distribution is within the ideal current range. As an example, a preset threshold vector P is used; only when C... I Only when the current distribution of all drive motors coincides with the ideal current range can it be determined that the continuum robot is in the ideal initial pose (as shown in step S402).

[0070] In step S403, for the current of the m-th motor that does not meet the condition, a stepwise approach strategy (as shown in Algorithm 2 below) is used to control the corresponding motor towards... The direction of the rotation (i.e., only the direction of the difference vector) is taken to rotate by a preset rotation amount step, where, Let represent the ideal current mean vector of the m-th motor. Specifically, the preset rotation step can be determined based on the initial rotation step0, the current update count iter, and the rotation update rate rate, satisfying the following equation (2):

[0071]

[0072] Here, the current update count (iter) can start from 1 and continue until the ideal initial pose condition C is met. I ≥P, in general, the ideal condition will be met before reaching the maximum number of updates. For example, the above algorithm 1 is executed repeatedly until the above ideal initial pose condition is met (at which point the continuum robot has autonomously moved to the ideal initial pose).

[0073] Algorithm 2:

[0074]

[0075] In Algorithm 2, MaxIter represents the maximum number of updates. Here, generally speaking, the ideal condition will be met before reaching the maximum number of updates.

[0076] According to the above-described initial pose calibration method of the embodiments of this disclosure, the ideal current range is obtained by collecting and analyzing the motor current distribution when the continuum robot is in the ideal initial pose, and the rotation of the drive motor is controlled by the initial pose calibration algorithm based on the ideal current range, so that the actual current distribution of the drive motor coincides with the ideal current range, thereby realizing the automatic calibration of the ideal initial pose of the continuum robot, and thus automatically controlling the rotation of each corresponding motor so that the initial pose of the continuum robot becomes the ideal initial pose.

[0077] Figure 5 This is a structural block diagram illustrating an initial pose calibration device 500 for a continuum robot according to an embodiment of the present disclosure.

[0078] Reference Figure 5An initial pose calibration device 500 for a continuum robot according to an embodiment of the present disclosure may include a data acquisition and analysis module 510 and a data calibration module 520.

[0079] According to embodiments of this disclosure, the data acquisition and analysis module 510 is configured to acquire the ideal current range for the drive motor when the continuum robot is in an ideal initial pose. Here, the drive motor is used to drive multiple drive ropes included in the continuum robot.

[0080] As an example, the data acquisition and analysis module 510 may perform operations 1) and 2) to acquire the ideal current range of the drive motor when the continuous robot is in the ideal initial pose: in operation 1), the ideal current data of the drive motor when the continuous robot is in the ideal initial pose is acquired; in operation 2), the ideal current range is constructed based on the ideal current data.

[0081] Optionally, the operation 1) performed by the data acquisition and analysis module 510 may specifically include: continuously collecting the current data of the drive motor when the continuum robot is in the ideal initial pose within a preset time period, as the ideal current data.

[0082] As an example, the operation 2) performed by the data acquisition and analysis module 510 may specifically include operations 21) and 22): in operation 21), the mean and standard deviation of the ideal current data are obtained by calculating the mean and standard deviation of the ideal current data; in operation 22), the ideal current range is constructed based on the mean and standard deviation of the ideal current.

[0083] According to an embodiment of this disclosure, the data calibration module 520 is configured to control the rotation of the drive motor based on an initial pose calibration algorithm, so that the initial current data of the drive motor obtained by rotation is within the ideal current range, thereby completing the initial pose calibration of the continuum robot.

[0084] According to embodiments of this disclosure, the initial pose calibration algorithm is created based on an ideal current range and a stepwise approach strategy.

[0085] Further, optionally, the data calibration module 520 controls the rotation of the drive motor based on the initial pose calibration algorithm, so that the initial current data of the drive motor obtained through rotation is within the ideal current range. This operation may include operations 3) to 5):

[0086] In operation 3), within a preset time period, the current current data of the drive motor of the continuum robot at the current initial pose is continuously collected.

[0087] In operation 4), based on the comparison between the current current data and the ideal current range, it is determined whether the continuum robot is currently in the ideal initial pose.

[0088] In operation 5), in response to determining that the continuum robot is not currently in the ideal initial pose, the rotation direction and amount of the drive motor are adjusted based on the stepwise approach strategy, and the rotation of the drive motor is controlled based on the rotation direction and amount of the drive motor, so that the initial current data of the drive motor obtained by rotation is in the ideal current range.

[0089] As an example, operation 4) performed by the data calibration module 520 may specifically include operations 41) to 43):

[0090] In operation 41), the average current value is obtained by averaging the current current data.

[0091] In operation 42), the percentage of the current current data that falls within the ideal current range is obtained by comparing the current average current value with the ideal average current value corresponding to the ideal current range.

[0092] In operation 43), based on the proportion, determine whether the continuum robot is currently in the ideal initial pose.

[0093] For example, the operation 5) performed by the data calibration module 520 in response to determining that the continuum robot is not currently in the ideal initial pose, adjusting the rotation direction and rotation amount of the drive motor based on the stepwise approach strategy may include: in response to determining that the continuum robot is not currently in the ideal initial pose, applying the stepwise approach strategy to the current average current value and the ideal average value corresponding to the ideal current range to obtain the rotation direction and rotation amount of the drive motor.

[0094] For example, the operation 5) performed by the data calibration module 520 to determine whether the continuum robot is currently in the ideal initial pose based on the proportion may include: in response to the proportion being greater than or equal to a preset proportion threshold, determining that the continuum robot is currently in the ideal initial pose; in response to the proportion being less than the preset proportion threshold, determining that the continuum robot is currently not in the ideal initial pose.

[0095] According to embodiments of this disclosure, the operation of the step-by-step approach strategy may include: performing the following processing at a preset current update step size: determining the rotation direction of the drive motor based on the mean data corresponding to the initial current data and the mean data corresponding to the ideal current range; using the current update step size as the rotation amount of the drive motor, and using the rotation direction and rotation amount of the drive motor as the output result of the step-by-step approach strategy.

[0096] It should be noted that the operations performed on the above structural frames can be compared with those in the reference section. Figure 1A and Figure 1B The related content is similar, so I will not repeat it here.

[0097] Figure 6 This is a block diagram illustrating a computer device 600 according to an embodiment of the present disclosure.

[0098] Reference Figure 6 The computer device 600 according to embodiments of the present disclosure may include a processor 610 and a memory 620. The processor 610 may include (but is not limited to) a central processing unit (CPU), a digital signal processor (DSP), a microcomputer, a field-programmable gate array (FPGA), a system-on-a-chip (SoC), a microprocessor, an application-specific integrated circuit (ASIC), etc. The memory 620 may store computer-executable instructions to be executed by the processor 610. The memory 620 includes high-speed random access memory and / or a non-volatile computer-readable storage medium. When the processor 610 executes the computer-executable instructions stored in the memory 620, the initial pose calibration method described above can be implemented.

[0099] The initial pose calibration method according to embodiments of this disclosure can be written as a computer program / instructions to form a computer program product and stored on a computer-readable storage medium. When the computer program / instructions are executed by a processor, the initial pose calibration method as described above can be implemented. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device / server, the electronic device / server is enabled to perform the initial pose calibration method as described above. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disc storage, hard disk drive (HDD), solid-state drive (SSD), card storage (such as multimedia cards, secure digital (SD) cards, or ultra-fast digital (XD) cards), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, and any other device configured to store a computer program and any associated data, data files, and data structures in a non-transitory manner and to provide the computer program and any associated data, data files, and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files, and data structures are distributed across a networked computer system, such that the computer program and any associated data, data files, and data structures are stored, accessed, and executed in a distributed manner through one or more processors or computers.

[0100] The method and apparatus for initial pose calibration of a continuum robot according to the embodiments of the present disclosure achieve automatic calibration of the ideal initial pose of the continuum robot by proposing an initial pose calibration algorithm to control the rotation of the drive motor, so that the drive current distribution falls into the ideal current range.

[0101] On the other hand, the initial pose calibration method for a continuum robot according to the embodiments of this disclosure effectively fills the gap in the prior art where there is no automatic calibration method for rope-driven continuum robots.

[0102] While some embodiments of this disclosure have been disclosed and described, those skilled in the art will understand that modifications and variations may be made to these embodiments without departing from the concept and spirit of this disclosure, which is defined by the claims and their equivalents.

Claims

1. A method for initial pose calibration of a continuum robot, characterized in that, The initial pose calibration method includes: The ideal current data of the drive motor is obtained when the continuum robot is in an ideal initial pose, wherein the drive motor is used to drive the multiple drive ropes included in the continuum robot; Based on the ideal current data, an ideal current range is constructed; The rotation of the drive motor is controlled based on an initial pose calibration algorithm, ensuring that the initial current data of the drive motor obtained through rotation is within the ideal current range, thereby completing the initial pose calibration of the continuum robot. The initial pose calibration algorithm is created based on the ideal current range and the stepwise approach strategy. The step of controlling the rotation of the drive motor based on the initial pose calibration algorithm, so that the initial current data of the drive motor obtained through rotation is within the ideal current range, includes: Within a preset time period, the current current data of the drive motor of the continuous robot at the current initial pose is continuously collected; Based on the comparison between the current current data and the ideal current range, it is determined whether the continuum robot is currently in the ideal initial pose; In response to determining that the continuum robot is not currently in the ideal initial pose, the rotation direction and amount of rotation of the drive motor are adjusted based on the successive approach strategy, and the rotation of the drive motor is controlled based on the rotation direction and amount of rotation, so that the initial current data of the drive motor obtained through rotation is within the ideal current range. The step of determining whether the continuum robot is currently in the ideal initial pose based on the comparison between the current current data and the ideal current range includes: The average current value is obtained by averaging the current current data. By comparing the current average current with the ideal average current corresponding to the ideal current range, the percentage of the current current data that falls within the ideal current range is obtained; Based on the stated proportion, it is determined whether the continuum robot is currently in the ideal initial pose. The step of adjusting the rotation direction and amount of the drive motor based on the stepwise approach strategy in response to determining that the continuum robot is not currently in the ideal initial pose includes: In response to determining that the continuum robot is not currently in the ideal initial pose, the successive approach strategy is applied to the current average current and the ideal average current corresponding to the ideal current range to obtain the rotation direction and rotation amount of the drive motor.

2. The initial pose calibration method according to claim 1, characterized in that, The step of obtaining the ideal current data of the drive motor when the continuum robot is in an ideal initial pose includes: Within a preset time period, the current data of the drive motor of the continuous robot when it is in the ideal initial pose is continuously collected as the ideal current data.

3. The initial pose calibration method according to claim 1, characterized in that, The step of constructing the ideal current range based on the ideal current data includes: The mean and standard deviation of the ideal current data are obtained by calculating the mean and standard deviation of the ideal current data. The ideal current range is constructed based on the mean of the ideal current and the standard deviation of the ideal current.

4. The initial pose calibration method according to claim 1, characterized in that, The step of determining whether the continuum robot is currently in the ideal initial pose based on the proportion includes: In response to the fact that the proportion is greater than or equal to a preset proportion threshold, it is determined that the continuum robot is currently in the ideal initial pose; In response to the fact that the percentage is less than the preset percentage threshold, it is determined that the continuum robot is not currently in the ideal initial pose.

5. The initial pose calibration method according to claim 1, characterized in that, The steps of the stepwise convergence strategy include: Perform the following processing at the preset update step size: The rotation direction of the drive motor is determined based on the mean data corresponding to the initial current data and the mean data corresponding to the ideal current range. The current update step size is used as the rotation amount of the drive motor, and the rotation direction and rotation amount of the drive motor are used as the output results of the stepwise approach strategy.

6. An initial pose calibration device for a continuum robot, characterized in that, The initial pose calibration device is used to implement the initial pose calibration method as described in any one of claims 1 to 5, and the initial pose calibration device comprises: The data acquisition and analysis module is configured to: acquire ideal current data of the drive motor when the continuum robot is in an ideal initial pose, wherein the drive motor is used to drive multiple drive ropes included in the continuum robot, and the data acquisition and analysis module is further configured to: construct an ideal current range based on the ideal current data; The data calibration module is configured to control the rotation of the drive motor based on an initial pose calibration algorithm, such that the initial current data of the drive motor obtained through rotation is within the ideal current range, thereby completing the initial pose calibration of the continuum robot. The initial pose calibration algorithm is created based on the ideal current range and the stepwise approach strategy.

7. A computer program product, characterized in that, The computer program product includes a computer program / instruction that, when executed by a processor, implements the initial pose calibration method as described in any one of claims 1 to 5.

8. A computer device, characterized in that, The computer device includes: at least one processor; at least one memory storing computer-executable instructions, wherein, when executed by the at least one processor, the computer-executable instructions cause the at least one processor to perform the initial pose calibration method as described in any one of claims 1 to 5.

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