A method, device and equipment for calibrating the pose of a robot base, and a storage medium

Abstract

This invention discloses a method, apparatus, device, and storage medium for attitude calibration of a robotic arm base, relating to the field of robotics. The method is applied to a robotic arm system, which includes a projection device and a robotic arm base. The method includes: establishing a reference coordinate system and a projection pattern coordinate system; adjusting the projection pattern coordinate system, and, with the reference coordinate system and the projection pattern coordinate system aligned, determining a first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determining an adjustment angle for the projection pattern coordinate system; obtaining a rigid attitude transformation relationship between the projection device and the robotic arm base, and determining a second attitude 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 attitude transformation relationship; and determining a target attitude transformation relationship between the base coordinate system and the reference coordinate system based on the first and second attitude transformation relationships, thereby achieving attitude calibration of the robotic arm base.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a method, apparatus, device, and storage medium for calibrating the attitude of a robotic arm base. Background Technology

[0002] In recent years, minimally invasive surgical robot systems have become one of the key development directions in the modern medical industry, as they can reduce the physical labor of doctors during surgery through interventional treatment, while achieving the goal of precise surgery, resulting in less trauma, less blood loss, less postoperative infection, and faster postoperative recovery for patients.

[0003] Currently, minimally invasive surgical robot systems typically have multiple arm systems, each carrying different surgical instruments. These arms work together to address various surgical needs, and early systems often used a layout where multiple arms shared a single base. With the development of minimally invasive surgery, surgeons desired systems with even more arms. However, this demand led to increasingly bulky systems with a single base, making them difficult to move and deploy easily in the operating room. Therefore, modular minimally invasive surgical robot systems have emerged. In a modular system, each arm has its own base, effectively reducing the size of the arm system and improving its flexibility and adaptability in the operating room.

[0004] The mainstream control mode of minimally invasive robotic systems is master-slave control. The positional relationship between the slave robot base and the master robot base, especially the attitude relationship, directly affects the effect of master-slave control. Therefore, how to obtain the attitude of the robotic arm base relative to the master robot base simply and accurately has become an important aspect of the successful application of split-type minimally invasive surgical robots. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for calibrating the attitude of a robotic arm base, so as to quickly and accurately calibrate the attitude of the robotic arm base.

[0006] According to one aspect of the present invention, a method for attitude calibration of a robotic arm base is provided, applied to a robotic arm system, the robotic arm system including a projection device and a robotic arm base, the projection device being used to project a projection pattern, the method comprising:

[0007] 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 in which the robotic arm system is located;

[0008] Adjust the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determine the adjustment angle of the projection pattern coordinate system;

[0009] Obtain the rigid attitude transformation relationship between the projection device and the robotic arm base, and determine the second attitude 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 attitude transformation relationship;

[0010] Based on the first attitude transformation relationship and the second attitude transformation relationship, the target attitude transformation relationship between the base coordinate system and the reference coordinate system is determined, and the attitude calibration of the robotic arm base is completed.

[0011] According to another aspect of the present invention, a posture calibration device for a robotic arm base is provided, applied to a robotic arm system, the robotic arm system including a projection device and a robotic arm base, the projection device being used to project a projection pattern, the device comprising:

[0012] A coordinate system establishment module is 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 in which the robotic arm system is located;

[0013] The projection pattern coordinate system adjustment module is used to adjust the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, to determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and to determine the adjustment angle of the projection pattern coordinate system.

[0014] The second attitude transformation relationship determination module is used to obtain the rigid attitude transformation relationship between the projection device and the robotic arm base, and to determine the second attitude 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 attitude transformation relationship.

[0015] The robotic 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, and to complete the posture calibration of the robotic 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 including a projection device and a control panel, the projection device including a fixed bracket, an adjustable projection lens and a position sensor, the control panel including projection pattern adjustment controls; and the robotic arm including 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, which enables the at least one processor to perform the attitude calibration method for the robotic arm base according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the attitude calibration method of the robotic arm base according to any embodiment of the present invention.

[0022] The technical solution of this invention is applied to a robotic arm system. The robotic arm system includes a projection device and a robotic arm base. The projection device projects a projection pattern. A reference coordinate system and a projection pattern coordinate system are established. The projection pattern coordinate system is adjusted, and with the reference coordinate system and the projection pattern coordinate system aligned, a first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system is determined, along with the adjustment angle of the projection pattern coordinate system. A rigid attitude transformation relationship between the projection device and the robotic arm base is obtained. Based on the adjustment angle and the rigid attitude transformation relationship, a second attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base is determined. Based on the first and second attitude transformation relationships, a target attitude transformation relationship between the base coordinate system and the reference coordinate system is determined, thus completing the attitude calibration of the robotic arm base. By installing a projection device on the robotic arm system and adjusting the projection pattern coordinate system, with the reference coordinate system and the projection pattern coordinate system aligned, and using the first attitude transformation relationship as an intermediate medium, the attitude calibration of the robotic arm base is achieved quickly and accurately.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a robotic arm system provided in an embodiment of the present invention;

[0026] Figure 2 This is a flowchart of a posture calibration method for a robotic arm base provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of coordinate system establishment in a posture calibration method for a robotic arm base provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the process of determining the target posture transformation relationship in a posture calibration method for a robotic arm base provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the posture calibration device for a robotic arm base provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0031] Figure descriptions: 1. Base, 11. Control panel, 12. Projection device, 2. Robotic arm, 21. Robotic arm base, 3. Operating table. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first attitude transformation relationship," "second attitude transformation relationship," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Figure 1 This is a schematic diagram of the structure of a robotic arm system provided in an embodiment of the present invention. Figure 1 As shown, the robotic arm system includes a base 1 and a robotic arm 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 projection pattern adjustment controls. The robotic arm 2 includes a robotic arm base 21. The base 1, as the foundation of the robotic arm system, can be freely pushed and provides stable parking. Before calibrating the robotic arm base, the robotic arm system needs to be parked near the operating table 3 to fix its spatial posture. The projection device 12 can project a projection pattern for calibration. Medical personnel can control the rotation of the projection pattern by operating the projection pattern adjustment controls on the control panel 11 to complete the posture calibration of the robotic arm base.

[0035] Figure 2 This is a flowchart of a posture calibration method for a robotic arm base provided in an embodiment of the present invention. This embodiment is applicable to the calibration of the base of a robotic arm system. The method can be executed by a posture calibration device for the robotic arm base, which can be implemented in hardware and / or software. This posture calibration device for the robotic arm base can be configured in the robot's controller. Figure 2 As shown, the method includes:

[0036] S110. 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.

[0037] The reference coordinate system is used to calibrate the posture of the robotic arm base. Specifically, the reference coordinate system can be established based on objects in the environment where the robotic arm system is located. For example, Figure 3 This is a schematic diagram illustrating the coordinate system establishment in a posture calibration method for a robotic arm base provided in an embodiment of the present invention. Figure 3 As shown, a reference coordinate system can be established based on the operating table. The method for establishing the reference coordinate system is as follows: the vector parallel to the long side of the operating table and pointing towards the patient's head is designated as X. S The axis, the vertically upward vector is Z. S Positive axis direction, Y S The axis satisfies the right-hand rule.

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

[0039] It should be noted that the coordinate system of the projected pattern changes with the orientation of the projected pattern.

[0040] S120. Adjust the projection pattern coordinate system. When the reference coordinate system and the projection pattern coordinate system are aligned, determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determine the adjustment angle of the projection pattern coordinate system.

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

[0042] The adjustment angle refers to the adjustment angle of the projected pattern coordinate system relative to its initial state when the reference coordinate system and the projected pattern coordinate system are aligned. In this embodiment, the projected pattern coordinate system can be adjusted using a projected pattern adjustment control. When the reference coordinate system and the projected pattern coordinate system are aligned, a first attitude transformation relationship between the reference coordinate system and the projected pattern coordinate system is determined, and the adjustment angle of the projected pattern coordinate system is determined. Alignment of the reference coordinate system and the projected pattern coordinate system refers to the attitude alignment of the reference coordinate system and the projected pattern coordinate system. For example, by adjusting the attitude of the projected pattern coordinate system, the X-axis of the reference coordinate system is aligned. S X of the projection pattern coordinate system T (At this point, the indicator vector of "T" is parallel to the long side of the operating table), therefore, when the reference coordinate system and the projected pattern coordinate system are aligned, the orientations of the reference coordinate system and the projected pattern coordinate system are the same, and thus, there exists... Among them, E 3×3 It is a 3×3 identity matrix.

[0043] Based on the above embodiments, optionally, the robotic arm system further includes a control panel, the control panel including a projection pattern adjustment control; adjusting the projection pattern coordinate system includes: adjusting the projection pattern in response to the adjustment operation of the projection pattern adjustment control, the projection pattern coordinate system changing with the adjustment of the projection pattern.

[0044] 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, medical staff adjust 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 adjusting the projection pattern can indirectly adjust the projection pattern coordinate system, and the orientation of the projection pattern coordinate system changes synchronously with the use of the projection pattern adjustment control.

[0045] Based on the above embodiments, optionally, the projection device includes a position sensor, which is used to collect position information of the projected 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 adjustment of the projected pattern, the position sensor of the projection device collects the position information of the projected pattern in real time. With the reference coordinate system and the projected pattern coordinate system aligned, the adjustment angle of the projected pattern is determined based on the initial position information and the current position information. The initial position information refers to the position information of the projected pattern before adjustment, and the current position information refers to the position information of the projected pattern when the reference coordinate system and the projected pattern coordinate system are aligned.

[0047] S130. Obtain the rigid posture transformation relationship between the projection device and the robotic arm base, and determine 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.

[0048] The rigid attitude transformation relationship refers to the attitude transformation relationship between the projection device and the robotic arm base. This means that the relative positions between the projection device and the robotic arm base are fixed; therefore, the rigid attitude transformation relationship is a fixed attitude change relationship. The second attitude transformation relationship refers to the attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base, which can be expressed as: Where J represents the base coordinate system of the robotic arm base. In this embodiment, by obtaining the rigid attitude transformation relationship between the projection device and the robotic arm base, the second attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base can be calculated based on the adjustment angle and the rigid attitude transformation relationship.

[0049] Based on the above embodiments, optionally, the projection device further includes a fixed bracket and an adjustable projection lens; the step of determining the second attitude 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 attitude transformation relationship includes: obtaining the initial attitude transformation relationship between the fixed bracket and the adjustable projection lens; determining the current attitude transformation relationship between the fixed bracket and the projection pattern coordinate system based on the initial attitude transformation relationship and the adjustment angle; and determining the second attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base based on the current attitude transformation relationship and the rigid attitude transformation relationship.

[0050] The initial attitude transformation relationship refers to the attitude transformation relationship between the fixed support and the adjustable projection lens before the projected pattern is adjusted. It can be understood that medical staff adjust the projected pattern by controlling the adjustable projection lens using the projection pattern adjustment controls; therefore, the initial attitude transformation relationship between the fixed support and the adjustable projection lens is the same as the initial attitude transformation relationship between the coordinate system of the fixed support and the projected pattern.

[0051] In this embodiment, the initial attitude transformation relationship between the fixed support and the adjustable projection lens is obtained. Based on the initial attitude transformation relationship and the adjustment angle, the current attitude transformation relationship between the fixed support and the projection pattern coordinate system is determined. The current attitude transformation relationship refers to the attitude transformation relationship between the fixed support and the projection pattern coordinate system when the reference coordinate system and the projection pattern coordinate system are aligned. Further, a second attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robotic arm base is determined based on the current attitude transformation relationship and the rigid attitude transformation relationship. It can be understood that, as... 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 robotic arm base is the same as the rigid posture transformation relationship between the fixed bracket of the projection device and the robotic arm base.

[0052] S140. Based on the first attitude transformation relationship and the second attitude transformation relationship, determine the target attitude transformation relationship between the base coordinate system and the reference coordinate system, and complete the attitude calibration of the robotic arm base.

[0053] In this embodiment, the target attitude transformation relationship between the base coordinate system and the reference coordinate system can be determined based on the first attitude transformation relationship and the second attitude transformation relationship. Therefore, the attitude of the robotic arm base in the reference coordinate system can be determined based on the target attitude transformation relationship, thus completing the attitude calibration of the robotic arm base. The target attitude transformation relationship refers to the attitude transformation relationship between the base coordinate system and the reference coordinate system. Specifically, the target attitude transformation relationship can be expressed as follows: Figure 4 This is a schematic diagram illustrating the process of determining the target attitude transformation relationship in an attitude calibration method for a robotic arm base provided in an embodiment of the present invention, as shown below. 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. The projection device projects a pattern. A reference coordinate system and a projection pattern coordinate system are established. The projection pattern coordinate system is adjusted, and with the reference coordinate system and the projection pattern coordinate system aligned, a first attitude transformation relationship is determined between them, along with the adjustment angle of the projection pattern coordinate system. A rigid attitude transformation relationship is obtained between the projection device and the robotic arm base. Based on the adjustment angle and the rigid attitude transformation relationship, a second attitude transformation relationship is determined between the projection pattern coordinate system and the base coordinate system of the robotic arm base. Based on the first and second attitude transformation relationships, a target attitude transformation relationship is determined between the base coordinate system and the reference coordinate system, thus completing the attitude calibration of the robotic arm base. By installing a projection device on the robotic arm system and adjusting the projection pattern coordinate system, with the reference coordinate system and the projection pattern coordinate system aligned, the attitude calibration of the robotic arm base is achieved quickly and accurately using the first attitude transformation relationship as an intermediary.

[0055] Figure 5 This is a schematic diagram of the posture calibration device for a robotic arm base provided in an embodiment of the present invention. Figure 5 As shown, this device is applied to a robotic arm system, which includes a projection device and a robotic arm base. The projection device is used to project a pattern and includes:

[0056] The coordinate system establishment module 420 is 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 in which the robotic arm system is located;

[0057] The projection pattern coordinate system adjustment module 420 is used to adjust the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, to determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and to determine the adjustment angle of the projection pattern coordinate system.

[0058] The second attitude transformation relationship determination module 430 is used to obtain the rigid attitude transformation relationship between the projection device and the robotic arm base, and to determine the second attitude 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 attitude transformation relationship.

[0059] The robotic 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, and to complete the posture calibration of the robotic 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. The projection device projects a pattern. A reference coordinate system and a projection pattern coordinate system are established. The projection pattern coordinate system is adjusted, and with the reference coordinate system and the projection pattern coordinate system aligned, a first attitude transformation relationship is determined between them, along with the adjustment angle of the projection pattern coordinate system. A rigid attitude transformation relationship is obtained between the projection device and the robotic arm base. Based on the adjustment angle and the rigid attitude transformation relationship, a second attitude transformation relationship is determined between the projection pattern coordinate system and the base coordinate system of the robotic arm base. Based on the first and second attitude transformation relationships, a target attitude transformation relationship is determined between the base coordinate system and the reference coordinate system, thus completing the attitude calibration of the robotic arm base. By installing a projection device on the robotic arm system and adjusting the projection pattern coordinate system, with the reference coordinate system and the projection pattern coordinate system aligned, the attitude calibration of the robotic arm base is achieved quickly and accurately using the first attitude transformation relationship as an intermediary.

[0061] Optionally, based on the above embodiments, the robotic arm system further 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 embodiments, optionally, when the reference coordinate system and the projected pattern coordinate system are aligned, the orientation of the reference coordinate system and the projected pattern coordinate system is the same.

[0063] Based on the above embodiments, optionally, the projection device includes a position sensor, which is used to collect position information of the projected 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 projected pattern when the reference coordinate system and the projection pattern coordinate system are aligned.

[0064] Based on the above embodiments, optionally, the projection device further 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, 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, and determine the 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.

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

[0066] The attitude calibration device for the robotic arm base provided in this embodiment of the invention can execute the attitude calibration method for the robotic arm base provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0067] Figure 6 This is a schematic diagram of the structure of an electronic device provided in 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 processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0072] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting 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 attitude calibration method of the robotic 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 the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer program causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0074] This invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a posture calibration method for a robotic arm base. This method is applied to a robotic arm system, which includes a projection device and a robotic arm base. The projection device projects a projection pattern, and the method includes:

[0075] Establish a reference coordinate system and a projection pattern coordinate system; wherein, the reference coordinate system is determined based on objects in the environment in which the robotic arm system is located;

[0076] Adjust the projection pattern coordinate system. With the reference coordinate system and the projection pattern coordinate system aligned, determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determine the adjustment angle of the projection pattern coordinate system.

[0077] Obtain the rigid attitude transformation relationship between the projection device and the robot arm base, and determine the second attitude transformation relationship between the projection pattern coordinate system and the base coordinate system of the robot arm base based on the adjustment angle and the rigid attitude transformation relationship;

[0078] Based on the first attitude transformation relationship and the second attitude transformation relationship, the target attitude transformation relationship between the base coordinate system and the reference coordinate system is determined, and the attitude calibration of the robot arm base is completed.

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

[0080] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0081] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0082] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0083] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0084] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for attitude calibration of a robotic arm base, characterized in that, Applied to a robotic arm system, the robotic arm system including a projection device and a robotic arm base, the projection device being used to project a projected pattern, the method comprising: 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 in which the robotic arm system is located; Adjust the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and determine the adjustment angle of the projection pattern coordinate system; Obtain the rigid attitude transformation relationship between the projection device and the robotic arm base, and determine the second attitude 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 attitude transformation relationship; Based on the first attitude transformation relationship and the second attitude transformation relationship, the target attitude transformation relationship between the base coordinate system and the reference coordinate system is determined, and the attitude calibration of the robotic arm base is completed. The projection device further includes a fixed bracket and an adjustable projection lens; the step of determining the second attitude 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 attitude transformation relationship includes: Obtain the initial attitude transformation relationship between the fixed bracket and the adjustable projection lens, and determine the current attitude transformation relationship between the fixed bracket and the projection pattern coordinate system based on the initial attitude transformation relationship and the adjustment angle; Based on the current attitude transformation relationship and the rigid attitude transformation relationship, a second attitude transformation relationship is determined between the projection pattern coordinate system and the base coordinate system of the robotic arm base.

2. The posture calibration method for the robotic arm base according to claim 1, characterized in that, The robotic arm system also includes a control panel, which includes projection pattern adjustment controls; adjusting the projection pattern coordinate system includes: In response to the adjustment operation of the projection pattern adjustment control, the projection pattern is adjusted, and the coordinate system of the projection pattern changes as the projection pattern is adjusted.

3. The posture calibration method for the robotic arm base according to claim 2, characterized in that, When the reference coordinate system and the projected pattern coordinate system are aligned, the orientations of the reference coordinate system and the projected pattern coordinate system are the same.

4. The posture calibration method for the robotic arm base according to claim 1 or 3, characterized in that, The projection device includes a position sensor, which is used to collect position information of the projected pattern in real time. Determining the adjustment angle of the coordinate system of the projected pattern includes: When the reference coordinate system and the projection pattern coordinate system are aligned, the adjustment angle of the projection pattern coordinate system is determined based on the initial position information and current position information of the projection pattern.

5. The posture calibration method for the robotic 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.

6. A posture calibration device for a robotic arm base, employing the posture calibration method for a robotic arm base as described in claim 1, characterized in that, Applied to a robotic arm system, the robotic arm system includes a projection device and a robotic arm base, the projection device being used to project a projected pattern, the device comprising: A coordinate system establishment module is 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 in which the robotic arm system is located; The projection pattern coordinate system adjustment module is used to adjust the projection pattern coordinate system, and when the reference coordinate system and the projection pattern coordinate system are aligned, to determine the first attitude transformation relationship between the reference coordinate system and the projection pattern coordinate system, and to determine the adjustment angle of the projection pattern coordinate system. The second attitude transformation relationship determination module is used to obtain the rigid attitude transformation relationship between the projection device and the robotic arm base, and to determine the second attitude 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 attitude transformation relationship. The robotic 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, and to complete the posture calibration of the robotic arm base.

7. A robotic arm system employing the attitude calibration method for a robotic arm base as described in claim 1, characterized in that, include: The system includes a base and a robotic arm. 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. The control panel includes projection pattern adjustment controls. The robotic arm includes a robotic arm base.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the attitude calibration method of the robotic arm base according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the attitude calibration method for the robotic arm base as described in any one of claims 1-5.

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