Positioning method and positioning system of robot tail end guiding device

Abstract

The invention discloses a positioning method and a positioning system of a robot tail end guiding device. The method comprises the following steps: acquiring a pose matrix BaseTcal of at least one positioning ball in a plurality of positioning balls in a first coordinate system; acquiring a pose matrix NDITcal of the positioning ball under the second coordinate system by adopting visual navigation equipment; according to the pose matrix BaseTcal and the pose matrix NDITcal, a conversion relation matrix BaseTNDI of the first coordinate system and the second coordinate system is calculated; obtaining a target pose matrix NDITtarget of the puncture needle under the second coordinate system; according to the conversion relation matrix BaseTNDI and the target position matrix NDITtarget, a target position matrix BaseTtarget of the puncture needle in the first coordinate system is calculated; according to the target pose matrix BaseTtarget, the target joint angle of the robot is solved through kinematics; the robot is controlled to act based on the target joint angle, and the puncture needle reaches the target pose. According to the invention, the technical effect of accurately positioning and controlling the tail end guiding device of the robot by combining visual positioning, coordinate change and kinematics control is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a positioning method and a positioning system for a robot end guide device. Background Art

[0002] The vision-based puncture robot positioning control is based on the known needle entry point and target point given by image registration. Under the guidance of the visual sensor, the terminal puncture needle of the miniaturized parallel puncture robot is controlled to reach the accurate position and posture. When the puncture needle punctures downward along the sleeve, it passes through the needle entry point to reach the target point.

[0003] However, in motion control, it is difficult in related technologies to accurately plan the movement of the puncture robot based on visual sensors, which makes motion control more difficult. Summary of the invention

[0004] The main purpose of the present invention is to provide a positioning method and a positioning system for a robot end guide device, so as to solve the problem in the related art that it is difficult to accurately plan the movement mode of the puncture robot according to the visual sensor, resulting in more difficult motion control.

[0005] In order to achieve the above-mentioned object, the present invention provides a positioning method for a robot end guide device, wherein a positioning ball for visual positioning is provided on the end guide device;

[0006] The positioning method comprises:

[0007] Obtaining a position matrix of at least one of the plurality of positioning balls in the first coordinate system Base T cal , the first coordinate system is the robot base coordinate system;

[0008] Using a visual navigation device to obtain the position matrix of the positioning ball in the second coordinate system NDI T cal , the second coordinate system is a visual navigation device coordinate system;

[0009] According to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI ;

[0010] Get the target pose matrix of the puncture needle in the second coordinate system NDI T target ;

[0011] According to the conversion relationship matrix Base TNDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target ;

[0012] According to the target pose matrix Base T target , the target joint angles of the robot are calculated by kinematics;

[0013] The robot movement is controlled based on the target joint angle so that the puncture needle reaches the target position.

[0014] Further, obtaining a position matrix of at least one of the plurality of positioning balls in the first coordinate system Base T cal ,include:

[0015] Obtaining a pose matrix of at least one of the plurality of positioning balls in a third coordinate system TCP T cal , the third coordinate system is the robot terminal TCP coordinate system;

[0016] Get the position matrix of the robot end TCP in the first coordinate system Base T TCP ;

[0017] According to the pose matrix TCP T cal and the pose matrix Base T TCP , calculate the position matrix of the positioning ball in the first coordinate system Base T cal .

[0018] Further, obtaining a pose matrix of at least one of the plurality of positioning balls in a third coordinate system TCP T cal ,include:

[0019] Determine the center position coordinates of the center of the positioning ball in a third coordinate system according to the geometric relationship between the positioning ball and the TCP of the robot end;

[0020] Establish a pose matrix based on the spherical center position coordinates TCP T cal .

[0021] Furthermore, the pose matrix of the robot end TCP in the first coordinate system is obtained. Base T TCP ,include:

[0022] Control the robot to move to any position;

[0023] Get the robot's current motion joint angle;

[0024] According to the motion joint angle, the pose matrix of the robot end TCP in the first coordinate system is calculated by kinematics. Base T TCP .

[0025] Furthermore, according to the pose matrix TCP T cal and the pose matrix Base T TCP , calculate the position matrix of the positioning ball in the first coordinate system Base T cal In the pose matrix Base T cal Calculated by the following formula:

[0026] Base T cal = Base T TCP * TCP T cal

[0027] Furthermore, according to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI In the transformation relationship matrix Base T NDI Calculated by the following formula:

[0028] Base T NDI = Base T cal *( NDI T cal ) -1

[0029] Further, according to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target In the figure, the target pose matrix Base T target Calculated by the following formula:

[0030] Base T target =Base T NDI * NDI T target

[0031] Further, the target position matrix of the puncture needle in the second coordinate system is obtained NDI T target ,include:

[0032] Select the target puncture posture according to the medical image;

[0033] The target puncture posture is calculated and registered to the second coordinate system to obtain the target posture matrix in the second coordinate system. NDI T target .

[0034] According to another aspect of the present invention, there is provided a positioning system for a robot end guide device, comprising:

[0035] A robot, wherein a terminal guide device is provided at the terminal end of the robot, and a positioning ball for visual positioning and a puncture needle fixing member for installing a puncture needle are provided on the terminal guide device;

[0036] A visual navigation device, wherein the visual navigation device is fixed relative to a base of the robot;

[0037] A positioning processor, the positioning processor is connected to the robot and the visual navigation device;

[0038] The positioning processor is configured to execute the above positioning method.

[0039] Furthermore, at least four positioning balls are provided, the centers of the positioning balls are located on the same plane, and the distances between the centers of any two positioning balls are not equal and are not less than 5 cm.

[0040] In the embodiment of the present invention, the position matrix of at least one positioning ball among the plurality of positioning balls in the first coordinate system is obtained. Base T cal , the first coordinate system is the robot base coordinate system; the visual navigation device is used to obtain the position matrix of the positioning ball in the second coordinate system NDI T cal , the second coordinate system is the visual navigation device coordinate system; according to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI ; Get the target position matrix of the puncture needle in the second coordinate system NDI T target; According to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target ; According to the target pose matrix Base T target , the target joint angle of the robot is solved by kinematics; the robot movement is controlled based on the target joint angle, so that the puncture needle reaches the target posture, and the position of the positioning ball in the two coordinate systems is first determined according to vision and kinematics to determine the conversion relationship between the two coordinate systems. After determining the target puncture point, the target posture of the puncture needle is obtained according to the conversion, and then the motion planning and control of the puncture robot is performed according to kinematics, so that the puncture needle can accurately reach the target posture, thereby achieving the technical effect of combining visual positioning, coordinate change and kinematic control to accurately position and control the robot end guide device, thereby solving the problem in related technologies that it is difficult to accurately plan the movement mode of the puncture robot according to the visual sensor, resulting in difficult motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and advantages of the present invention become more obvious. The accompanying drawings of the exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 4 is a flow chart of a positioning method for a robot end guide device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] 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.

[0044] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] To solve relevant technical problems, such as Figure 1As shown, an embodiment of the present invention provides a positioning method for a robot terminal guide device, wherein a positioning ball for visual positioning is provided on the terminal guide device, and the positioning ball can be provided in multiple numbers. The distribution position of the positioning ball needs not to be blocked by the puncture needle installed on the guide device, and the positioning ball should be firmly installed on the robot terminal guide device to ensure that its position is accurate and repeatable during the mechanical design and manufacturing process. Each positioning ball can be distinguished by a unique identifier (such as color, shape, coding, etc.) so as to be accurately identified in the image or video of the visual navigation device so that the visual navigation device can clearly capture the spatial position of the positioning ball.

[0046] The positioning method comprises:

[0047] S100: Obtaining a position matrix of at least one of the plurality of positioning balls in the first coordinate system Base T cal , the first coordinate system is the robot base coordinate system;

[0048] In a specific embodiment, the end guide device is fixedly installed at the end of the robot, and a plurality of positioning balls and puncture needles are installed on the end guide device. The first coordinate system is the robot base coordinate system, which is the reference coordinate system of the robot and is usually fixedly connected to the base of the robot. All position and posture measurements of the robot are performed relative to this coordinate system.

[0049] After the end guide device is installed and fixed, the spatial position of the positioning ball in the robot base coordinate system can be obtained through kinematic solution according to the current joint angle, so the position matrix of the positioning ball in the first coordinate system can be determined Base T cal , the pose matrix Base T cal The three-dimensional spatial position and posture of the positioning ball in the first coordinate system can be represented. Since the positioning ball is fixed on the end guide device, the posture of the positioning ball corresponds to the posture of the end guide device.

[0050] S200, using a visual navigation device to obtain a position matrix of the positioning ball in a second coordinate system NDI T cal , the second coordinate system is a visual navigation device coordinate system;

[0051] In a specific implementation, the visual navigation device is a device fixed relative to the robot, and the visual navigation device includes a device capable of capturing the position of the positioning ball in a visual manner, such as a monocular camera, a binocular camera, or a depth camera. When the end guide device equipped with the positioning ball is fixedly installed at the end of the robot, the three-dimensional spatial position and posture of the positioning ball in the current end state can be obtained through the visual navigation device, thereby obtaining the position and posture matrix of the positioning ball in the second coordinate system NDI T cal .

[0052] In one embodiment, a method for obtaining a position matrix of a positioning ball using a visual navigation device includes:

[0053] 1. Image capture: Use the visual navigation device to capture the scene image including the positioning ball.

[0054] 2. Image processing: Preprocess the captured images, such as denoising, contrast enhancement, etc., to improve the accuracy of subsequent feature extraction.

[0055] Identifying and extracting feature points of the positioning ball can be achieved through edge detection, circle detection and other algorithms, especially when the positioning ball is a clearly defined circular object.

[0056] 3. Feature matching and 3D reconstruction: If a monocular camera is used, the 3D position of the positioning ball needs to be reconstructed by combining the known radius of the sphere and images from multiple perspectives. For a binocular camera or a depth camera, the 3D coordinates of the positioning ball can be directly calculated using parallax or depth information.

[0057] 4. Pose estimation: Based on the extracted 3D coordinates and the known sphere radius (if available), the pose (position and attitude) of the positioning sphere relative to the visual navigation device coordinate system can be calculated. The pose is usually represented by a 4x4 homogeneous transformation matrix (pose matrix), which contains rotation and translation components. The rotation part can be represented by a rotation matrix, Euler angles or quaternions, while the translation part is the position vector in 3D space.

[0058] S300, according to the posture matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI ;

[0059] In a specific implementation, when obtaining the current end state, the position matrix of the positioning ball in the first coordinate system (robot base coordinate system) is Base T cal And the pose matrix in the second coordinate system (visual navigation device coordinate system)NDI T cal After that, the transformation relationship between the first coordinate system and the second coordinate system can be obtained based on this calculation. In this embodiment, the transformation relationship matrix Base T NDI After the transformation relationship matrix is ​​determined, the position and posture of the positioning ball in the first coordinate system can be transformed into the position and posture in the second coordinate system, and the position and posture of the positioning ball in the second coordinate system can also be transformed into the position and posture in the first coordinate system.

[0060] S400: Obtaining the target position matrix of the puncture needle in the second coordinate system NDI T target ;

[0061] During the puncture operation, the doctor needs to select the puncture point with the help of medical images. The medical image can be an ultrasound image or a CT image. The selected puncture point includes the needle entry point and the target point. The target position matrix of the puncture needle is obtained by calculating and registering the selected puncture point to the second coordinate system. NDI T target .

[0062] S500: According to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target ;

[0063] In a specific embodiment, the target position matrix of the puncture needle at the second coordinate is determined NDI T target And the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI , the target position matrix of the puncture needle in the first coordinate system can be calculated Base T target .

[0064] S600, according to the target posture matrix Base T target , the target joint angles of the robot are calculated by kinematics;

[0065] In a specific embodiment, when determining the target position matrix of the puncture needle in the first coordinate system Base T target , the inverse kinematics method can be used to solve the motion angle information of each joint of the robot when the puncture needle reaches the target posture, and use it as the target joint angle. It should be noted that the inverse kinematics solution method used is different according to different puncture robot structures, and the present invention will not elaborate on it here.

[0066] S700: Control the robot movement based on the target joint angle to make the puncture needle reach the target posture.

[0067] The present invention achieves the goal of first determining the position of the positioning ball in the two coordinate systems based on vision and kinematics to determine the conversion relationship between the two coordinate systems. After determining the target puncture point, the target position of the puncture needle is obtained according to the conversion, and then the motion of the puncture robot is planned and controlled according to kinematics, so that the puncture needle can accurately reach the target position, thereby achieving the technical effect of combining visual positioning, coordinate change and kinematic control to accurately position and control the robot's end guide device, thereby solving the problem in the related art that it is difficult to accurately plan the movement mode of the puncture robot according to the visual sensor, resulting in more difficult motion control.

[0068] In one embodiment, a position matrix of at least one of the plurality of positioning balls in the first coordinate system is obtained. Base T cal ,include:

[0069] Obtaining a pose matrix of at least one of the plurality of positioning balls in a third coordinate system TCP T cal , the third coordinate system is the robot terminal TCP coordinate system;

[0070] Get the position matrix of the robot end TCP in the first coordinate system Base T TCP ;

[0071] According to the pose matrix TCP T cal and the pose matrix Base T TCP , calculate the position matrix of the positioning ball in the first coordinate system Base T cal .

[0072] In a specific implementation, since the puncture robot has multiple motion joints, in order to obtain the position matrix of the positioning ball in the first coordinate system, in this embodiment, the position matrix of the positioning ball in the third coordinate system is first obtained. TCP T cal , the third coordinate system is the robot terminal TCP coordinate system.

[0073] In this embodiment, TCP is the center point of the puncture needle fixture on which the puncture needle is installed on the terminal guide device. In order to obtain the position of the positioning ball in the third coordinate system, a small ball coordinate system can be established first. The center of one of the positioning balls can be used as the origin ball, and the line connecting the origin ball and any other positioning balls can be used as any Cartesian coordinate axis. The normal of the plane where the multiple positioning balls are located is another coordinate axis, and the right-hand rule is used to determine the third coordinate axis.

[0074] For example: the origin ball points to the positioning ball that is horizontally parallel to it as the positive direction of the y-axis, and the normal direction of the plane where the multiple positioning balls are located is outward as the positive direction of the x-axis.

[0075] The pose of the origin ball in the third coordinate system can be determined according to the geometric relationship between the positioning ball and the robot end TCP, and the center position coordinates of the origin ball in the third coordinate system are determined. TCP T cal .

[0076] For example, when the robot is in the initial state, the positive z-axis of the third coordinate system is vertically upward, and the positive x-axis is in the direction of the end moving forward. The coordinates of the center of the origin ball are marked as (t x ,t y ,t z ), the posture is the same as that of the third coordinate system, then the ball coordinate system in the third coordinate system is expressed as the posture matrix:

[0077]

[0078] Then obtain the pose matrix of the robot end TCP in the first coordinate system Base T TCP Specifically, the position matrix of the robot terminal TCP in the first coordinate system can be obtained by obtaining the motion data of each joint in the current state of the robot and using the forward kinematics solution method. Base T TCP In another embodiment, a motion command can be sent to the robot to control the robot to move to any position, and the angles of each motion joint of the robot at the current position are obtained. The position matrix of the robot terminal TCP in the first coordinate system is obtained by using the forward kinematics solution method according to the motion joint angles. Base T TCP .

[0079] Finally, according to the position matrix of the positioning ball under the TCP at the end of the robot TCP T cal And the pose matrix of the robot end TCP in the first coordinate system Base T TCP The position matrix of the positioning ball in the first coordinate system can be calculated Base Tcal .

[0080] Specifically, according to the pose matrix TCP T cal and the pose matrix Base T TCP , the position matrix of the positioning ball in the first coordinate system is calculated by the following formula: Base T cal :

[0081] Base T cal = Base T TCP * TCP T cal

[0082] Furthermore, according to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI In the transformation relationship matrix Base T NDI Calculated by the following formula:

[0083] Base T NDI = Base T cal *( NDI T cal ) -1

[0084] Further, according to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target In the figure, the target pose matrix Base T target Calculated by the following formula:

[0085] Base T target = Base T NDI * NDI T target

[0086] Further, the target position matrix of the puncture needle in the second coordinate system is obtained NDI T target ,include:

[0087] Select the target puncture posture according to the medical image;

[0088] The target puncture posture is calculated and registered to the second coordinate system to obtain the target posture matrix in the second coordinate system. NDI T target .

[0089] In a specific implementation, the doctor determines the target puncture point by viewing the patient's medical image (such as CT, MRI or ultrasound image), and assumes that the coordinate system of the medical image device itself is the fourth coordinate system. The target puncture point is usually the lesion area or the precise location where sampling / treatment is required. On the image, the doctor will use an interactive tool (such as a mouse or touch screen) to mark this point and generate one or more two-dimensional or three-dimensional coordinates, which represent the position of the target puncture point in the fourth coordinate system, and use these positions to calculate the target position matrix of the puncture needle in the fourth coordinate system. CT T target Since the positions of the medical imaging device and the visual navigation device remain relatively unchanged, the transformation relationship matrix between the second coordinate system and the fourth coordinate system can be determined. Specifically, the transformation relationship matrix between the second coordinate system and the fourth coordinate system is given by NDI T CT express.

[0090] By converting the relationship matrix NDI T CT , the target position matrix of the puncture needle in the fourth coordinate system is obtained by the following formula: CT T target Transform from the fourth coordinate system to the second coordinate system to obtain the target pose matrix in the second coordinate system NDI T target .

[0091] NDI T target = NDI T CT * CT T target

[0092] According to another aspect of the present invention, there is provided a positioning system for a robot end guide device, comprising:

[0093] A robot, wherein a terminal guide device is provided at the terminal end of the robot, and a positioning ball for visual positioning and a puncture needle fixing member for installing a puncture needle are provided on the terminal guide device;

[0094] A visual navigation device, wherein the visual navigation device is fixed relative to a base of the robot;

[0095] A positioning processor, the positioning processor is connected to the robot and the visual navigation device;

[0096] The positioning processor is configured to execute the above positioning method.

[0097] Furthermore, at least four positioning balls are provided, the centers of the positioning balls are located on the same plane, and the distances between the centers of any two positioning balls are not equal and are not less than 5 cm, so that the line connecting the centers of the positioning balls forms an irregular quadrilateral. The puncture needle fixing member can be a puncture needle fixing sleeve, and the puncture needle installed in the puncture needle fixing sleeve should not block the positioning ball. For example, the installed puncture needle can be parallel to the plane where the center of the positioning ball is located, and parallel to the z-axis of the robot TCP coordinate system.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Within the spirit and principle of the present invention, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the present invention.

Claims

1. A positioning method for a robot end guide device, characterized in that: The end guide device is provided with a positioning ball for visual positioning; The positioning method comprises: Obtaining a position matrix of at least one of the plurality of positioning balls in the first coordinate system Base T cal , the first coordinate system is the robot base coordinate system; Using a visual navigation device to obtain the position matrix of the positioning ball in the second coordinate system NDI T cal , the second coordinate system is a visual navigation device coordinate system; According to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI ; Get the target pose matrix of the puncture needle in the second coordinate system NDI T target ; According to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target ; According to the target pose matrix Base T target , the target joint angles of the robot are calculated by kinematics; The robot movement is controlled based on the target joint angle so that the puncture needle reaches the target position.

2. The positioning method according to claim 1, characterized in that: Obtaining a position matrix of at least one of the plurality of positioning balls in the first coordinate system Base T cal ,include: Obtaining a pose matrix of at least one of the plurality of positioning balls in a third coordinate system TCP T cal , the third coordinate system is the robot terminal TCP coordinate system; Get the position matrix of the robot end TCP in the first coordinate system Base T TCP ; According to the pose matrix TCP T cal and the pose matrix Base T TCP , calculate the position matrix of the positioning ball in the first coordinate system Base T cal .

3. The positioning method according to claim 2, characterized in that: Obtaining a pose matrix of at least one of the plurality of positioning balls in a third coordinate system TCP T cal ,include: Determine the center position coordinates of the center of the positioning ball in a third coordinate system according to the geometric relationship between the positioning ball and the TCP of the robot end; Establish a pose matrix based on the spherical center position coordinates TCP T cal .

4. The positioning method according to claim 2, characterized in that: Get the pose matrix of the robot end TCP in the first coordinate system Base T TCP ,include: Control the robot to move to any position; Get the robot's current motion joint angle; According to the motion joint angle, the pose matrix of the robot end TCP in the first coordinate system is calculated by kinematics. Base T TCP .

5. The positioning method according to claim 1, characterized in that: According to the pose matrix TCP T cal and the pose matrix Base T TCP , calculate the position matrix of the positioning ball in the first coordinate system Base T cal In the pose matrix Base T cal Calculated by the following formula: Base T cal = Base T TCP * TCP T cal 6. The positioning method according to claim 1, characterized in that: According to the pose matrix Base T cal and the pose matrix NDI T cal , calculate the transformation relationship matrix between the first coordinate system and the second coordinate system Base T NDI In the transformation relationship matrix Base T NDI Calculated by the following formula: Base T NDI = Base T cal *( NDI T cal ) -1 7. The positioning method according to claim 1, characterized in that: According to the conversion relationship matrix Base T NDI and the target pose matrix NDI T target , calculate the target pose matrix of the puncture needle in the first coordinate system Base T target In the figure, the target pose matrix Base T target Calculated by the following formula: Base T target = Base T NDI * NDI T target 8. The positioning method according to claim 1, characterized in that: Get the target position matrix of the puncture needle in the second coordinate system NDI T target ,include: Select the target puncture posture according to the medical image; The target puncture posture is calculated and registered to the second coordinate system to obtain the target posture matrix in the second coordinate system. NDI T target .

9. A positioning system for a robot end guide device, characterized in that: include: A robot, wherein a terminal guide device is provided at the terminal end of the robot, and a positioning ball for visual positioning and a puncture needle fixing member for installing a puncture needle are provided on the terminal guide device; A visual navigation device, wherein the visual navigation device is fixed relative to a base of the robot; A positioning processor, the positioning processor is connected to the robot and the visual navigation device; The positioning processor is configured to execute the positioning method according to any one of claims 1 to 8.

10. The positioning system according to claim 9, characterized in that: The number of the positioning balls is at least four, the centers of the positioning balls are located on the same plane, and the distances between the centers of any two positioning balls are not equal and are not less than 5 cm.

Images