Coordinate system calibration method, device, storage medium and computer program product

Abstract

This application discloses a coordinate system calibration method, device, storage medium, and computer program product, relating to the field of micromanipulation technology. The method includes: controlling the stage to move from a first mechanical zero point position to a position where the crosshair center of a microscale coincides with the pixel center of an imaging mechanism, determining scale positioning parameters; controlling the stage to move a preset distance, obtaining field-of-view displacement mapping parameters based on the position change of the crosshair center after movement and the scale positioning parameters; controlling the stage to return to the coincident position, rotating the stage to obtain a point set formed by the movement of the crosshair center, obtaining rotation axis field-of-view transformation parameters based on the point set and the field-of-view displacement mapping parameters; controlling the robotic arm to move to a second mechanical zero point position, making the tip of the robotic arm coincide with the pixel center, obtaining robotic arm positioning parameters; and determining the world coordinate system based on the rotation axis field-of-view transformation parameters and the robotic arm positioning parameters. This application achieves unified calibration of the coordinate systems of various subsystems in a micromanipulation system.

Description

Technical Field

[0001] The present application relates to the field of micromanipulation technology, and in particular to a coordinate system calibration method, device, storage medium and computer program product. Background Art

[0002] Micromanipulation technology refers to the operation of micron-level microscopic objects such as cells, molecular materials, and micro-devices by using microscopic imaging and micro-nano motion systems. Traditional micromanipulation technology mainly relies on manual work, which places very high demands on the skills of the operator.

[0003] In recent years, with the development of robotics technology, automated micromanipulation that relies on robotic vision technology and precision control technology is the current development trend. The automated micromanipulation system includes multiple subsystems with different functions. Each subsystem has its own coordinate system. The coordinate system of each subsystem needs to be calibrated under its own local system. In addition, as a complete device, the micromanipulation system also needs to fix the local coordinate system together with the world coordinate system on the base. However, there are certain problems with the current coordinate system calibration methods, and it is impossible to achieve unified calibration of each subsystem. Summary of the invention

[0004] The main purpose of the present application is to provide a coordinate system calibration method, device, storage medium and computer program product, aiming to solve the technical problem that the current calibration method cannot achieve unified calibration of various subsystems in a micromanipulation system.

[0005] To achieve the above-mentioned purpose, the present application proposes a coordinate system calibration method, which is applied to a micromanipulation system, wherein the micromanipulation system includes a mechanical arm, a stage and an imaging mechanism, wherein the mechanical arm includes at least one linear motion axis, the stage includes two linear motion axes and one rotation axis, and a cross-shaped microscale is provided at the edge area of ​​the stage, wherein the method includes:

[0006] Control the stage to move from a first mechanical zero position of its linear motion axis to a position where the cross center of the microscale and the pixel center of the imaging mechanism coincide with each other, and determine the scale positioning parameters of the microscale according to the position change of the stage;

[0007] Controlling the stage to move a preset distance in the directions of its two linear motion axes respectively, and obtaining a field of view displacement mapping parameter according to the position change of the cross center after the movement and the scale positioning parameter;

[0008] Controlling the stage to return to the overlapped position, rotating the stage to obtain a point set formed by the movement of the center of the cross, and obtaining a rotation axis field of view conversion parameter based on the point set and the field of view displacement mapping parameter;

[0009] Controlling the mechanical arm to move to a second mechanical zero point position of its linear motion axis so that the needle tip of the mechanical arm coincides with the center of the pixel, and obtaining a positioning parameter of the mechanical arm;

[0010] A world coordinate system is determined based on the rotation axis field of view conversion parameters and the robot arm positioning parameters.

[0011] In one embodiment, grating sensors are provided on each linear motion axis of the mechanical arm and the stage, a position proximity sensor is provided at the stroke starting position of each linear motion axis, a grating scale is provided on the rotating axis, the first mechanical zero position is the first stroke starting position of the stage, and the stage is controlled to move from the first mechanical zero position of its linear motion axis to the position where the cross center of the microscale and the pixel center of the imaging mechanism coincide, and the step of determining the scale positioning parameter of the microscale according to the position change of the stage includes:

[0012] Controlling the stage to move to the first stroke starting position, and setting the grating value of the grating sensor related to the stage to zero;

[0013] The cross center of the microscale is identified, the movement of the stage is controlled, and when the cross center coincides with the pixel center of the large field of view in the imaging mechanism, the grating value is recorded to obtain the scale positioning parameters.

[0014] In one embodiment, the imaging mechanism includes a large field of view and a small field of view, and the step of controlling the stage to move from a first mechanical zero position of its linear motion axis to a position where a cross center of the microscale and a pixel center of the imaging mechanism coincide with each other, and determining a scale positioning parameter of the microscale according to the position change of the stage further includes:

[0015] Taking the pixel center as the origin, constructing a large field of view coordinate system of the large field of view, and constructing a small field of view coordinate system of the small field of view;

[0016] The pixel coordinates of the center of the cross in the small field of view are recorded to obtain the mapping parameters between fields of view.

[0017] In one embodiment, the step of controlling the stage to move a preset distance in the directions of its two linear motion axes respectively, and obtaining the field of view displacement mapping parameters according to the position change of the cross center after the movement and the scale positioning parameters comprises:

[0018] The grating value of the grating sensor is set to zero, and the stage is controlled to move a preset first distance along the X-axis direction and a preset second distance along the Y-axis direction;

[0019] The coordinate value of the center of the cross in the large field of view coordinate system or the small field of view coordinate system is recorded to obtain field of view displacement mapping parameters.

[0020] In one embodiment, the step of rotating the stage to obtain a point set formed by the movement of the center of the cross, and obtaining a rotation axis field of view conversion parameter based on the point set and the field of view displacement mapping parameter comprises:

[0021] When the microscale is located in the large field of view, the movement trajectory of the center of the cross is recorded through the large field of view to form the point set;

[0022] Determine the square difference of the distance between the point set and the edge of the theoretical circle, and obtain the coordinate position of the rotation axis in the large field of view coordinate system with the goal of minimizing the square difference;

[0023] The rotation axis is mapped to the real physical space through the field of view displacement mapping parameters to obtain the rotation axis field of view conversion parameters.

[0024] In one embodiment, the second mechanical zero position is the second stroke starting position of the robotic arm, and the step of controlling the robotic arm to move to the second mechanical zero position of its linear motion axis so that the tip of the robotic arm coincides with the center of the pixel, and obtaining the robotic arm positioning parameters comprises:

[0025] Controlling the mechanical arm to move to the starting position of the second stroke, and setting the grating value of the grating sensor related to the mechanical arm to zero;

[0026] Controlling the robotic arm so that its needle tip coincides with the pixel center of the large field of view, and recording the XY coordinates of the robotic arm;

[0027] The Z-axis position of the robotic arm is adjusted so that the needle tip contacts the bottom of the dish, the Z coordinate of the robotic arm is recorded, and the robotic arm positioning parameters are obtained in combination with the XY coordinates.

[0028] In one embodiment, the step of determining the world coordinate system based on the rotation axis field of view conversion parameters and the robot arm positioning parameters comprises:

[0029] When the center of the cross coincides with the center of the pixel, the stage is moved according to the rotation axis field of view conversion parameter so that the axis of the rotation axis coincides with the origin of the field of view coordinate system of the imaging mechanism, the grating sensor and grating ruler readings of the stage are set to zero, and the origin of the stage coordinate system is determined;

[0030] Move the robotic arm according to the robotic arm positioning parameters, so that the needle tip coincides with the zero point of the field of view coordinate system, set the reading of the grating sensor of the robotic arm to zero, and the position of the needle tip is the origin of the robotic arm coordinate system;

[0031] The origin of the stage coordinate system or the origin of the robot arm coordinate system is used as the origin of the world coordinate system to establish the world coordinate system.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a coordinate system calibration device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the coordinate system calibration method described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the coordinate system calibration method described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the coordinate system calibration method described above are implemented.

[0035] One or more technical solutions proposed in the present application are applied to a micromanipulation system, wherein the micromanipulation system includes a mechanical arm, a stage and an imaging mechanism. An operating microneedle is arranged at the end of the mechanical arm, which can operate microscopic objects such as cells. The stage carries materials to be operated, and the imaging mechanism provides visual assistance. The mechanical arm includes at least one linear motion axis, which can control the position and posture of the operating microneedle. The stage includes two linear motion axes and one rotation axis, which can move the position of the microscopic object and cooperate with the mechanical arm to complete the operation of the microscopic object. A cross-shaped microscale is arranged at the edge area of ​​the stage to assist in coordinate system calibration; the stage is controlled to move from the first mechanical zero position of its linear motion axis to the position where the cross center of the microscale coincides with the pixel center of the imaging mechanism, and the scale positioning parameters of the microscale are determined according to the position change of the stage. The scale positioning parameters can be used to determine the coordinate position of the microscale in the imaging mechanism; the stage is controlled to move a preset distance in the direction of its two linear motion axes respectively, and according to the cross after the movement, the microscale is positioned at the same position. The field of view displacement mapping parameters are obtained based on the position change of the center of the character and the positioning parameters of the scale. The field of view displacement mapping parameters can be used to convert the coordinate position in the imaging mechanism with the position in the actual physical space; the stage is controlled to return to the overlapped position, the stage is rotated to obtain the point set formed by the movement of the cross center, and the axis field of view conversion parameters are obtained based on the point set and the field of view displacement mapping parameters. The axis field of view conversion parameters can be used to map the axis coordinates in the imaging mechanism coordinate system with the actual physical space to obtain the distance between the rotation axis and the microscale; the mechanical arm is controlled to move to the second mechanical zero point position of its linear motion axis so that the needle tip of the mechanical arm coincides with the pixel center, and the mechanical arm positioning parameters are obtained. The position parameters of the mechanical arm coordinate system can be obtained through the mechanical arm positioning parameters; the world coordinate system is determined based on the axis field of view conversion parameters and the mechanical arm positioning parameters, the coordinate origin of the stage coordinate system and the coordinate origin of the mechanical arm coordinate system are associated, and the origin of the world coordinate system is selected in combination with the position of the imaging mechanism pixel center, so that the unified calibrated world coordinate system can be obtained. After the manufacture of the micromanipulation system is completed, the axis field of view conversion parameters are obtained through stage position control combined with the assistance of the imaging mechanism during the factory calibration process, and the robot arm position is controlled to obtain the robot arm positioning parameters. After storage, they can be directly used in the power-on calibration process to obtain an updated world coordinate system, thereby realizing unified calibration of each subsystem in the micromanipulation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the coordinate system calibration method of the present application;

[0039] Figure 2 A schematic diagram of the structure of a micromanipulation system involved in the coordinate system calibration method of this application;

[0040] Figure 3 A schematic diagram of a microscale ruler involved in the coordinate system calibration method of this application;

[0041] Figure 4 A schematic diagram of a scene of finding a rotation axis using a micro-scale ruler in the coordinate system calibration method of the present application;

[0042] Figure 5 A schematic diagram of a brief flow chart of a coordinate system calibration method provided in an embodiment of the present application;

[0043] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the coordinate system calibration method in the embodiment of the present application.

[0044] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the technical solution of the present application and are not used to limit the present application. In order to better understand the technical solution of the present application, the following will be described in detail in conjunction with the accompanying drawings and specific implementation methods.

[0046] Micromanipulation technology refers to the operation of micron-level microscopic objects such as cells, molecular materials, and microdevices by using microscopic imaging and micro-nano motion systems. Traditional micromanipulation technology mainly relies on manual work, which requires very strict skills of operators. In recent years, with the development of robotics technology, automated micromanipulation that relies on robotic vision technology and precision control technology is the current development trend. Automated micromanipulation systems can include XYZ three-degree-of-freedom robotic arms, XYZ θThe three subsystems are the stage and the visual imaging system. Each of the three subsystems has its own coordinate system. For example, the three-degree-of-freedom robotic arm is a spatial three-axis coordinate system whose origin coincides with the base of the robotic arm, the stage is a spatial three-axis coordinate system whose origin is at the geometric center of the platform, and the visual imaging system is an XY plane coordinate system under the plane matrix constructed by the camera pixel points. The three sub-coordinate systems need to be calibrated in their respective local systems. In addition, as a complete device, the micromanipulation system needs to calibrate the local coordinate system to the world coordinate system fixed on the base. However, there are certain problems with the current coordinate system calibration method.

[0047] For example, the related art is a two-dimensional workbench calibration method using a glass plate with standard scribed lines for calibration. This method can complete the calibration work of large stroke and high precision, but it needs to use an additional special glass plate and is only suitable for the self-calibration of the two-dimensional stage. A three-dimensional positioning method for a micromanipulation platform for cell injection. This method imports positive / negative image samples of the operating needle into a support vector machine model for training and learning. Then, the depth information of the needle body is calibrated by a visual method to complete the calibration of the spatial coordinates. A method for mapping and aligning the coordinate system of the slide using the coordinates of the imaging station. To a certain extent, the problem of unifying the visual imaging coordinate system and the stage coordinate system is achieved. However, this method does not solve the problem of unifying the coordinates of the robot arm, and cannot be used for the calibration of the multi-degree-of-freedom stage coordinate system. A method for calibrating the coordinates of the microinjection system by operating the robot arm with a set time-optimal route. This method can solve the problem of coordinate calibration between the stage and the robot arm. However, this method does not mention the problem of calibrating the internal coordinate system of the degree-of-freedom stage.

[0048] In summary, the coordinate calibration methods currently available for micromanipulation systems all have their own problems, and there is no method that can completely solve the problem of automatic unified calibration of multiple complex coordinate systems such as multi-DOF stages, robotic arms, and imaging vision.

[0049] Based on this, the present application embodiment provides a coordinate system calibration method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the coordinate system calibration method of the present application.

[0050] This embodiment is applied to a micromanipulation system, referring to Figure 2 , Figure 2 The schematic diagram of the structure of a micromanipulation system is shown in FIG. The micromanipulation system includes a mechanical arm, a stage and an imaging mechanism. The mechanical arm includes at least one linear motion axis. The stage includes two linear motion axes and one rotation axis. A cross-shaped microscale is provided at the edge area of ​​the stage. The coordinate system calibration method includes steps S10 to S50:

[0051] Step S10, controlling the stage to move from the first mechanical zero position of its linear motion axis to the position where the cross center of the microscale and the pixel center of the imaging mechanism coincide, and determining the scale positioning parameters of the microscale according to the position change of the stage;

[0052] It is understandable that, referring to Figure 2 The execution subject of this embodiment can be the main control module in the micro-operation system, that is, Figure 2 The computer in the robot arm can be controlled by the robot arm controller, and the movement of the stage can be controlled by the stage controller. The robot arm in this embodiment is an XYZ three-degree-of-freedom robot arm, and the X-axis, Y-axis and Z-axis are three linear motion axes. The three linear motion axes are perpendicular to each other and control the movement of the robot arm in the left and right, front and back, and up and down directions respectively. An operating microneedle can be set at the end of the robot arm to operate microscopic materials. The stage in this embodiment is an XYZ θ The stage, X-axis and Y-axis are two linear motion axes, which are perpendicular to each other and control the movement of the stage in the horizontal plane in the left and right directions and the front and back directions respectively. θ The visual imaging mechanism in this embodiment is used for imaging, including a large field of view and a small field of view, which can be generated by two independent industrial cameras, wherein the small field of view is a local magnification of the large field of view, and the two fields of view have their own independent matrix coordinates. The local coordinate system of the robot arm is the robot arm coordinate system O 机械臂 , the local coordinate system of the stage is the stage coordinate system O 载物台 , the local coordinate system of the imaging mechanism includes the large field of view coordinate system O 大视野 and the small field of view coordinate system O 小视野 .

[0053] Figure 3 is a schematic diagram of a microscale ruler, such as Figure 3 As shown, the microscale includes two mutually perpendicular scale axes, forming a cross structure, the intersection position of the scale axes is the center of the cross, and each scale can represent 1μm. There are pixel centers in both the large field of view and the small field of view of the imaging mechanism. The pixel center is the central pixel point, which refers to the pixel point at the center position of the matrix constructed by the camera pixel array. The first mechanical zero point position refers to the mechanical zero point position of the stage, which can be selected according to actual conditions. The scale positioning parameters are parameters used to determine the position of the microscale. The microscale is located at the edge area of ​​the stage, that is, the microscale does not interfere with the center position of the stage, and a hole can be set at the center position of the stage.

[0054] It is understandable that displacement sensors can be set on the two linear motion axes of the stage to detect the displacement of the stage in the directions of the two linear motion axes, and displacement sensors for detecting angular displacement can also be set on the rotation axis. The stage can be moved to the first mechanical zero position first, and the displacement value of the first mechanical zero position is set to zero. Then the stage is controlled to move from the first mechanical zero position until the cross center of the microscale coincides with the pixel center. At this time, the position of the stage is the coincident position, and the displacement of the stage in the directions of the two linear motion axes is recorded to obtain the position change before and after the movement. The scale positioning parameter A is obtained by mapping the displacement coordinates. 微刻度尺定位 .

[0055] Step S20, controlling the stage to move a preset distance in the directions of its two linear motion axes respectively, and obtaining a field of view displacement mapping parameter according to the position change of the cross center after the movement and the scale positioning parameter;

[0056] The field of view displacement mapping parameters can be used to convert the pixel coordinates in the imaging mechanism to the displacement in the real physical space. The reading of the stage displacement sensor can be reset to zero again, and the stage can be controlled to move in the directions of the two linear motion axes in the horizontal plane, and the displacement value is the value of the preset distance. The position change of the center of the cross can be described by the coordinate position of the large field of view or the small field of view. The displacement of the stage in the actual physical space is determined by the preset distance, so the coordinates in the imaging mechanism and the displacement value of the stage can be mapped to obtain the field of view displacement mapping parameter A. 视野→现实物理空间 .

[0057] Step S30, controlling the stage to return to the overlapped position, rotating the stage to obtain a point set formed by the movement of the center of the cross, and obtaining a rotation axis field of view conversion parameter based on the point set and the field of view displacement mapping parameter;

[0058] The axis field of view conversion parameter can be used to represent the relative distance between the rotation axis and the center point of the microscale under the field of view. The stage is restored to the overlapping position, and the displacement sensor reading is restored to zero. In the process of rotating the stage, the point set formed by the movement of the cross center position can be regarded as an arc, and the center of the arc is the position of the rotation axis. Based on this principle, the point set can be fitted into an arc trajectory, and the field of view coordinates of the center position of the arc trajectory can be calculated. Then, the center coordinates are mapped to the real physical space through the field of view displacement mapping parameters to obtain the axis field of view conversion parameter A. 转轴→刻度尺中心 .

[0059] Step S40, controlling the mechanical arm to move to a second mechanical zero position of its linear motion axis so that the needle tip of the mechanical arm coincides with the center of the pixel, and obtaining a positioning parameter of the mechanical arm;

[0060] The second mechanical zero position refers to the mechanical zero position of the robot arm, which can be set according to actual conditions. The robot arm positioning parameters are parameters used to determine the position of the end of the robot arm. In this embodiment, the operation microneedle is installed at the end of the robot arm as an example, and the needle tip position of the operation microneedle is the origin position of the local coordinate system of the robot arm.

[0061] It is understandable that displacement sensors can be set on the three linear motion axes of the robot arm to detect the displacement of the robot arm. The movement of the robot arm and the movement of the stage can be independent of each other. The robot arm is moved to the position of the second mechanical zero point, and the robot arm is moved to the position where the needle tip and the pixel center coincide. The displacement generated can be measured by the displacement sensor, and the robot arm positioning parameter A is obtained through the change in displacement before and after the movement. 机械臂定位 .

[0062] Step S50, determining a world coordinate system based on the rotation axis field of view conversion parameters and the robot arm positioning parameters.

[0063] It can be understood that the above steps S10~S40 belong to the factory calibration process. The above operations only need to be performed once for the same microscopic operation system. The various calibration parameters obtained can be stored in the controller memory for future use. The calibration parameters include the above-mentioned axis field of view conversion parameters and robot arm positioning parameters. Step S50 belongs to the power-on calibration process, which can be performed every time the microscopic operation system is turned on.

[0064] According to the reference coefficient A 转轴→刻度尺中心 Move the stage so that the axis of the rotating shaft coincides with the origin of the local coordinate system of the large field of view. At this time, set the readings of the three displacement sensors of the stage to zero, and this position is defined as the origin of the stage coordinate system. According to the reference coefficient A 机械臂定位 Move the robotic arm so that the needle tip coincides with the zero point of the large field of view coordinate system. At this time, set the readings of the three displacement sensors of the robotic arm to zero, and the needle tip position is defined as the origin of the robotic arm coordinate system. The origin of the stage coordinate system coincides with the origin of the robotic arm coordinate system, and the coordinate system O 大视野 or 小视野 By calibrating parameter A 视野→现实物理空间 Establish the size mapping between the field of view image and the real physical space, combined with the stage coordinate system O 载物台 , the large and small field of view coordinate systems can also be described in the world coordinate system.

[0065] The present embodiment provides a coordinate system calibration method, which is applied to a microscopic operation system, wherein the microscopic operation system includes a mechanical arm, a stage and an imaging mechanism. An operating microneedle is arranged at the end of the mechanical arm, which can operate microscopic objects such as cells. The stage carries materials to be operated, and the imaging mechanism provides visual assistance. The mechanical arm includes at least one linear motion axis, which can control the position and posture of the operating microneedle. The stage includes two linear motion axes and one rotation axis, which can move the position of the microscopic object and cooperate with the mechanical arm to complete the operation of the microscopic object. A cross-shaped microscale is arranged at the edge area of ​​the stage to assist in coordinate system calibration; the stage is controlled to move from the first mechanical zero point position of its linear motion axis to the position where the cross center of the microscale coincides with the pixel center of the imaging mechanism, and the scale positioning parameters of the microscale are determined according to the position change of the stage. The scale positioning parameters can be used to determine the coordinate position of the microscale in the imaging mechanism; the stage is controlled to move a preset distance in the directions of its two linear motion axes respectively, and according to the position after the movement, the microscale is positioned at the same position. The position change of the cross center and the scale positioning parameters are used to obtain the field of view displacement mapping parameters, which can be used to convert the coordinate position in the imaging mechanism with the position in the actual physical space; the stage is controlled to return to the overlapped position, the stage is rotated to obtain the point set formed by the movement of the cross center, and the axis field of view conversion parameters are obtained based on the point set and the field of view displacement mapping parameters. The axis field of view conversion parameters can be used to map the axis coordinates in the imaging mechanism coordinate system with the actual physical space to obtain the distance between the rotation axis and the microscale; the mechanical arm is controlled to move to the second mechanical zero point position of its linear motion axis so that the needle tip of the mechanical arm coincides with the pixel center, and the mechanical arm positioning parameters are obtained. The position parameters of the mechanical arm coordinate system can be obtained through the mechanical arm positioning parameters; the world coordinate system is determined based on the axis field of view conversion parameters and the mechanical arm positioning parameters, the coordinate origin of the stage coordinate system and the coordinate origin of the mechanical arm coordinate system are associated, and the origin of the world coordinate system is selected in combination with the position of the imaging mechanism pixel center, so as to obtain a uniformly calibrated world coordinate system. After the manufacture of the micromanipulation system is completed, the axis field of view conversion parameters are obtained through stage position control combined with the assistance of the imaging mechanism during the factory calibration process, and the robot arm position is controlled to obtain the robot arm positioning parameters. After storage, they can be directly used in the power-on calibration process to obtain an updated world coordinate system, thereby realizing unified calibration of each subsystem in the micromanipulation system.

[0066] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and no further description will be given later. On this basis, each linear motion axis of the mechanical arm and the stage is provided with a grating sensor, and a position proximity sensor is provided at the starting position of the stroke of each linear motion axis. A grating ruler is provided on the rotating axis, and the first mechanical zero point position is the first stroke starting position of the stage. Please refer to Figure 2 , step S10 includes steps S11-S12:

[0067] Step S11, controlling the stage to move to the first stroke starting position, and setting the grating value of the grating sensor related to the stage to zero;

[0068] It is understood that the grating sensor used in this embodiment is an incremental grating sensor. The position sensor can generate a switch signal when an object approaches, which is used to assist in determining whether the stage or the robot arm has reached the starting position of the stroke. The grating ruler can measure the angular displacement caused by the rotation of the stage. The first stroke starting position is the stroke starting position of the stage. Control XYZ θ The stage moves the two linear axes to the first stroke starting position. At this time, the grating value is set to zero, which can be expressed as (0,0,0°).

[0069] Step S12, identifying the cross center of the microscale, controlling the movement of the stage, and when the cross center coincides with the pixel center of the large field of view in the imaging mechanism, recording the grating value to obtain the scale positioning parameters.

[0070] The visual algorithm can be used to identify the cross center of the microscale, control the movement of the stage so that the cross center of the microscale coincides with the pixel center of the large field of view, and record the value A of the grating sensor at this time. 微刻度尺定位 (a 微刻度尺定位 , b 微刻度尺定位 , 0°).

[0071] In a feasible implementation manner, the imaging mechanism includes a large field of view and a small field of view, and step S10 further includes steps A10 to A20:

[0072] Step A10, taking the pixel center as the origin, constructing a large field of view coordinate system of the large field of view, and constructing a small field of view coordinate system of the small field of view;

[0073] A two-dimensional XY coordinate system is constructed with the pixel centers of the large field of view and the small field of view as the origin, where the large field of view coordinate system is denoted as 大视野 , the small field of view coordinate system is denoted as O 小视野 .

[0074] Step A20, recording the pixel coordinates of the center of the cross in the small field of view, and obtaining the mapping parameters between fields of view.

[0075] At this time, the pixel coordinates of the center of the cross of the microscale in the small field of view are the origin (0,0), and the pixel coordinates A of the center of the cross of the microscale in the small field of view are recorded. 大视野→小视野 (a1, b1), which is the mapping parameter between views. 大视野→小视野 Coordinate mapping between large and small fields of view can be achieved.

[0076] In a feasible implementation, step S20 includes steps S21-S22:

[0077] Step S21, setting the grating value of the grating sensor to zero, controlling the stage to move a preset first distance along the X-axis direction, and a preset second distance along the Y-axis direction;

[0078] At this time, XYZ θ The grating values ​​of the three moving axes of the stage are set to zero (0, 0, 0°), and the movement along the X-axis is controlled to preset a first distance, and the movement along the Y-axis is controlled to preset a second distance, for example, the movement along the X-axis is 5 microns, and the movement along the Y-axis is 10 microns (5, 10).

[0079] Step S22, recording the coordinate value of the center of the cross in the large field of view coordinate system or the small field of view coordinate system to obtain field of view displacement mapping parameters.

[0080] Record the coordinate position A of the cross center of the microscale in the large or small field of view after the stage moves 视野→现实物理空间 (a2, b2) is the field of view displacement mapping parameter. 视野→现实物理空间 The mapping relationship between vision and real physical space can be realized.

[0081] In a feasible implementation manner, the step of rotating the stage to obtain a point set formed by the movement of the center of the cross, and obtaining the rotation axis field of view conversion parameters based on the point set and the field of view displacement mapping parameters includes steps S31 to S33:

[0082] Step S31, when the microscale is located in the large field of view, recording the movement trajectory of the center of the cross through the large field of view to form the point set;

[0083] Figure 4 This is a schematic diagram of the scenario of using a micro-scale to find the rotation axis, such as Figure 4As shown, the motion trajectory of the cross center of the microscale forms a point set, which can be regarded as a circular arc in the coordinate system. Return the stage to the position (0,0,0°), slowly rotate the stage, and note that the microscale cannot leave the large field of view. Use a large field camera to record the motion trajectory of the cross center of the microscale at all times. The trajectory forms a set of points (Xi, Yi) represented by a two-dimensional vector, i∈(1,2,3,…,N). Since the points described in the point set are an arc with equal distances around the rotation axis, let the distance be d. Then the two-dimensional vector set satisfies the following circular curve formula 1.

[0084] Formula 1: .

[0085] Among them, (a 转-视场 ,b 转-视场 ) represents the coordinate position of the center of the rotation axis in the local coordinate system of the field of view.

[0086] Step S32, determining the square difference of the distance between the point set and the edge of the theoretical circle, and obtaining the coordinate position of the rotation axis in the large field of view coordinate system with the goal of minimizing the square difference;

[0087] The square difference of the distance from the point set (Xi, Yi) to the edge of the theoretical circle can be expressed by the following formula 2.

[0088] Formula 2: .

[0089] Then the three parameters a can be found through the optimization algorithm 转-视场 , b 转-视场 and R make Q minimum.

[0090] Step S33, mapping the rotation axis to the real physical space through the field of view displacement mapping parameters to obtain the rotation axis field of view conversion parameters.

[0091] Using the conversion factor A 视野→现实物理空间 By mapping the rotation axis coordinates in the field of view coordinate system with the real physical space, we can get the relative distance A between the rotation axis and the center of the microscale cross in the field of view. 转轴→刻度尺中心 (a 转-刻度尺中心 , b 转-刻度尺中心 ) is the axis field of view conversion parameter.

[0092] In a feasible implementation manner, the second mechanical zero position is the second stroke starting position of the robotic arm, and step S40 includes steps S41 to S43:

[0093] Step S41, controlling the mechanical arm to move to the second stroke starting position, and setting the grating value of the grating sensor related to the mechanical arm to zero;

[0094] The XYZ robot arm is controlled to move to the second stroke starting position of each axis, and the grating values ​​of the grating sensors of the three linear motion axes are set to zero.

[0095] Step S42, controlling the robotic arm so that the needle tip thereof coincides with the pixel center of the large field of view, and recording the XY coordinates of the robotic arm;

[0096] Then adjust the robot arm and combine the needle tip recognition algorithm to make the needle tip coincide with the pixel center of the large field of view. Record the XY coordinates of the robot arm at this time (a 机械臂定位 ,b 机械臂定位 ).

[0097] Step S43, adjusting the Z-axis position of the robot arm so that the needle tip contacts the bottom of the dish, recording the Z coordinate of the robot arm, and obtaining the robot arm positioning parameters in combination with the XY coordinates.

[0098] Adjust the Z-axis position until the needle tip moves slightly axially, indicating that the needle tip is just in contact with the bottom of the dish. Record the Z-axis coordinate c at this time. 机械臂定位 The rough positioning coordinates of the XYZ robot arm are A 机械臂定位 (a 机械臂定位 ,b 机械臂定位 , c 机械臂定位 ), which is the positioning parameter of the robot arm.

[0099] In a feasible implementation manner, step S50 includes steps S51 to S53:

[0100] Step S51, when the center of the cross coincides with the center of the pixel, the stage is moved according to the rotation axis field of view conversion parameter, so that the axis of the rotation axis coincides with the origin of the field of view coordinate system of the imaging mechanism, the grating sensor and grating ruler readings of the stage are set to zero, and the origin of the stage coordinate system is determined;

[0101] After the microscope operating system is turned on, the stage can be moved to the first mechanical zero point. At this time, with the help of the wide field of view, the stage is moved so that the center of the microscale cross coincides with the zero point of the field of view coordinate system. At this time, according to the reference coefficient A 转轴→刻度尺中心 (a 转-刻度尺中心 , b 转-刻度尺中心 ) Move the stage so that the axis of the rotating shaft coincides with the origin of the local coordinate system of the large field of view. At this time, set the readings of the three grating sensors on the stage to zero, which is defined as the origin of the stage coordinate system.

[0102] Step S52, moving the robotic arm according to the robotic arm positioning parameters, so that the needle tip coincides with the zero point of the field of view coordinate system, setting the reading of the grating sensor of the robotic arm to zero, and the position of the needle tip is the origin of the robotic arm coordinate system;

[0103] After the micromanipulator system is turned on, the XYZ robot arm can be moved to the second mechanical zero point. At this time, according to the reference coefficient A 机械臂定位 (a 机械臂定位 ,b 机械臂定位 , c 机械臂定位 ) Move the robot arm so that the needle tip coincides with the zero point of the field of view coordinate system. At this time, set the readings of the three grating sensors of the robot arm to zero, and the needle tip is set as the origin of the robot arm coordinate system.

[0104] Step S53, taking the origin of the stage coordinate system or the origin of the robot coordinate system as the origin of the world coordinate system to establish a world coordinate system.

[0105] After the above operations, you can establish XYZ θ Stage coordinate system O 载物台 , XYZ robot arm coordinate system O 机械臂 and the coordinate system O of the large and small fields of view 大视野 , O 小视野 , and its automatic calibration method. Among them, the coordinate system O 载物台 and O 机械臂 coincide with each other, so the coordinate system can be defined as the origin of the world coordinate system O 世界 . Coordinate system O 大 / 小视野 By calibrating parameter A 大 / 小视野→现实物理空间 Establish the size mapping between the field of view image and the real physical space, combined with the stage coordinate system O 载物台 ,The large and small field of view coordinate systems can also be described in the world coordinate system.,Thus, the local coordinate system calibration of multiple subsystems is completed and linked with the world coordinate,system.

[0106] In this embodiment, an incremental grating sensor and a position proximity sensor are used to assist in determining the displacement of the stage and the robotic arm, which has high measurement accuracy and helps to improve the accuracy of coordinate system calibration.

[0107] For example, to help understand the implementation process of the coordinate system calibration method obtained by combining this embodiment with the above embodiments, please refer to Figure 5 , Figure 5 A brief flow chart of a coordinate system calibration method is provided. Specifically, the coordinate system calibration is divided into the processes of hardware preparation, factory calibration and power-on calibration.

[0108] During the hardware preparation phase, XYZ θ The two linear motion axes of the stage and each linear motion axis of the XYZ robot arm are required to be equipped with incremental grating sensors, and a position proximity sensor is placed at the starting point of the motion stroke. This position is recorded as the location of the mechanical zero point of each axis; a circular grating ruler is set on the rotating axis. θWhen the two linear motions of the stage are in a state of being triggered by a proximity sensor near the starting point, a micro-scale with a cross coordinate is set under a large field of view, and the micro-scale is attached to the upper right side of the stage.

[0109] In the factory calibration stage, various calibration parameters are obtained through the factory calibration operation in the above embodiment and stored in the controller memory.

[0110] During the power-on calibration phase, the calibration process can be automatically started each time the machine is turned on to complete the calibration of the local coordinate systems of the robot arm, stage, and large and small fields of view, as well as the establishment of the world coordinate system.

[0111] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the coordinate system calibration method of the present application. More forms of simple transformations based on this technical concept are all within the scope of protection of the present application.

[0112] The present application provides a coordinate system calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the coordinate system calibration method in the above-mentioned embodiment one.

[0113] Reference below Figure 6 , which shows a schematic diagram of the structure of a coordinate system calibration device suitable for implementing the embodiment of the present application. The coordinate system calibration device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), etc., and fixed terminals such as desktop computers. Figure 6 The coordinate system calibration device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] like Figure 6As shown, the coordinate system calibration device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the coordinate system calibration device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the coordinate system calibration device to communicate with other devices wirelessly or by wire to exchange data. Although the coordinate system calibration device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or provided instead.

[0115] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0116] The coordinate system calibration device provided by the present application adopts the coordinate system calibration method in the above embodiment, which can solve the technical problem that the current calibration method cannot achieve the unified calibration of each subsystem in the micromanipulation system. Compared with the prior art, the beneficial effects of the coordinate system calibration device provided by the present application are the same as the beneficial effects of the coordinate system calibration method provided by the above embodiment, and the other technical features in the coordinate system calibration device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0117] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0118] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0119] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the coordinate system calibration method in the above-mentioned embodiment.

[0120] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0121] The computer-readable storage medium may be included in the coordinate system calibration device; or may exist independently without being assembled into the coordinate system calibration device.

[0122] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the coordinate system calibration device, the coordinate system calibration device: controls the stage to move from the first mechanical zero point position of its linear motion axis to the overlapping position of the cross center of the microscale and the pixel center of the imaging mechanism, and determines the scale positioning parameters of the microscale according to the position change of the stage; controls the stage to move a preset distance in the directions of its two linear motion axes respectively, and obtains the field of view displacement mapping parameters according to the position change of the cross center after the movement and the scale positioning parameters; controls the stage to return to the overlapping position, rotates the stage to obtain the point set formed by the movement of the cross center, and obtains the rotation axis field of view conversion parameters based on the point set and the field of view displacement mapping parameters; controls the robot arm to move to the second mechanical zero point position of its linear motion axis so that the needle tip of the robot arm coincides with the pixel center, and obtains the robot arm positioning parameters; determines the world coordinate system based on the rotation axis field of view conversion parameters and the robot arm positioning parameters.

[0123] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0124] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0126] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned coordinate system calibration method, and can solve the technical problem that the current calibration method cannot achieve unified calibration of each subsystem in the micromanipulation system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the coordinate system calibration method provided in the above-mentioned embodiment, and will not be repeated here.

[0127] The present application also provides a computer program product, including a computer program, which implements the steps of the coordinate system calibration method as described above when executed by a processor.

[0128] The computer program product provided by the present application can solve the technical problem that the current calibration method cannot realize the unified calibration of each subsystem in the micromanipulation system. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the coordinate system calibration method provided by the above embodiment, which will not be described in detail here.

[0129] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A coordinate system calibration method, characterized in that: The present invention is applied to a micromanipulation system, wherein the micromanipulation system includes a robotic arm, a stage, and an imaging mechanism. The robotic arm includes at least one linear motion axis, the stage includes two linear motion axes and one rotation axis, a cross-shaped microscale is provided at the edge of the stage, the imaging mechanism includes a large field of view and a small field of view, and each linear motion axis of the robotic arm and the stage is provided with a grating sensor. The method includes: Controlling the stage to move from a first mechanical zero position of its linear motion axis to a position where the cross center of the microscale coincides with the pixel center of the imaging mechanism, and determining a scale positioning parameter of the microscale based on the position change of the stage; Taking the pixel center as the origin, constructing a large field of view coordinate system for the large field of view, and constructing a small field of view coordinate system for the small field of view; Recording the pixel coordinates of the cross center in the small field of view to obtain inter-field mapping parameters; Controlling the stage to move a preset distance in the directions of its two linear motion axes, respectively, and obtaining a field of view displacement mapping parameter according to the position change of the cross center after the movement and the scale positioning parameter; Controlling the stage to return to the overlapping position, rotating the stage to obtain a point set formed by the movement of the cross center, and obtaining a rotation axis field of view conversion parameter based on the point set and the field of view displacement mapping parameter; Controlling the robotic arm to move to a second mechanical zero position of its linear motion axis so that the needle tip of the robotic arm coincides with the center of the pixel, and obtaining a robotic arm positioning parameter; A world coordinate system is determined based on the rotation axis field of view conversion parameters and the robotic arm positioning parameters.

2. The coordinate system calibration method according to claim 1, wherein: A position proximity sensor is provided at the starting point of the travel of each linear motion axis, a grating scale is provided on the rotating axis, the first mechanical zero point position is the first starting point of the travel of the stage, and the step of controlling the stage to move from the first mechanical zero point position of its linear motion axis to a position where the cross center of the microscale and the pixel center of the imaging mechanism coincide with each other, and determining the scale positioning parameter of the microscale according to the position change of the stage includes: Controlling the stage to move to the first stroke starting position, and setting the grating value of the grating sensor associated with the stage to zero; The cross center of the microscale is identified, the stage movement is controlled, and when the cross center coincides with the pixel center of the large field of view in the imaging mechanism, the grating value is recorded to obtain the scale positioning parameter.

3. The coordinate system calibration method according to claim 1, wherein: The step of controlling the stage to move a preset distance in the directions of the two linear motion axes thereof and obtaining the field of view displacement mapping parameters according to the position change of the cross center after the movement and the scale positioning parameters comprises: Setting the grating value of the grating sensor to zero, and controlling the stage to move a preset first distance along the X-axis direction and a preset second distance along the Y-axis direction; The coordinate value of the cross center in the large field of view coordinate system or the small field of view coordinate system is recorded to obtain field of view displacement mapping parameters.

4. The coordinate system calibration method according to claim 1, wherein: The step of rotating the stage to obtain a point set formed by the movement of the cross center, and obtaining a rotation axis field of view conversion parameter based on the point set and the field of view displacement mapping parameter comprises: When the microscale is located in the large field of view, the movement trajectory of the center of the cross is recorded through the large field of view to form the point set; Determine the square difference of the distance between the point set and the edge of the theoretical circle, and obtain the coordinate position of the rotation axis in the large field of view coordinate system with the goal of minimizing the square difference; The rotation axis is mapped to the real physical space through the field of view displacement mapping parameters to obtain the rotation axis field of view conversion parameters.

5. The coordinate system calibration method according to claim 1, wherein: The second mechanical zero position is the second stroke starting position of the robotic arm. The step of controlling the robotic arm to move to the second mechanical zero position of its linear motion axis so that the tip of the robotic arm coincides with the center of the pixel and obtaining the robotic arm positioning parameters includes: Controlling the robotic arm to move to the second stroke starting position, and setting the grating value of the grating sensor associated with the robotic arm to zero; Controlling the robotic arm so that its needle tip coincides with the pixel center of the large field of view, and recording the XY coordinates of the robotic arm; The Z-axis position of the robotic arm is adjusted so that the needle tip contacts the bottom of the dish, the Z coordinate of the robotic arm is recorded, and the robotic arm positioning parameters are obtained in combination with the XY coordinates.

6. The coordinate system calibration method according to any one of claims 1 to 5, characterized in that: The step of determining the world coordinate system based on the rotation axis field of view conversion parameters and the robot arm positioning parameters includes: When the center of the cross coincides with the center of the pixel, the stage is moved according to the rotation axis field of view conversion parameter so that the axis of the rotation axis coincides with the origin of the field of view coordinate system of the imaging mechanism, the grating sensor and grating scale readings of the stage are set to zero, and the origin of the stage coordinate system is determined; Move the robotic arm according to the robotic arm positioning parameters so that the needle tip coincides with the zero point of the field of view coordinate system, set the reading of the grating sensor of the robotic arm to zero, and the position of the needle tip is the origin of the robotic arm coordinate system; The origin of the stage coordinate system or the origin of the robotic arm coordinate system is used as the origin of the world coordinate system to establish a world coordinate system.

7. A coordinate system calibration device, characterized in that: The coordinate system calibration device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the coordinate system calibration method according to any one of claims 1 to 6.

8. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the coordinate system calibration method according to any one of claims 1 to 6 are implemented.

9. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the coordinate system calibration method according to any one of claims 1 to 6 are implemented.

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