Posture calibration method, device and equipment for mechanical arm base and storage medium

Abstract

The invention discloses a posture calibration method, device and equipment of a mechanical arm base and a storage medium, and relates to the field of robots, the method is applied to a mechanical arm system, the mechanical arm system comprises a projection device and the mechanical arm base, and the method comprises the steps that a reference coordinate system and a projection pattern coordinate system of a projection pattern are established; adjusting a projection pattern coordinate system, determining a first attitude transformation relation between the reference coordinate system and the projection pattern coordinate system under the condition that the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjusting angle of the projection pattern coordinate system; acquiring a rigid attitude transformation relation between the projection device and the mechanical arm base, and determining a second attitude transformation relation between the projection pattern coordinate system and a base coordinate system of the mechanical arm base based on the adjustment angle and the rigid attitude transformation relation; and determining a target attitude transformation relation between the base coordinate system and the reference coordinate system based on the first attitude transformation relation and the second attitude transformation relation so as to realize attitude calibration of the mechanical arm base.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a posture calibration method, device, equipment and storage medium for a robot arm base. Background Art

[0002] In recent years, minimally invasive surgical robot systems can reduce the physical labor of doctors during operations through interventional treatments, while achieving the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. It has increasingly become one of the key development directions of the modern medical industry.

[0003] At present, minimally invasive surgical robot systems generally have multiple arm systems, each of which carries different surgical instruments. They can cooperate with each other to meet various surgical needs. In the early days, a structural layout in which multiple arms share the same base was often used. With the development of minimally invasive surgery, doctors hope that minimally invasive surgical robot systems can have more arm systems, but this demand has caused the size of robot systems with the same base layout to become increasingly large and difficult to move and deploy easily into the operating room. Therefore, a split minimally invasive surgical robot system came into being. Each arm system of the split robot system has its own base, which can effectively reduce the size of the arm system body and improve the flexibility and adaptability of the robot system in the operating room.

[0004] The mainstream control mode of minimally invasive robotic systems is master-slave control. The position relationship between the slave-arm robot base and the master-arm base, especially the posture relationship, will directly affect the effect of master-slave control. Therefore, how to simply and accurately obtain the posture of the robotic arm base relative to the master-arm base has become an important part of the successful application of split minimally invasive surgical robots. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for calibrating the posture of a robot arm base, so as to realize the posture calibration of the robot arm base quickly and accurately.

[0006] According to one aspect of the present invention, a method for calibrating the posture of a robot base is provided, which is applied to a robot system, wherein the robot system comprises a projection device and a robot base, wherein the projection device is used to project a projection pattern, and the method comprises:

[0007] Establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located;

[0008] Adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system;

[0009] Acquire a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship;

[0010] A target posture transformation relationship between the base coordinate system and the reference coordinate system is determined based on the first posture transformation relationship and the second posture transformation relationship to complete the posture calibration of the robot arm base.

[0011] According to another aspect of the present invention, a posture calibration device of a robot base is provided, which is applied to a robot system. The robot system includes a projection device and a robot base. The projection device is used to project a projection pattern. The device includes:

[0012] A coordinate system establishment module, used to establish a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located;

[0013] a projection pattern coordinate system adjustment module, used for adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system;

[0014] a second posture transformation relationship determination module, configured to obtain a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and a base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship;

[0015] The robot arm base calibration module is used to determine the target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, so as to complete the posture calibration of the robot arm base.

[0016] According to another aspect of the present invention, a robotic arm system is provided, comprising: a base and a robotic arm, the base comprising a projection device and a control panel, the projection device comprising a fixed bracket, an adjustable projection lens and a position sensor, the control panel comprising a projection pattern adjustment control; the robotic arm comprises a robotic arm base.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] at least one processor; and

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the posture calibration method of the robot arm base described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the posture calibration method of the robot arm base described in any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention is applied to a robotic arm system, the robotic arm system includes a projection device and a robotic arm base, the projection device is used to project a projection pattern; by establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; adjusting the projection pattern coordinate system, when the reference coordinate system and the projection pattern coordinate system are aligned, determining the first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determining the adjustment angle of the projection pattern coordinate system; obtaining the rigid posture transformation relationship between the projection device and the robotic arm base, determining the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship; determining the target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, and completing the posture calibration of the robotic arm base. By installing the projection device on the robotic arm system, adjusting the projection pattern coordinate system, when the reference coordinate system and the projection pattern coordinate system are aligned, using the first posture transformation relationship as an intermediate medium, the posture calibration of the robotic arm base is quickly and accurately achieved.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a structural schematic diagram of a mechanical arm system provided by an embodiment of the present invention;

[0026] Figure 2 It is a flow chart of a method for calibrating the posture of a robotic arm base provided by an embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of establishing a coordinate system in a method for calibrating the posture of a robotic arm base provided by an embodiment of the present invention;

[0028] Figure 4 It is a schematic diagram of a target posture transformation relationship determination process in a posture calibration method of a robot arm base provided by an embodiment of the present invention;

[0029] Figure 5 It is a structural schematic diagram of a posture calibration device for a robot arm base provided by an embodiment of the present invention;

[0030] Figure 6 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention.

[0031] Description of the drawings: 1. Base, 11. Control panel, 12. Projection device, 2. Robotic arm, 21. Robotic arm base, 3. Operating table. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first posture transformation relationship", "second posture transformation relationship" and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Figure 1 Schematic diagram of the structure of a mechanical arm system provided by an embodiment of the present invention. Figure 1 As shown, the robot system includes a base 1 and a robot 2. The base 1 includes a projection device 12 and a control panel 11. The projection device 12 includes a fixed bracket, an adjustable projection lens and a position sensor. The control panel 11 includes a projection pattern adjustment control. The robot 2 includes a robot base 21. Among them, the base 1, as the basis of the robot system, can be pushed freely and provide stable parking. Before calibrating the robot base, the robot system needs to be parked near the operating table 3 to fix the spatial posture of the robot system. The projection device 12 can project a projection pattern for calibration. Medical staff can control the rotation of the projection pattern by operating the projection pattern adjustment control on the control panel 11 to complete the posture calibration of the robot base in the robot system.

[0035] Figure 2 This is a flow chart of a method for calibrating the posture of a robot base provided by an embodiment of the present invention. This embodiment can be applied to calibrating the base of a robot system. The method can be executed by a posture calibration device of the robot base. The posture calibration device of the robot base can be implemented in the form of hardware and / or software. The posture calibration device of the robot base can be configured in the controller of the robot. Figure 2 As shown, the method includes:

[0036] S110, establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located.

[0037] The reference coordinate system is used to calibrate the posture of the robot base. Specifically, the reference coordinate system can be established based on the objects in the environment where the robot system is located. Figure 3 FIG. 1 is a schematic diagram of establishing a coordinate system in a method for calibrating the posture of a robot arm base provided by an embodiment of the present invention. Figure 3 As shown, a reference coordinate system can be established based on the operating bed. The method for establishing the reference coordinate system is as follows: a vector parallel to the long side of the operating bed and pointing to the patient's head is taken as X S Axis, the vertical upward vector is Z S Axis positive direction, Y S The axis satisfies the right-hand rule.

[0038] The projection pattern coordinate system is established based on the projection pattern. Specifically, the projection coordinate system can be constructed based on the projection pattern. For example, assuming that the projection pattern is a "T" line, the vector parallel to the vertical line of the "T" and pointing away from the horizontal line of the "T" is called the "T" indicator vector. The method for constructing the projection coordinate system based on the "T" pattern is as follows: Figure 3As shown, the indicator vector of "T" is X T Axis, the vertical upward vector is Z T Axis, Y T The axis satisfies the right-hand rule.

[0039] It should be noted that the projection pattern coordinate system changes as the projection pattern posture changes.

[0040] S120, adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system.

[0041] The first posture transformation relationship refers to the posture transformation relationship between the reference coordinate system and the projection pattern coordinate system. Specifically, it can be represented based on the posture transformation matrix between the reference coordinate system and the projection pattern coordinate system, for example: Among them, S represents the reference coordinate system, T represents the projection pattern coordinate system, and R represents the posture transformation matrix.

[0042] The adjustment angle refers to the adjustment angle of the projection pattern coordinate system relative to the initial state when the reference coordinate system and the projection pattern coordinate system are aligned. In this embodiment, the projection pattern coordinate system can be adjusted by the projection pattern adjustment control. When the reference coordinate system and the projection pattern coordinate system are aligned, the first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system is determined, and the adjustment angle of the projection pattern coordinate system is determined. The alignment of the reference coordinate system and the projection pattern coordinate system refers to the alignment of the posture of the reference coordinate system and the projection pattern coordinate system. For example, by adjusting the posture of the projection pattern coordinate system, the X coordinate of the reference coordinate system is aligned. S The X coordinate system of the projected pattern T (At this time, the indication vector of "T" is parallel to the long side of the operating table). Therefore, when the reference coordinate system and the projection pattern coordinate system are aligned, the reference coordinate system and the projection pattern coordinate system have the same posture. Among them, E 3×3 is a 3×3 identity matrix.

[0043] Based on the above embodiment, optionally, the robotic arm system also includes a control panel, which includes a projection pattern adjustment control; the adjustment of the projection pattern coordinate system includes: adjusting the projection pattern in response to an adjustment operation on the projection pattern adjustment control, and the projection pattern coordinate system changes with the adjustment of the projection pattern.

[0044] Among them, the projection pattern adjustment control is used to adjust the projection angle of the projection pattern. Specifically, the projection pattern adjustment control is a virtual button or a physical button on the control panel. In this embodiment, the medical staff adjusts the projection pattern by adjusting the projection pattern adjustment control on the control panel. Specifically, in response to the adjustment operation of the projection pattern adjustment control, the projection pattern is adjusted until the projection pattern coordinate system is aligned with the reference coordinate system. It can be understood that the projection pattern coordinate system can be indirectly adjusted by adjusting the projection pattern, and the posture of the projection pattern coordinate system changes synchronously with the use of the projection pattern adjustment control.

[0045] Based on the above embodiment, optionally, the projection device includes a position sensor, which is used to collect position information of the projection pattern in real time; determining the adjustment angle of the projection pattern coordinate system includes: when the reference coordinate system and the projection pattern coordinate system are aligned, determining the adjustment angle of the projection pattern coordinate system based on the initial position information and current position information of the projection pattern.

[0046] In this embodiment, during the process of adjusting the projection pattern, the position sensor of the projection device collects the position information of the projection pattern in real time, and when the reference coordinate system and the projection pattern coordinate system are aligned, the adjustment angle of the projection pattern is determined based on the initial position information and the current position information of the projection pattern. The initial position information refers to the position information of the projection pattern before adjustment, and the current position information refers to the position information of the projection pattern when the reference coordinate system and the projection pattern coordinate system are aligned.

[0047] S130, acquiring a rigid posture transformation relationship between the projection device and the robotic arm base, and determining a second posture transformation relationship between the projection pattern coordinate system and a base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship.

[0048] Among them, the rigid posture transformation relationship refers to the posture transformation relationship between the projection device and the robot base. It can be understood that the relative position between the projection device and the robot base is fixed, so the rigid posture transformation relationship is a fixed posture change relationship. The second posture transformation relationship refers to the posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robot base, which can be expressed as: In this embodiment, the rigid posture transformation relationship between the projection device and the robotic arm base is obtained, and the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base can be solved based on the adjustment angle and the rigid posture transformation relationship.

[0049] On the basis of the above embodiment, optionally, the projection device also includes a fixed bracket and an adjustable projection lens; the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base is determined based on the adjustment angle and the rigid posture transformation relationship, including: obtaining an initial posture transformation relationship between the fixed bracket and the adjustable projection lens, and determining a current posture transformation relationship between the fixed bracket and the projection pattern coordinate system based on the initial posture transformation relationship and the adjustment angle; and determining a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the current posture transformation relationship and the rigid posture transformation relationship.

[0050] The initial posture transformation relationship refers to the posture transformation relationship between the fixed bracket and the adjustable projection lens before the projection pattern is adjusted. It is understandable that the medical staff controls the adjustable projection lens through the projection pattern adjustment control to adjust the projection pattern, so the initial posture transformation relationship between the fixed bracket and the adjustable projection lens is the initial posture transformation relationship between the fixed bracket and the projection pattern coordinate system.

[0051] In this embodiment, the initial posture transformation relationship between the fixed bracket and the adjustable projection lens is obtained, and the current posture transformation relationship between the fixed bracket and the projection pattern coordinate system is determined based on the initial posture transformation relationship and the adjustment angle; wherein the current posture transformation relationship refers to the posture transformation relationship between the fixed bracket and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned. Further, the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robot base is determined based on the current posture transformation relationship and the rigid posture transformation relationship. It can be understood that, if Figure 1 As shown, the projection device 12 is rigidly connected to the base 1 through a fixed bracket. Therefore, the rigid posture transformation relationship between the projection device and the mechanical arm base is the rigid posture transformation relationship between the fixed bracket of the projection device and the mechanical arm base.

[0052] S140. Determine a target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, and complete posture calibration of the robot arm base.

[0053] In this embodiment, the target posture transformation relationship between the base coordinate system and the reference coordinate system can be determined based on the first posture transformation relationship and the second posture transformation relationship, so that the posture of the robot base in the reference coordinate system can be determined based on the target posture transformation relationship to complete the posture calibration of the robot base. Among them, the target posture transformation relationship refers to the posture transformation relationship between the base coordinate system and the reference coordinate system. Specifically, the target posture transformation relationship can be expressed as Figure 4 is a schematic diagram of a target posture transformation relationship determination process in a posture calibration method of a robot arm base provided by an embodiment of the present invention, such as Figure 4 As shown,

[0054] The technical solution of this embodiment is applied to a robotic arm system, which includes a projection device and a robotic arm base, wherein the projection device is used to project a projection pattern; by establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; adjusting the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determining an adjustment angle of the projection pattern coordinate system; obtaining a rigid posture transformation relationship between the projection device and the robotic arm base, and determining a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship; determining a target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, and completing posture calibration of the robotic arm base. By installing a projection device on the robotic arm system, adjusting the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, the posture calibration of the robotic arm base is quickly and accurately achieved with the first posture transformation relationship as the intermediate medium.

[0055] Figure 5 Schematic diagram of the structure of a posture calibration device for a robot arm base provided by an embodiment of the present invention. Figure 5 As shown, the device is applied to a robotic arm system, the robotic arm system includes a projection device and a robotic arm base, the projection device is used to project a projection pattern, and the device includes:

[0056] A coordinate system establishing module 420, used to establish a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located;

[0057] A projection pattern coordinate system adjustment module 420, configured to adjust the projection pattern coordinate system, determine a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determine an adjustment angle of the projection pattern coordinate system;

[0058] A second posture transformation relationship determination module 430 is used to obtain a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship;

[0059] The robot arm base calibration module 440 is used to determine the target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, so as to complete the posture calibration of the robot arm base.

[0060] The technical solution of this embodiment is applied to a robotic arm system, which includes a projection device and a robotic arm base, wherein the projection device is used to project a projection pattern; by establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; adjusting the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determining an adjustment angle of the projection pattern coordinate system; obtaining a rigid posture transformation relationship between the projection device and the robotic arm base, and determining a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship; determining a target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, and completing posture calibration of the robotic arm base. By installing a projection device on the robotic arm system, adjusting the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, the posture calibration of the robotic arm base is quickly and accurately achieved with the first posture transformation relationship as the intermediate medium.

[0061] Based on the above embodiment, optionally, the robotic arm system also includes a control panel, which includes a projection pattern adjustment control; the projection pattern coordinate system adjustment module 420 includes a projection pattern coordinate system adjustment unit, which is used to adjust the projection pattern in response to the adjustment operation of the projection pattern adjustment control, and the projection pattern coordinate system changes with the adjustment of the projection pattern.

[0062] Based on the above embodiment, optionally, when the reference coordinate system and the projection pattern coordinate system are aligned, the reference coordinate system and the projection pattern coordinate system have the same posture.

[0063] Based on the above embodiment, optionally, the projection device includes a position sensor, which is used to collect position information of the projection pattern in real time; the projection pattern coordinate system adjustment module 420 includes an adjustment angle determination unit, which is used to determine the adjustment angle of the projection pattern coordinate system based on the initial position information and current position information of the projection pattern when the reference coordinate system and the projection pattern coordinate system are aligned.

[0064] Based on the above embodiment, optionally, the projection device also includes a fixed bracket and an adjustable projection lens; the second posture transformation relationship determination module 430 is used to obtain the initial posture transformation relationship between the fixed bracket and the adjustable projection lens, and determine the current posture transformation relationship between the fixed bracket and the projection pattern coordinate system based on the initial posture transformation relationship and the adjustment angle; based on the current posture transformation relationship and the rigid posture transformation relationship, determine the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base.

[0065] Based on the above embodiment, optionally, the projection pattern adjustment control is a virtual button or a physical button on the control panel.

[0066] The posture calibration device of the robot arm base provided in the embodiment of the present invention can execute the posture calibration method of the robot arm base provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0067] Figure 6 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0068] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, ROM 12 and RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0069] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0070] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a posture calibration method for a robotic arm base.

[0071] In some embodiments, the posture calibration method of the robot arm base can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the posture calibration method of the robot arm base described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the posture calibration method of the robot arm base in any other appropriate manner (for example, by means of firmware).

[0072] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0073] The computer program for implementing the posture calibration method of the robot arm base of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or completely on a remote machine or server.

[0074] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, wherein the computer instructions are used to cause a processor to execute a method for calibrating a posture of a robotic arm base, wherein the method is applied to a robotic arm system, wherein the robotic arm system includes a projection device and a robotic arm base, wherein the projection device is used to project a projection pattern, and wherein the method includes:

[0075] Establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located;

[0076] Adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system;

[0077] Acquire a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship;

[0078] The target posture transformation relationship between the base coordinate system and the reference coordinate system is determined based on the first posture transformation relationship and the second posture transformation relationship to complete the posture calibration of the robot arm base.

[0079] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0080] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0081] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0082] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0083] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0084] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for calibrating the posture of a robot arm base, characterized in that: Applied to a robotic arm system, the robotic arm system comprises a projection device and a robotic arm base, the projection device is used to project a projection pattern, and the method comprises: Establishing a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located; Adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system; Acquire a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship; A target posture transformation relationship between the base coordinate system and the reference coordinate system is determined based on the first posture transformation relationship and the second posture transformation relationship to complete the posture calibration of the robot arm base.

2. The method for calibrating the posture of a robot arm base according to claim 1, characterized in that: The robotic arm system further includes a control panel, wherein the control panel includes a projection pattern adjustment control; the adjusting the projection pattern coordinate system includes: In response to an adjustment operation on the projection pattern adjustment control, the projection pattern is adjusted, and the projection pattern coordinate system changes as the projection pattern is adjusted.

3. The method for calibrating the posture of a robot arm base according to claim 2, characterized in that: When the reference coordinate system and the projection pattern coordinate system are aligned, the reference coordinate system and the projection pattern coordinate system have the same posture.

4. The method for calibrating the posture of a robot arm base according to claim 1 or 3, characterized in that: The projection device includes a position sensor, and the position sensor is used to collect position information of the projection pattern in real time; The determining the adjustment angle of the projection pattern coordinate system includes: In a case where the reference coordinate system and the projection pattern coordinate system are aligned, an adjustment angle of the projection pattern coordinate system is determined based on initial position information and current position information of the projection pattern.

5. The method for calibrating the posture of a robot arm base according to claim 4, characterized in that: The projection device further includes a fixed bracket and an adjustable projection lens; the second posture transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base is determined based on the adjustment angle and the rigid posture transformation relationship, including: Acquire an initial posture transformation relationship between the fixed bracket and the adjustable projection lens, and determine a current posture transformation relationship between the fixed bracket and the projection pattern coordinate system based on the initial posture transformation relationship and the adjustment angle; A second posture transformation relationship between the projection pattern coordinate system and a base coordinate system of the robot arm base is determined based on the current posture transformation relationship and the rigid posture transformation relationship.

6. The method for calibrating the posture of a robot arm base according to claim 2, characterized in that: The projection pattern adjustment control is a virtual button or a physical button on the control panel.

7. A posture calibration device for a robot arm base, characterized in that: Applied to a robotic arm system, the robotic arm system comprises a projection device and a robotic arm base, the projection device is used to project a projection pattern, and the device comprises: A coordinate system establishment module, used to establish a reference coordinate system and a projection pattern coordinate system of the projection pattern; wherein the reference coordinate system is determined based on objects in the environment where the robotic arm system is located; a projection pattern coordinate system adjustment module, used for adjusting the projection pattern coordinate system, determining a first posture transformation relationship between the reference coordinate system and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned, and determining an adjustment angle of the projection pattern coordinate system; a second posture transformation relationship determination module, configured to obtain a rigid posture transformation relationship between the projection device and the robotic arm base, and determine a second posture transformation relationship between the projection pattern coordinate system and a base coordinate system of the robotic arm base based on the adjustment angle and the rigid posture transformation relationship; The robot arm base calibration module is used to determine the target posture transformation relationship between the base coordinate system and the reference coordinate system based on the first posture transformation relationship and the second posture transformation relationship, so as to complete the posture calibration of the robot arm base.

8. A robotic arm system, characterized in that: include: A base and a mechanical arm, wherein the base includes a projection device and a control panel, the projection device includes a fixed bracket, an adjustable projection lens and a position sensor, and the control panel includes a projection pattern adjustment control; the mechanical arm includes a mechanical arm base.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the posture calibration method of the robot arm base according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the posture calibration method of a robot arm base according to any one of claims 1 to 6 when executed.

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