CT scanning system mechanical arm control method, device, equipment and medium

Abstract

According to the CT scanning system mechanical arm control method, device and equipment and the medium, the information conversion relation between a camera coordinate system and a mechanical arm coordinate system is determined according to first coordinate information, second coordinate information, first angle information and second angle information; according to the motion trail of the top of the mechanical arm in the target motion direction under the mechanical arm coordinate system and the information conversion relation between the camera coordinate system and the mechanical arm coordinate system, the motion trail of a second recognition device in the target motion direction under the camera coordinate system is determined; and according to the movement track of the second recognition device in the target movement direction under the camera coordinate system and the information conversion relation between the camera coordinate system and the mechanical arm coordinate system, the target offset of the top of the mechanical arm at different coordinate angle information positions in the non-target movement direction is determined. And the motion precision of the mechanical arm is improved.

Description

Technical Field

[0001] The present invention relates to the field of CT scanning technology and related technical fields, and in particular to a method, device, equipment and medium for controlling a mechanical arm of a CT scanning system. Background Art

[0002] CT (Computed Tomography) is a medical imaging technology. It uses X-ray beams to scan the human body and uses computer processing to produce detailed images of the body's internal structures. CT scanning is widely used in the diagnosis of various diseases due to its fast and clear imaging capabilities.

[0003] In the existing technology, the multi-degree-of-freedom scanning CT composed of a robotic arm + a rotating frame is the most innovative and practical CT at present. It has excellent research and development value and commercial value, but the research and development difficulty is also relatively high. Due to the characteristics of the multi-degree-of-freedom of the robotic arm, the robotic arm is prone to deviations in the x, y, and z axes during the linear motion of the load. Currently, many adjustments are made based on the feedback of the robotic arm itself.

[0004] However, in the prior art, the feedback based on the robot arm itself is limited to the adjustment of the target position, and no processing is done for the deviation during the movement. Summary of the invention

[0005] The embodiments described herein provide a method, device, equipment and medium for controlling a CT scanning system robot arm to solve the problems existing in the prior art.

[0006] In a first aspect, according to the content of the present disclosure, a method for controlling a manipulator of a CT scanning system is provided, wherein the CT scanning system comprises a manipulator, a scanning frame and a camera, wherein the camera comprises a first recognition device and a second recognition device, wherein the first recognition device is arranged at a base of the manipulator, and the second recognition device is arranged at a top of the manipulator, and the manipulator is connected to the scanning frame, comprising:

[0007] Acquire first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot arm coordinate system, second angle information of the top of the robot arm in the robot arm coordinate system, and second angle information of the second recognition device in the camera coordinate system;

[0008] Determine an information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information;

[0009] Determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system;

[0010] According to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction is determined.

[0011] In some embodiments of the present disclosure, determining the information conversion relationship between the camera coordinate system and the robotic arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information includes:

[0012] Determine a coordinate information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information and the second coordinate information;

[0013] Determine an angle information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first angle information and the second angle information;

[0014] The information conversion relationship between the camera coordinate system and the robotic arm coordinate system is determined according to the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system and the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0015] In some embodiments of the present disclosure, determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the target motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0016] In response to receiving the target position information of the top of the mechanical arm submitted by the target object, determining the target movement direction and target movement trajectory of the top of the mechanical arm according to the initial position information and the target position information of the top of the mechanical arm;

[0017] The motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0018] In some embodiments of the present disclosure, determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0019] Determine coordinate angle information of different positions of the motion trajectory of the top of the robotic arm in the robotic arm coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system;

[0020] Subtract the information conversion relationship between the camera coordinate system and the robotic arm coordinate system from the coordinate angle information of the top of the robotic arm at different positions in the motion trajectory in the robotic arm coordinate system to obtain the coordinate angle information of the second recognition device at different positions in the motion trajectory in the camera coordinate system;

[0021] The motion trajectory of the second recognition device in the camera coordinate system along the target motion direction is determined according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system.

[0022] In some embodiments of the present disclosure, determining the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0023] Determine the offset of the second recognition device at different coordinate angles in the non-target motion direction according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system;

[0024] According to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction is determined.

[0025] In some embodiments of the present disclosure, determining the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction according to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0026] The offset of the second recognition device at different coordinate angles in the non-target motion direction is added to the information conversion relationship between the camera coordinate system and the robotic arm coordinate system to obtain the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction.

[0027] In some embodiments of the present disclosure, the method further includes:

[0028] The robotic arm is controlled according to the target offset at different coordinate angle information of the top of the robotic arm in the non-target motion direction.

[0029] In a second aspect, according to the content of the present disclosure, a CT scanning system robot arm control device is provided, the CT scanning system includes a robot arm, a scanning frame and a camera, the camera includes a first recognition device and a second recognition device, the first recognition device is arranged at the robot arm base, the second recognition device is arranged at the top of the robot arm, the robot arm is connected to the scanning frame, and includes:

[0030] an information acquisition module, used to acquire first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot arm coordinate system, second angle information of the top of the robot arm in the robot arm coordinate system, and second angle information of the second recognition device in the camera coordinate system;

[0031] an information conversion relationship determining module, configured to determine an information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information;

[0032] a motion trajectory determination module, configured to determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system;

[0033] A target offset determination module is used to determine the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction based on the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0034] In a third aspect, according to the present disclosure, there is provided a computer device, including:

[0035] one or more processors;

[0036] a storage device for storing one or more programs,

[0037] When the one or more programs are executed by the one or more processors, the one or more processors implement any method as described in the first aspect.

[0038] In a fourth aspect, according to the content of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, it implements any method as described in the first aspect.

[0039] The CT scanning system robot arm control method, device, equipment and medium provided by the embodiments of the present disclosure first obtain the first coordinate information of the first recognition device in the camera coordinate system, the second coordinate information of the first recognition device in the robot arm coordinate system, the second angle information of the top of the robot arm in the robot arm coordinate system and the second angle information of the second recognition device in the camera coordinate system; then determine the information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information and the second angle information; and determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system; determine the target offset of the robot arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system. Firstly, an information conversion relationship between the camera coordinate system and the robot arm coordinate system is established, and then the offset of the second recognition device in the camera coordinate system is determined to determine the target offset of the top of the robot arm in the robot arm coordinate system, thereby adjusting the robot arm. In the process of the robot arm moving along the target motion direction, the fluctuation of the non-target motion direction is controlled based on the offset, thereby improving the motion accuracy of the robot arm; and the fluctuation of the non-target motion direction at any angle coordinate information of the robot arm in the motion trajectory can be controlled, thereby further improving the accuracy of the motion trajectory of the robot arm.

[0040] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0042] Figure 1 It is a flow chart of a method for controlling a mechanical arm of a CT scanning system provided by an embodiment of the present disclosure;

[0043] Figure 2is a structural schematic diagram of a CT scanning system mechanical arm control device provided by an embodiment of the present disclosure;

[0044] Figure 3 It is a structural diagram of a computer device provided in an embodiment of the present disclosure.

[0045] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0047] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0048] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are used only to distinguish one component (or a part of a component) from another component (or another part of a component).

[0051] In the description of the present application, unless otherwise specified, "plurality" means more than two (including two), and similarly, "multiple groups" means more than two groups (including two).

[0052] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0053] Based on the problems existing in the CT scanning system in the prior art, the embodiment of the present disclosure provides a method for controlling a mechanical arm of a CT scanning system, which is applied to the CT scanning system. The CT scanning system includes a mechanical arm, a scanning frame and a camera. The camera includes a first recognition device and a second recognition device. The first recognition device is arranged at the base of the mechanical arm, and the second recognition device is arranged at the top of the mechanical arm. The mechanical arm is connected to the scanning frame. Figure 1 is a flow chart of a method for controlling a mechanical arm of a CT scanning system provided by an embodiment of the present disclosure, such as Figure 1 As shown, the CT scanning system robot arm control method includes:

[0054] S110, obtaining first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot arm coordinate system, second angle information of the top of the robot arm in the robot arm coordinate system, and second angle information of the second recognition device in the camera coordinate system.

[0055] The coordinate information includes X-axis, Y-axis and Z-axis coordinate information, and the angle information includes rotation angle information in the X-axis direction, rotation angle in the Y-axis direction and rotation angle information in the Z-axis direction.

[0056] In a specific embodiment, the camera is a binocular camera, the first recognition device of the camera is set at the base of the robotic arm, and the second recognition device of the camera is set at the top of the robotic arm. When the first recognition device and the second recognition device of the camera are in the field of view of the camera, the coordinate information and angle information of the first recognition device and the second recognition device in the camera coordinate system can be obtained. Therefore, the first coordinate information of the first recognition device in the camera coordinate system and the second angle information of the second recognition device in the camera coordinate system can be obtained from the camera.

[0057] In addition, since the first identification device is arranged on the robot arm base, the second coordinate information of the first identification device in the robot arm coordinate system can be obtained by measurement.

[0058] In addition, the top of the robotic arm is communicatively connected to the robotic arm main control module, so the first angle information of the top of the robotic arm in the robotic arm coordinate system can be obtained.

[0059] It should be noted that, in the initial state, the angle information of the first recognition device in the camera coordinate system and the angle information of the second recognition device in the camera coordinate system are the same.

[0060] S120. Determine an information conversion relationship between a camera coordinate system and a robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information.

[0061] As a specific implementation, the information conversion relationship between the camera coordinate system and the robotic arm coordinate system is determined according to the first coordinate information, the second coordinate information, the first angle information and the second angle information, including: determining the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system according to the first coordinate information and the second coordinate information; determining the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system according to the first angle information and the second angle information; determining the information conversion relationship between the camera coordinate system and the robotic arm coordinate system according to the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system and the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0062] As a specific example, the first coordinate information of the first recognition device in the camera coordinate system is (X1, Y1, Z1), and the second coordinate information of the first recognition device in the robotic arm coordinate system is (X2, Y2, Z2). Then the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system satisfies: (Xc, Yc, Zc) = (X2-X1, Y2-Y1, Z2-Z1).

[0063] The first angle information of the top of the robotic arm in the robotic arm coordinate system is (roll1, pitch1, yaw1), and the second angle information of the second identification device in the camera coordinate system is (roll2, pitch2, yaw2). The angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system satisfies: (ROLLc, PITCHc, YAWc) = (roll1-roll2, pitch1-pitch2, yaw1-yaw2).

[0064] After determining the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system and the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system, it can be determined that the information conversion relationship between the camera coordinate system and the robotic arm coordinate system satisfies: (Xc, Yc, Zc, ROLLc, PITCHc, YAWc) = (X2-X1, Y2-Y1, Z2-Z1, roll1-roll2, pitch1-pitch2, yaw1-yaw2).

[0065] S130. Determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system.

[0066] In a specific implementation, the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system, including: in response to receiving the target position information of the top of the robot arm submitted by the target object, determining the target motion direction and target motion trajectory of the top of the robot arm according to the initial position information and the target position information of the top of the robot arm; determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system.

[0067] Among them, according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system, the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined, including: according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system, the coordinate angle information of the top of the robot arm at different positions in the motion trajectory of the top of the robot arm in the robot arm coordinate system is determined; the coordinate angle information of different positions in the motion trajectory of the top of the robot arm in the robot arm coordinate system is subtracted from the information conversion relationship between the camera coordinate system and the robot arm coordinate system to obtain the coordinate angle information of different positions in the motion trajectory of the second recognition device in the camera coordinate system; according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system, the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined.

[0068] Specifically, if the target position information of the top of the robot arm submitted by the target object is (x11, y11, z51, roll11, pitch11, yaw11), the initial position information of the top of the robot arm is (x01, y01, z01, roll01, pitch01, yaw01), and the target movement direction of the top of the robot arm is along the z-axis, then the coordinate angle information of the top of the robot arm at different positions in the motion trajectory of the robot arm coordinate system are exemplary as follows: position 1 (x01, y01, z01, roll01, pitch01, yaw01), position 2 (x11, y11, z11, roll11, pitch11, yaw11), position 3 (x21, y21, z21, roll21, pitch21, yaw21) position 4 (x31, y31, z31, roll31, pitch31, yaw31), position 5 (x41, y41, z41, roll41, pitch41, yaw41), position 6 (x51, y51, z51, roll51, pitch51, yaw51), where position 1 is the initial position of the top of the robot in the robot coordinate system, and position 6 is the target position of the top of the robot in the robot coordinate system.

[0069] Since the target movement direction of the top of the robotic arm is set to move along the z-axis direction, the X-axis coordinate information, Y-axis coordinate information, and the rotation angle in the X-axis direction, the rotation angle in the Y-axis direction, and the rotation angle in the Z-axis direction corresponding to positions 1, 2, 3, 4, 5, and 6 are the same.

[0070] By subtracting the information conversion relationship between the camera coordinate system and the robotic arm coordinate system from the coordinate angle information of the robotic arm at different positions in the motion trajectory, the coordinate angle information of the top of the robotic arm at different positions in the motion trajectory in the camera coordinate system can be obtained. Since the second identification device is fixed to the top of the robotic arm, the coordinate angle information of the top of the robotic arm at different positions in the motion trajectory in the camera coordinate system is also the coordinate angle information of the second identification device at different positions in the motion trajectory of the camera coordinate system. Specifically, the coordinate angle information of the second recognition device at different positions in the motion trajectory of the camera coordinate system are: position 1' (x01-Xc, y01-Yc, z01-Zc, roll01-ROLLc, pitch101-PITCHc, yaw01-YAWC), position 2' (x11-Xc, y11-Yc, z11-Zc, roll11-ROLLc, pitch11-PITCHc, yaw11-YAWC), position 3' (x21-Xc, y21-Yc, z21-Zc, roll21-ROLLc, pitch21 -PITCHc, yaw21-YAWC), position 4' (x31-Xc, y31-Yc, z31-Zc, roll31-ROLLc, pitch31-PITCHc, yaw31-YAWC), position 5' (x41-Xc, y41-Yc, z41-Zc, roll41-ROLLc, pitch41-PITCHc, yaw41-YAWC), position 6' (x51-Xc, y51-Yc, z51-Zc, roll51-ROLLc, pitch51-PITCHc, yaw51-YAWC).

[0071] When the coordinate information of the X axis, the coordinate information of the Y axis, and the rotation angle in the X axis direction, the rotation angle in the Y axis direction, and the rotation angle in the Z axis direction corresponding to position 1, position 2, position 3, position 4, position 5, and position 6 are the same, through the information conversion relationship between the camera coordinate system and the robot arm coordinate system, the coordinate information of the X axis, the coordinate information of the Y axis, and the rotation angle in the X axis direction, the rotation angle in the Y axis direction, and the rotation angle in the Z axis direction corresponding to position 1', position 2', position 3', position 4', position 5', and position 6' obtained by mapping position 1, position 2, position 3, position 4, position 5, and position 6 to the camera coordinate system are also the same. At this time, the determined motion trajectory of the second recognition device in the camera coordinate system is from position 1' to position 6'.

[0072] S140. Determine the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction based on the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0073] In a specific embodiment, the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction is determined according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, including: determining the offset of the second recognition device at different coordinate angles in the non-target motion direction according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system; determining the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction according to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0074] After determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the coordinate angle information at different positions in the motion trajectory, since the user expects the top of the robotic arm to move along the Z-axis direction, the target motion direction is the Z-axis direction, and the non-target motion directions are the X-axis direction and the Y-axis direction. At this time, the offset of the second recognition device at different coordinate angles in the non-target motion direction can be determined.

[0075] Exemplarily, the coordinate angle information of the second recognition device at different positions in the motion trajectory of the camera coordinate system are: position 1'(x01-Xc, y01-Yc, z01-Zc, roll01-ROLLc, pitch101-PITCHc, yaw01-YAWC), position 2'(x11-Xc, y11-Yc, z11-Zc, roll11-ROLLc, pitch11-PITCHc, yaw11-YAWC), position 3'(x21-Xc, y21-Yc, z21-Zc, roll21-ROLLc, pitch2 1-PITCHc, yaw21-YAWC), position 4' (x31-Xc, y11-Yc, z31-Zc, roll31-ROLLc, pitch31-PITCHc, yaw31-YAWC), position 5' (x41-Xc, y41-Yc, z41-Zc, roll41-ROLLc, pitch41-PITCHc, yaw41-YAWC), position 6' (x51-Xc, y51-Yc, z51-Zc, roll51-ROLLc, pitch51-PITCHc, yaw51-YAWC ), by comparing the coordinate angle information of position 2' relative to position 6', determine the offset of the coordinate information of position 2' on the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle information in the Z-axis direction; by comparing the coordinate angle information of position 3' relative to position 6', determine the offset of the coordinate information of position 3' on the X-axis, the offset of the coordinate information of the Y-axis, and the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle information in the Z-axis direction. ; By comparing the coordinate angle information of position 4' relative to position 6', determine the offset of the coordinate information of position 4' on the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle information in the Z-axis direction; by comparing the coordinate angle information of position 5' relative to position 6', determine the offset of the coordinate information of position 5' on the X-axis, the offset of the coordinate information of the Y-axis, and the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle information in the Z-axis direction.

[0076] Then, according to the information conversion relationship between the camera coordinate system and the robot coordinate system, the offset of the coordinate information of position 2' relative to position 6' in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction are converted into the offset of the coordinate information of position 2 relative to position 6 in the robot coordinate system, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, and the offset of the rotation angle in the Y-axis direction. The offset of the coordinate information of position 3' relative to position 6' in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction are converted into the offset of the coordinate information of position 3 relative to position 6 in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction in the robot arm coordinate system. The offset of the coordinate information of position 4' relative to position 6' in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction are converted into the offset of the coordinate information of position 4 relative to position 6 in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the rotation angle in the Z-axis direction in the robot arm coordinate system. The information is converted into the offset of the coordinate information of position 5' relative to position 6' in the X-axis, the offset of the coordinate information of the Y-axis, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction into the offset of the coordinate information of position 5 relative to position 6 in the X-axis, the offset of the coordinate information of the Y-axis, and the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction in the robot arm coordinate system.

[0077] In the specific implementation process: the offset of the second recognition device at different coordinate angles in the non-target motion direction is added to the information conversion relationship between the camera coordinate system and the robotic arm coordinate system to obtain the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction.

[0078] According to the determined offset of the coordinate information of position 2 in the X-axis relative to position 6 in the robot arm coordinate system, the offset of the coordinate information of the Y-axis relative to position 6, the offset of the rotation angle in the X-axis direction, the offset of the rotation angle in the Y-axis direction, and the offset of the rotation angle in the Z-axis direction, the offset of the coordinate information of position 3 in the X-axis relative to position 6 in the robot arm coordinate system, the offset of the coordinate information of position 4 in the robot arm coordinate system is determined. 6 in the X-axis coordinate information offset, the Y-axis coordinate information offset, the X-axis rotation angle offset, the Y-axis rotation angle offset and the Z-axis rotation angle information offset; in the robot arm coordinate system, the X-axis coordinate information offset, the Y-axis coordinate information offset and the X-axis rotation angle offset, the Y-axis rotation angle offset and the Z-axis rotation angle information offset of position 5 relative to position 6; the robot arm is adjusted through PID feedback adjustment to reduce the fluctuation of the robot arm in the non-target motion direction.

[0079] In the above embodiment, the target motion direction includes the target motion coordinates and the target motion angle, which will not be described in detail in the embodiment of the present disclosure.

[0080] The CT scanning system robot arm control method provided by the embodiment of the present disclosure first obtains the first coordinate information of the first recognition device in the camera coordinate system, the second coordinate information of the first recognition device in the robot arm coordinate system, the second angle information of the top of the robot arm in the robot arm coordinate system, and the second angle information of the second recognition device in the camera coordinate system; then determines the information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information; and determines the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system; determines the target offset of the robot arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system. Firstly, an information conversion relationship between the camera coordinate system and the robot arm coordinate system is established, and then the offset of the second recognition device in the camera coordinate system is determined to determine the target offset of the top of the robot arm in the robot arm coordinate system, thereby adjusting the robot arm. In the process of the robot arm moving along the target motion direction, the fluctuation of the non-target motion direction is controlled based on the offset, thereby improving the motion accuracy of the robot arm; and the fluctuation of the non-target motion direction at any angle coordinate information of the robot arm in the motion trajectory can be controlled, thereby further improving the accuracy of the motion trajectory of the robot arm.

[0081] Based on the above embodiments, the CT scanning system robot arm control method provided in the embodiments of the present disclosure further includes: controlling the robot arm according to the target offset at different coordinate angle information of the top of the robot arm in the non-target motion direction.

[0082] It should be noted that in the CT scanning system robot arm control method provided by the embodiment of the present disclosure, after determining the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system, when the target offset corresponding to the coordinate angle information of any one of the tops of the robot arm is determined, the robot arm is controlled, that is, the robot arm is controlled according to the motion trajectory of the robot arm, so as to control the fluctuation of the non-target motion direction of the robot arm at any angle coordinate information in the motion trajectory, thereby improving the accuracy of the motion trajectory of the robot arm.

[0083] Based on the above embodiments, the present disclosure also provides a CT scanning system robot arm control device. Figure 2 is a schematic diagram of the structure of a CT scanning system mechanical arm control device provided by an embodiment of the present disclosure, such as Figure 2 As shown, the CT scanning system robot arm control device includes:

[0084] An information acquisition module 210 is used to acquire first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot coordinate system, second angle information of the top of the robot arm in the robot coordinate system, and second angle information of the second recognition device in the camera coordinate system;

[0085] An information conversion relationship determination module 220, used to determine an information conversion relationship between a camera coordinate system and a robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information;

[0086] A motion trajectory determination module 230, configured to determine a motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system;

[0087] The target offset determination module 240 is used to determine the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction based on the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0088] The CT scanning system robot arm control device provided by the embodiment of the present disclosure first obtains the first coordinate information of the first recognition device in the camera coordinate system, the second coordinate information of the first recognition device in the robot arm coordinate system, the second angle information of the top of the robot arm in the robot arm coordinate system, and the second angle information of the second recognition device in the camera coordinate system; then determines the information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information; and determines the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robot arm along the target motion direction in the robot arm coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system; determines the target offset of the robot arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robot arm coordinate system. Firstly, an information conversion relationship between the camera coordinate system and the robot arm coordinate system is established, and then the offset of the second recognition device in the camera coordinate system is determined to determine the target offset of the top of the robot arm in the robot arm coordinate system, thereby adjusting the robot arm. In the process of the robot arm moving along the target motion direction, the fluctuation of the non-target motion direction is controlled based on the offset, thereby improving the motion accuracy of the robot arm; and the fluctuation of the non-target motion direction at any angle coordinate information of the robot arm in the motion trajectory can be controlled, thereby further improving the accuracy of the motion trajectory of the robot arm.

[0089] In a specific implementation, determining the information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information includes:

[0090] Determine a coordinate information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information and the second coordinate information;

[0091] Determine an angle information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first angle information and the second angle information;

[0092] The information conversion relationship between the camera coordinate system and the robotic arm coordinate system is determined according to the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system and the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0093] In a specific implementation, the determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the target motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0094] In response to receiving the target position information of the top of the mechanical arm submitted by the target object, determining the target movement direction and target movement trajectory of the top of the mechanical arm according to the initial position information and the target position information of the top of the mechanical arm;

[0095] The motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

[0096] In a specific implementation, the step of determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0097] Determine coordinate angle information of different positions of the motion trajectory of the top of the robotic arm in the robotic arm coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system;

[0098] Subtract the information conversion relationship between the camera coordinate system and the robotic arm coordinate system from the coordinate angle information of the top of the robotic arm at different positions in the motion trajectory in the robotic arm coordinate system to obtain the coordinate angle information of the second recognition device at different positions in the motion trajectory in the camera coordinate system;

[0099] The motion trajectory of the second recognition device in the camera coordinate system along the target motion direction is determined according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system.

[0100] In a specific implementation, the determining the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0101] Determine the offset of the second recognition device at different coordinate angles in the non-target motion direction according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system;

[0102] According to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction is determined.

[0103] In a specific implementation, determining the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction according to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes:

[0104] The offset of the second recognition device at different coordinate angles in the non-target motion direction is added to the information conversion relationship between the camera coordinate system and the robotic arm coordinate system to obtain the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction.

[0105] In a specific embodiment, the device further comprises:

[0106] The robotic arm is controlled according to the target offset at different coordinate angle information of the top of the robotic arm in the non-target motion direction.

[0107] The present application also provides a computer device. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0108] The computer device includes a memory 510 and a processor 520 that are connected to each other through a system bus. It should be noted that the figure only shows a computer device with components 510-520, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0109] Computer devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Computer devices can interact with users through keyboards, mice, remote controls, touch pads, or voice control devices.

[0110] The memory 510 includes at least one type of readable storage medium, and the readable storage medium includes a non-volatile memory or a volatile memory, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc., and the RAM may include a static RAM or a dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash card (Flash Card), etc., equipped on the computer device. Of course, the memory 510 may also include both an internal storage unit of the computer device and an external storage device thereof. In this embodiment, the memory 510 is generally used to store an operating system and various application software installed on the computer device, such as the program code of the above method, etc. In addition, the memory 510 may also be used to temporarily store various data that have been output or are to be output.

[0111] The processor 520 is generally used to perform the overall operation of the computer device. In this embodiment, the memory 510 is used to store program codes or instructions, the program code includes computer operation instructions, and the processor 520 is used to execute the program codes or instructions stored in the memory 510 or process data, such as running the program code of the above method.

[0112] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0113] Another embodiment of the present application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads a computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or a combination of steps in the above method; and generate a device for implementing the functional actions specified in each block or a combination of blocks in the block diagram.

[0114] Computer-readable media include but are not limited to electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any appropriate combination of the foregoing, the memory is used to store program codes or instructions, the program codes include computer operating instructions, and the processor is used to execute the program codes or instructions of the above methods stored in the memory.

[0115] For the definitions of memory and processor, please refer to the description of the aforementioned computer device embodiment and will not be repeated here.

[0116] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0117] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0119] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0120] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present application.

[0121] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A method for controlling a manipulator of a CT scanning system, wherein the CT scanning system comprises a manipulator, a scanning frame and a camera, wherein the camera comprises a first recognition device and a second recognition device, wherein the first recognition device is arranged at a base of the manipulator, and the second recognition device is arranged at a top of the manipulator, and the manipulator is connected to the scanning frame, wherein: include: Acquire first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot arm coordinate system, second angle information of the top of the robot arm in the robot arm coordinate system, and second angle information of the second recognition device in the camera coordinate system; Determine an information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information; Determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system; According to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction is determined.

2. The method according to claim 1, characterized in that The determining, according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information, an information conversion relationship between the camera coordinate system and the robot arm coordinate system includes: Determine a coordinate information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information and the second coordinate information; Determine an angle information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first angle information and the second angle information; The information conversion relationship between the camera coordinate system and the robotic arm coordinate system is determined according to the coordinate information conversion relationship between the camera coordinate system and the robotic arm coordinate system and the angle information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

3. The method according to claim 1, characterized in that The step of determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the target motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system comprises: In response to receiving the target position information of the top of the mechanical arm submitted by the target object, determining the target movement direction and target movement trajectory of the top of the mechanical arm according to the initial position information and the target position information of the top of the mechanical arm; The motion trajectory of the second recognition device along the target motion direction in the camera coordinate system is determined according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

4. The method according to claim 3, characterized in that The step of determining the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system comprises: Determine coordinate angle information of different positions of the motion trajectory of the top of the robotic arm in the robotic arm coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system; Subtract the information conversion relationship between the camera coordinate system and the robotic arm coordinate system from the coordinate angle information of the top of the robotic arm at different positions in the motion trajectory in the robotic arm coordinate system to obtain the coordinate angle information of the second recognition device at different positions in the motion trajectory in the camera coordinate system; The motion trajectory of the second recognition device in the camera coordinate system along the target motion direction is determined according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system.

5. The method according to claim 1, characterized in that The determining the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction according to the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system includes: Determine the offset of the second recognition device at different coordinate angles in the non-target motion direction according to the coordinate angle information at different positions in the motion trajectory of the second recognition device in the camera coordinate system; According to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system, the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction is determined.

6. The method according to claim 5, characterized in that The method of determining the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction according to the offset of the second recognition device at different coordinate angles in the non-target motion direction and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system comprises: The offset of the second recognition device at different coordinate angles in the non-target motion direction is added to the information conversion relationship between the camera coordinate system and the robotic arm coordinate system to obtain the target offset of the top of the robotic arm at different coordinate angles in the non-target motion direction.

7. The method according to claim 1, characterized in that The method further comprises: The robotic arm is controlled according to the target offset at different coordinate angle information of the top of the robotic arm in the non-target motion direction.

8. A CT scanning system robot arm control device, the CT scanning system includes a robot arm, a scanning frame and a camera, the camera includes a first recognition device and a second recognition device, the first recognition device is arranged at the base of the robot arm, the second recognition device is arranged at the top of the robot arm, the robot arm is connected to the scanning frame, characterized in that: include: an information acquisition module, used to acquire first coordinate information of the first recognition device in the camera coordinate system, second coordinate information of the first recognition device in the robot arm coordinate system, second angle information of the top of the robot arm in the robot arm coordinate system, and second angle information of the second recognition device in the camera coordinate system; an information conversion relationship determining module, configured to determine an information conversion relationship between the camera coordinate system and the robot arm coordinate system according to the first coordinate information, the second coordinate information, the first angle information, and the second angle information; a motion trajectory determination module, configured to determine the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system according to the motion trajectory of the top of the robotic arm along the target motion direction in the robotic arm coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system; A target offset determination module is used to determine the target offset of the top of the robotic arm at different coordinate angle information in the non-target motion direction based on the motion trajectory of the second recognition device along the target motion direction in the camera coordinate system and the information conversion relationship between the camera coordinate system and the robotic arm coordinate system.

9. A computer device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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