Mechanical arm automatic registration method, tool automatic calibration method and robot system

Abstract

The invention relates to a mechanical arm automatic registration method, a tool automatic calibration method and a robot system. The automatic registration method for the mechanical arm comprises the steps that in response to a registration calibration instruction given by an operation main body, the mechanical arm automatically moves to enable a target registration point to move to a preset number of first poses from an initial pose; wherein the initial pose and the first pose are poses of the target registration point relative to the mechanical arm base; and when the target registration point reaches a first pose, acquiring and recording a second pose, corresponding to the first pose, of the first tracing module relative to the optical navigation equipment so as to complete registration. According to the embodiment of the invention, automatic registration can be realized, random interference caused by human factors is eliminated, and the registration precision can also be improved.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to an automatic registration method for a robotic arm, an automatic calibration method for a tool, and a robot system. Background Art

[0002] The surgical robot system can navigate and observe the position of surgical tools in real time during the operation, and according to the preoperative plan, the surgical robot system's robotic arms can be used to manipulate surgical tools to assist the operator in completing the operation.

[0003] There are many types of surgical tools at present. Every time the surgical tool connected to the robotic arm is switched, it needs to be recalibrated. However, the tool calibration of the traditional surgical robot system requires special tools to manually calibrate the position and posture separately. The process is cumbersome and has a large number of human influence factors. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a robot arm automatic alignment method, a tool automatic calibration method, a robot arm automatic alignment device, a tool automatic calibration device, an electronic device, a storage medium and a robot system to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides a method for automatic registration of a robot arm, the method comprising: In response to the registration and calibration instruction given by the operator, the robot arm automatically moves so that the target registration point moves from the starting position to the first position of a preset number; wherein the starting position and the first position are both the positions of the target registration point relative to the robot arm base; Each time the target registration point reaches a first posture, the second posture of the first tracking module relative to the optical navigation device corresponding to the first posture is acquired and recorded to complete the registration.

[0006] In combination with the first aspect, in an optional implementation, the robotic arm automatically moves so that the target registration point moves from a starting position to a preset number of first positions, including: Acquire the starting position of the target registration point relative to the robot arm base, and acquire and record the initial calibration position of the first tracing module relative to the optical navigation device when the target registration point is at the starting position; wherein the first tracing module is used to indicate the position of the first preset tracing position; Acquire a first posture of a preset number of the target registration points relative to the robot arm base; wherein the first posture is the posture that the target registration points are to achieve during the registration process.

[0007] In combination with the first aspect, in an optional implementation, the position of the target registration point includes at least one of the following: At the end of the robotic arm; On the flange connected to the end of the robot arm; At the center of the first tracer module; wherein the first tracer module is mounted on the flange.

[0008] In a second aspect, an embodiment of the present application provides a tool automatic calibration method, the tool automatic calibration method comprising: In response to the alignment and calibration instructions given by the operating subject, in the process of completing the alignment using the robotic arm automatic alignment method as described in the first aspect, the calibration of the execution tool is completed based on the calibration equation; wherein the calibration equation is determined based on the equivalence relationship between at least two posture transformation relationships.

[0009] In conjunction with the second aspect, in an optional implementation manner, completing the calibration of the execution tool based on the calibration equation includes: Determine a calibration equation based on an equivalence relationship between at least two posture conversion relationships; wherein the at least two posture conversion relationships include a first calibration posture of a first tracing module relative to a target registration point; and the first tracing module is used to indicate a posture of a first preset tracing position; In the automatic registration process, obtaining a first real-time position of the target registration point at each of the at least six mobile space positions relative to the robot arm base, and a second real-time position of the first tracing module relative to the optical navigation device; Based on at least six of the first real-time postures and at least six of the second real-time postures, simplifying the calibration equation by linear transformation, and solving to obtain a first calibration posture of the first tracing module relative to the target registration point; Acquire a second calibration posture of the second tracing module relative to the first tracing module, and determine a third calibration posture of the execution tool relative to the target alignment point according to the first calibration posture, the second calibration posture and the offset of the execution tool relative to the second tracing module; wherein the second tracing module is used to indicate the posture of the second preset tracing position.

[0010] In conjunction with the second aspect, in an optional implementation manner, determining the calibration equation based on the equivalent relationship between at least two posture transformation relationships includes: Based on the first pose conversion relationship and the second pose conversion relationship, a calibration equation is determined; The first posture conversion relationship is used to convert the posture of the first tracer module relative to the robot arm base according to at least the posture of the flange relative to the robot arm base and the first calibration posture of the first tracer module relative to the flange to obtain the posture of the first tracer module relative to the robot arm base; The second posture conversion relationship is used to convert the posture of the first tracing module relative to the robot arm base according to at least the posture of the optical navigation device relative to the robot arm base and the posture of the first tracing module relative to the optical navigation device.

[0011] In conjunction with the second aspect, in an optional implementation manner, the calibration equation is: T_base_falan i ×T_falan_calib=T_base_cam×T_cam_calib i ; Among them, T_base_falan i represents the i-th first real-time pose of the flange relative to the base of the manipulator at the i-th mobile space position, T_falan_calib represents the first calibration pose of the first tracer module relative to the flange, T_base_cam represents the pose of the optical navigation device relative to the base of the manipulator, and T_cam_calib i It represents the i-th second real-time position of the first tracking module at the i-th mobile space position relative to the optical navigation device, where i is a natural number greater than or equal to 6.

[0012] In combination with the second aspect, in an optional implementation, determining a third calibration pose of the execution tool relative to the target registration point according to the first calibration pose, the second calibration pose, and an offset of the execution tool relative to the second tracing module includes: Determine a translation operator of the execution tool according to a second marking posture of the second tracing module relative to the first tracing module and an offset of the execution tool relative to the second tracing module; The first calibration pose is right-multiplied by the execution tool translation operator to obtain the third calibration pose.

[0013] In a third aspect, an embodiment of the present application provides a robotic arm automatic registration device, the robotic arm automatic registration device comprising: A first response module, configured to respond to a registration and calibration instruction given by an operating subject, and automatically move the robotic arm so that the target registration point moves from a starting position to a first position of a preset number; wherein the starting position and the first position are both positions of the target registration point relative to a robotic arm base; The registration module is used for acquiring and recording the second posture of the first tracking module relative to the optical navigation device corresponding to the first posture each time the target registration point reaches the first posture, so as to complete the registration.

[0014] In a fourth aspect, an embodiment of the present application provides a tool automatic calibration device, the tool automatic calibration device comprising: A response and calibration module is used to respond to the alignment and calibration instructions given by the operating subject, and complete the calibration of the execution tool based on the calibration equation during the alignment process using the automatic alignment method of the robotic arm as described in the first aspect; wherein the calibration equation is determined based on the equivalence relationship between at least two posture transformation relationships.

[0015] In a fifth aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a memory storing instructions; and A processor is configured to execute the instructions to implement at least one of the following: the automatic registration method of the robot arm as described in the first aspect; the automatic calibration method of the tool as described in the second aspect.

[0016] In a sixth aspect, an embodiment of the present application provides a storage medium having an executable program stored thereon, and when the executable program is executed by a processor, at least one of the following is implemented: the automatic alignment method of the robot arm as described in the first aspect; the automatic calibration method of the tool as described in the second aspect.

[0017] In a seventh aspect, an embodiment of the present application provides a robot system, the robot system comprising a robot arm, a flange, a power tool, a standard tooling, an optical navigation device, a first tracing module, a second tracing module, and a processor; The mechanical arm is used to control the movement of the power tool and the standard tooling; The flange is mounted at the end of the mechanical arm and is used to connect the mechanical arm and the power tool; The power tool is used to control the translation of the standard tool; The standard tool is installed at the end of the power tool and is used as or for loading an execution tool; The first tracing module is installed on the power tool and is used to indicate the position and posture of the power tool; The second tracing module is installed on the standard tooling and is used to indicate the position and posture of the standard tooling; The optical navigation device is used to measure the positions and postures of the first tracing module and the second tracing module; The processor is used to implement at least one of the following: the automatic alignment method of the robot arm as described in the first aspect; the automatic calibration method of the tool as described in the second aspect.

[0018] The beneficial effects of the technical solution provided by the embodiment of the present application include: by acquiring and recording the second posture of the first tracer module relative to the optical navigation device each time the target registration point reaches a first posture, registration based on the posture of the first tracer module is achieved, thereby ensuring that tracking will not be lost due to posture rotation during the registration movement, the first tracer module can always remain in the field of view of the optical navigation device, and the registration accuracy is improved. In addition, the registration process is completed, automatic registration can be achieved, random interference caused by human factors is eliminated, and the registration accuracy can also be improved.

[0019] Additional aspects of the embodiments of the present application and advantages of other embodiments will be partially given in the description below and partially become apparent from the description below or learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of a specific example of a robot system in an embodiment of the present application; Figure 2 A flowchart of a specific example of a robot arm registration method in an embodiment of the present application; Figure 3 A schematic diagram of a specific example of a coordinate system in an embodiment of the present application; Figure 4 A flowchart of a specific example of a tool calibration method in an embodiment of the present application; Figure 5 A schematic diagram of a principle block diagram of a specific example of a robotic arm registration device in an embodiment of the present application; Figure 6 A schematic diagram of a principle block diagram of a specific example of a tool calibration device in an embodiment of the present application; Figure 7 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0022] The embodiments of the present application are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present application. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, in a certain embodiment, the solution after removing some steps can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementations in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementations of other embodiments.

[0023] In each embodiment of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0024] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0025] In the embodiments of the present application, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0026] In the embodiments of the present application, "plurality" refers to two or more.

[0027] In some embodiments, the terms “at least one”, “one or more”, “a plurality of”, “multiple”, etc. can be used interchangeably.

[0028] The prefixes such as "first" and "second" in the embodiments of the present application are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute unnecessary restrictions due to the use of prefixes. For example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Take "first device" as an example, where the numerical value of "device" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different.

[0029] In some embodiments, the term "connection" may indicate that an electrical signal or data is transmitted between a connected end and a connected end, and may be understood as "electrical connection", "communication connection", etc. "Connection" may be a direct connection between two components, an indirect connection established through other components, internal communication between two components, or any other possible connection form.

[0030] This specification provides method operation steps such as embodiments or flow charts, but more or fewer operation steps may be included based on conventional or non-creative work. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual device, system or server product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0031] Figure 1 The schematic diagram of the structure of a specific example of the robot system in the embodiment of the present application is shown. The robot system can be applied in surgical scenarios, and can also be used in other scenarios, such as industrial production lines, laboratories, etc. As shown in the figure, the robot system may include a robot arm 1, a flange 2, a power tool 3, a standard tool 4, an optical navigation device 5, a first tracer module 6 and a second tracer module 7; Among them, the robot arm 1 can be used to control the power tool 3 and the standard tool 4 to move with more than 6 degrees of freedom; The flange 2 can be installed at the end of the robot arm 1 to connect the robot arm 1 and the power tool 3; The power tool 3 can be used to control the translation of the standard tool 4; The standard tool 4 can be installed at the end of the power tool 3 to serve as or load an execution tool to operate the target object; The first tracing module 6 may be mounted on the power tool 3 to indicate the position and posture of the power tool 3; The second tracing module 7 can be installed on the standard tooling 4 to indicate the position and posture of the standard tooling 4; The optical navigation device 5 can be used to measure the positions and postures of the first tracing module 6 and the second tracing module 7 to obtain the positions and postures of the power tool 3 and the standard tool 4 .

[0032] In the embodiments of the present application, the flange may be referred to by different names, such as flange plate, detachable connector, etc., and the name is not limited here.

[0033] In some possible implementations, the power tool 3 connected to the flange 2 can be switched, and different power tools can be loaded on the flange 2 .

[0034] In the embodiments of the present application, the standard tooling may be referred to by different names, such as standard tooling, standard tools, etc., and the names are not limited here.

[0035] For example, the standard tooling may be a connector that can be loaded with any execution tool. By calibrating the standard tooling and obtaining the offset of any execution tool relative to the standard tooling, any execution tool can be quickly calibrated. Alternatively, the standard tooling may be a certain execution tool (specific execution tool) as the standard tooling. By calibrating the specific execution tool and obtaining the offset of any execution tool relative to the specific execution tool, any execution tool can also be quickly calibrated.

[0036] In some possible implementations, the execution tool may include at least one of the following: a wide swing saw (saw_W16); a narrow swing saw (saw_W9); a rough milling cutter (cutter_R6); a fine milling cutter (cutter_R3); and a grinding drill (drill_R6).

[0037] In the embodiment of the present application, the target object may include at least one of the following: the body of a person or an animal; an object. The body may include at least one of the following: the head, the neck, the trunk, and the limbs.

[0038] In the embodiment of the present application, the posture may be a description of the position and posture of an object in three-dimensional space. In some possible implementations, the description of the posture may include at least one of the following: three translation parameters (e.g., x, y, z coordinates) and three rotation parameters (e.g., rotation angles around the x-axis, y-axis, and z-axis) of the object in three-dimensional space. In some possible implementations, the representation of the three rotation parameters may include at least one of the following: Euler angles, quaternions, and rotation matrices.

[0039] In the embodiment of the present application, the position and posture of A relative to B can be understood as: the position and posture of A in the coordinate system of B. The position and posture can be named differently, such as spatial coordinates, etc., and the names are not limited here.

[0040] In the embodiment of the present application, the tracing module may include a first tracing module 6 and a second tracing module 7 .

[0041] In some possible implementations, the tracing module may include a tracking bracket and three or more (e.g., four) active luminous markers or passive markers, the markers being fixed to the tracking bracket in a preset manner, and the tracking bracket being fixed to the marking position to be positioned and calibrated (e.g., the power tool 3 and the standard tooling 4, etc.), for identifying and tracking the marking position in the working space. Exemplarily, the optical navigation device 5 may obtain the position and posture of the tracing module.

[0042] In the embodiments of the present application, the optical navigation device may adopt different names, such as optical sensing module, etc., and the name is not limited here.

[0043] In some possible implementations, the optical navigation device 5 may include at least one of the following: a binocular camera, an OTS (Optical Tracking System) optical positioning device, an infrared tracker, and a structured light camera.

[0044] In some possible implementations, the optical navigation device 5 may be placed in the working environment facing the robot system. Exemplarily, the placement of the optical navigation device 5 allows its field of view to capture the first tracking module 6 and the second tracking module 7. The optical navigation device 5 may at least obtain the following items: The position of the first tracking module relative to the optical navigation device can be recorded as T_cam_calib; The position and posture of the second tracking module relative to the optical navigation device can be recorded as T_cam_calibsaw.

[0045] Figure 2 A flow chart of a specific example of the automatic registration method for a robot arm in an embodiment of the present application is shown. As shown in the figure, the automatic registration method for a robot arm can be applied to the robot system and can include the following steps: S101: In response to a registration calibration instruction given by an operator, the robotic arm automatically moves so that the target registration point moves from a starting position to a first position of a preset number; wherein the starting position and the first position are both positions of the target registration point relative to a robotic arm base; S102: When the target registration point reaches a first posture, a second posture of the first tracking module relative to the optical navigation device corresponding to the first posture is acquired and recorded to complete the registration.

[0046] In the embodiment of the present application, the operating subject can have different names, such as user, robot, finger, manipulator, stylus, etc., and the name is not limited here.

[0047] The situations in which the operating subject gives the registration and calibration instructions may include at least one of the following: the user clicks a predetermined area (such as a button) on the touch screen; the user clicks a predetermined area (such as a button) with a mouse; the user presses a predetermined button (such as a start button); the device recognizes predetermined information given by the user (such as face, fingerprint, voice, etc.), that is, controls the start of automatic registration or automatic calibration through face recognition, voice control, etc.

[0048] In this way, the embodiment of the present application obtains and records the second posture of the first tracer module relative to the optical navigation device every time the target registration point reaches a first posture, and realizes registration based on the posture of the first tracer module, thereby ensuring that the tracking will not be lost due to posture rotation during the registration movement, and the first tracer module can always remain in the field of view of the optical navigation device, and improves the registration accuracy. In addition, the registration process is completed, automatic registration can be achieved, random interference caused by human factors is eliminated, and the registration accuracy can be improved.

[0049] In an optional embodiment, the automatic movement of the robotic arm in step S101 so that the target registration point moves from the starting position to the first position of a preset number includes: S1011: Acquire a starting position of a target registration point relative to a robot arm base, and acquire and record an initial calibration position of a first tracing module relative to an optical navigation device when the target registration point is at the starting position; wherein the first tracing module is used to indicate a position of a first preset tracing position; S1012: Obtain a first posture of a preset number of the target registration points relative to the robot arm base; wherein the first posture is the posture that the target registration points need to achieve during the registration process.

[0050] Figure 3 A schematic diagram of a specific example of a coordinate system in an embodiment of the present application is shown. As shown in the figure, the coordinate system of the robot system may include: a robot arm base coordinate system base; a flange coordinate system falan; a power tool (or first tracing module) coordinate system calib; a standard tool (or second tracing module) coordinate system calibsaw; and an optical navigation device coordinate system cam.

[0051] In the embodiment of the present application, the starting position T_base_o of the target registration point relative to the robot arm base is 0 It can represent the starting position of the target registration point for registration movement in the base coordinate system of the robot arm. During the registration movement, it can always ensure that the first tracer module is in the field of view of the optical navigation device and will not be lost. The registration process is completed by controlling the target registration point to reach the first position of the preset number to achieve automatic registration.

[0052] In some possible implementations, the preset number of target registration points relative to the first pose of the robot arm base can be set according to actual needs. For example, the preset number is greater than or equal to 6, for example, the preset number is 8.

[0053] For example, during the registration movement of the robot arm, the target registration point needs to reach eight first poses, specifically: (1) (2) Among them, translation i and rot i The i-th pose that makes up the first pose, i=1,2,…,8. i represents the translation operator value of the first pose, rot i Indicates the rotation operator value of the ith first pose. In this way, eight sets of first pose matrices can be converted into axis-angle form for recording, control, etc., thereby improving the calculation and transmission speed and saving storage space.

[0054] Exemplarily, the formula of the translation operator is as follows: (3) The formula for the rotation operator is as follows: (4) For example, in formula (1) and formula (2), d = 20 mm, alp_x = 30°, alp_y = 30°, alp_z = 0°, so that the starting position T_base_o of the target registration point relative to the robot base can be determined: 0 , and is within the field of view of the optical navigation device.

[0055] In some possible implementations, the initial calibration pose of the first tracking module relative to the optical navigation device, and the second pose of the first tracking module relative to the optical navigation device (such as eight sets of second poses corresponding to the eight sets of first poses, which can be recorded as T_cam_calib i , i=1,2,…,8) can be obtained through optical navigation equipment.

[0056] Exemplarily, the first preset tracing position indicated by the first tracing module may be set on the power tool, and the first tracing module may be used to indicate the position and posture of the power tool mounted on a flange connected to the end of the robot arm.

[0057] In some possible implementations, the process of registering the movement may be: Control the movement of the robotic arm so that the target registration point reaches the starting position of the target registration point relative to the robotic arm base, and at this time control the optical navigation device to obtain and record the initial calibration position of the first tracer module relative to the optical navigation device, establish a relationship between the starting position and the initial calibration position, and perform calibration with the position of the first tracer module; Control the movement of the robotic arm so that the target alignment points reach a preset number of target alignment points at a first posture relative to the robotic arm base, and simultaneously control the optical navigation device to obtain and record the second posture of the first tracer module corresponding to the first posture relative to the optical navigation device, so that based on the first posture and the second posture, the computer (processor) can establish a simulated space corresponding to the actual space to achieve alignment.

[0058] In this way, the embodiment of the present application realizes alignment based on the posture of the first tracer module by acquiring and recording the initial calibration posture of the first tracer module relative to the optical navigation device when the target alignment point reaches the starting posture, thereby ensuring that the tracking will not be lost due to posture rotation during the alignment movement, and the first tracer module can always remain in the field of view of the optical navigation device, thereby improving the alignment accuracy. And by acquiring and recording the second posture of the first tracer module corresponding to each first posture relative to the optical navigation device, the alignment process is completed, automatic alignment can be achieved, random interference caused by human factors is eliminated, and alignment accuracy can also be improved.

[0059] In an optional implementation, the position of the target registration point includes at least one of the following: At the end of the robotic arm; On the flange connected to the end of the robot arm; At the center of the first tracer module; wherein the first tracer module is mounted on the flange.

[0060] In the embodiment of the present application, the setting position of the target alignment point can be selected according to actual needs, for example, the target alignment point can be set at the rigid position of the end of the mechanical arm, for example, on the flange connected to the end of the mechanical arm, or the fixed position of the power tool connected to the flange. The fixed position can be located at the fixed part of the power tool, rather than at the controllable movable part of the power tool, and the fixed part is relatively immovable relative to the end of the mechanical arm during the alignment movement.

[0061] In the embodiment of the present application, the target registration point can be set at the end of the robot arm or on the flange connected to the end of the robot arm, which can help simplify the calibration process and improve efficiency. And by setting the target registration point at the center of the first tracing module, it can further ensure that the field of view will not be lost during the registration process.

[0062] Figure 4A flowchart of a specific example of the automatic tool calibration method in the embodiment of the present application is shown. As shown in the figure, the automatic tool calibration method can be applied to the robot system, can be used when switching various execution tools, and can include the following steps: S201: In response to the alignment and calibration instructions given by the operating subject, in the process of completing the alignment using the robotic arm automatic alignment method as described in the above embodiment, the execution tool is calibrated based on the calibration equation; wherein the calibration equation is determined based on the equivalence relationship between at least two posture transformation relationships.

[0063] In this way, the embodiment of the present application can complete tool calibration simultaneously during the alignment process, thereby simplifying the calibration process and improving efficiency.

[0064] In an optional implementation, the step of completing the calibration of the execution tool based on the calibration equation in step S201 includes: S2011: Determine a calibration equation based on an equivalence relationship between at least two posture conversion relationships; wherein the at least two posture conversion relationships include a first calibration posture of a first tracing module relative to a target registration point; and the first tracing module is used to indicate a posture of a first preset tracing position; S2012: in the process of the automatic registration, obtaining, in at least six mobile space positions, a first real-time position of the target registration point at each mobile space position relative to the robot arm base, and a second real-time position of the first tracing module relative to the optical navigation device; S2013: Based on at least six of the first real-time postures and at least six of the second real-time postures, simplify the calibration equation by using a linear transformation to obtain a first calibration posture of the first tracing module relative to the target registration point; S2014: Obtain a second calibration posture of the second tracing module relative to the first tracing module, and determine a third calibration posture of the execution tool relative to the target alignment point based on the first calibration posture, the second calibration posture and the offset of the execution tool relative to the second tracing module; wherein the second tracing module is used to indicate the posture of the second preset tracing position.

[0065] In an embodiment of the present application, the posture conversion relationship can be used to obtain a target posture according to at least two posture conversions. The posture conversion relationship may include a first posture conversion relationship and a second posture conversion relationship. The first posture conversion relationship and the second posture conversion relationship can both be used to obtain a preset intermediate posture based on the posture conversion.

[0066] Since the first posture transformation relationship and the second posture transformation relationship are both used to obtain the preset intermediate posture based on the posture transformation, there is an equivalent relationship between the first posture transformation relationship and the second posture transformation relationship, and a calibration equation can be established based on the equivalent relationship.

[0067] The preset intermediate posture can be set according to actual needs. For example, the preset intermediate posture may include the posture of the first tracing module relative to the robot arm base, but is not limited to this.

[0068] When the target alignment point is set on the flange connected to the end of the robotic arm, and the preset intermediate posture is the posture of the first tracer module relative to the robotic arm base, in some possible implementations, the first posture conversion relationship can be converted to obtain the posture of the first tracer module relative to the robotic arm base according to at least the posture of the flange relative to the robotic arm base and the first calibration posture of the first tracer module relative to the flange; the second posture conversion relationship can be converted to obtain the posture of the first tracer module relative to the robotic arm base according to at least the posture of the optical navigation device relative to the robotic arm base and the posture of the first tracer module relative to the optical navigation device, but is not limited to this.

[0069] Among them, the unknown quantities to be determined in the calibration equation may include the first calibration pose of the first tracer module relative to the flange. Therefore, at least two pose conversion relationships include the first calibration pose of the first tracer module relative to the target registration point (flange).

[0070] In an embodiment of the present application, the mobile space position may correspond to the first position (e.g., eight) of the preset number of target registration points to be reached by the target registration points during the registration movement relative to the base of the robot arm, or may be at least six robot arm movement positions set after the registration. By adopting the former as opposed to the latter, tool calibration can be completed simultaneously during the registration process, which can further simplify the calibration process and improve efficiency. Through at least six mobile space positions, three translation parameters and three rotation parameters describing the position and posture can be obtained.

[0071] In some possible implementations, the linear transformation may include at least one of the following: left multiplication by a matrix; right multiplication by a matrix.

[0072] Exemplarily, the second preset tracing position indicated by the second tracing module may be set on a standard tool, and the second tracing module may be used to indicate the position and posture of the standard tool installed on the power tool.

[0073] In some possible implementations, the optical navigation device can measure the pose T_cam_calibsaw of the second tracking module relative to the optical navigation device. Then, according to the pose T_cam_calib of the first tracking module relative to the optical navigation device, a second calibration pose T_calib_calibsaw of the second tracking module relative to the first tracking module can be obtained through pose conversion.

[0074] In this way, the embodiment of the present application determines the calibration equation based on the equivalent relationship between at least two posture conversion relationships; and after simplifying the calibration equation using linear transformation, the first calibration posture of the first tracer module relative to the target registration point can be solved using at least six first real-time postures and at least six second real-time postures, and the tool calibration can be completed simultaneously during the registration process, simplifying the calibration process and improving efficiency. And through the fixity of the second calibration posture of the second tracer module relative to the first tracer module (such as using standard tooling), combined with the offset of various execution tools relative to the second tracer module (standard tooling), calibration can be quickly and automatically achieved after switching different execution tools, which greatly simplifies the calibration process of various execution tools, eliminates random interference caused by manual calibration, and improves efficiency and calibration accuracy.

[0075] In an optional implementation, the calibration equation is: T_base_falan i ×T_falan_calib=T_base_cam×T_cam_calib i (5) Among them, T_base_falan i represents the i-th first real-time pose of the flange relative to the base of the manipulator at the i-th mobile space position, T_falan_calib represents the first calibration pose of the first tracer module relative to the flange, T_base_cam represents the pose of the optical navigation device relative to the base of the manipulator, and T_cam_calib i It represents the i-th second real-time position of the first tracking module at the i-th mobile space position relative to the optical navigation device, where i is a natural number greater than or equal to 6.

[0076] In the embodiment of the present application, the position T_base_cam of the optical navigation device relative to the base of the robot and the first calibration position T_falan_calib of the first tracking module relative to the flange are unknown quantities to be determined in the calibration equation. The i-th first real-time position T_base_falan of the flange relative to the base of the robot at the i-th mobile space position i and the ith second real-time position T_cam_calib of the first tracking module relative to the optical navigation device i For the known quantities of the calibration equation, there can be a total of eight groups, i=1,2,…,8.

[0077] In this way, the embodiment of the present application can directly solve and obtain the first calibration posture of the first tracer module relative to the flange by establishing a calibration equation including only two unknown quantities and using the first real-time posture and the second real-time posture at different mobile spatial positions, thereby simplifying the calculation and analysis process, simplifying the calibration process, and improving efficiency. In addition, the postures of multiple mobile spatial positions are introduced in the solution process, thereby improving the calibration accuracy.

[0078] In an optional implementation manner, the step S2013, based on at least six of the first real-time postures and at least six of the second real-time postures, simplifying the calibration equation using a linear transformation to obtain a first calibration posture of the first tracing module relative to the target registration point, may include the following steps: S2031: multiply the calibration equation by (T_cam_calib i ) -1 , and obtain the first transformation equation; the first transformation equation is: T_base_cam=T_base_falan i ×T_falan_calib×(T_cam_calib i ) -1 (6) in, express The inverse matrix of S2032: Substitute the first transformation equation into the i+1th first real-time posture and the i+1th (for example, i=1, 2, …, 7)th second real-time posture at the i+1th mobile space position to obtain a second transformation equation; the second transformation equation is: T_base_cam=T_base_falan i+1 ×T_falan_calib×(T_cam_calib i+1 ) -1 (7) S2033: Obtain a third transformation equation according to the first transformation equation and the second transformation equation; the third transformation equation is: T_base_falan i ×T_falan_calib×(T_cam_calib i ) -1 =T_base_falan i+1 ×T_falan_calib×(T_cam_calib i+1 ) -1 (8) S2034: According to the third transformation equation, a first calibration posture T_falan_calib of the first tracing module relative to the flange is obtained by solving the equation.

[0079] In this way, the embodiment of the present application obtains an equation only about the first calibration posture of the unknown quantity to be determined through linear transformation. It can quickly solve the equation only by the first real-time posture of the flange at multiple mobile space positions relative to the robot arm base and the second real-time posture of the first tracking module relative to the optical navigation device, thereby simplifying the calibration process and improving the calibration speed.

[0080] In some possible implementations, solving the third transformation equation to obtain the first calibration posture T_falan_calib of the first tracing module relative to the flange in step S2034 may include the following steps: S41: Left-multiply the third transformation equation by (T_base_falan i+1 ) -1 and right multiply by T_cam_calib i , and obtain the fourth transformation equation; the fourth transformation equation is: (T_base_falan i+1 ) -1 × T_base_falan i × T_falan_calib = T_falan_calib× (T_cam_calib i+1 ) -1 ×T_cam_calib i (9) S42: Solve the fifth transformation equation AX=XB to obtain X; Where A=(T_base_falan i+1 ) -1 × T_base_falan i ; B=(T_cam_calib i+1 ) -1 ×T_cam_calib i ; X=T_falan_calib.

[0081] Thus, the embodiment of the present application can simplify the calculation and improve the calibration efficiency by transforming the fourth equation using A and B. The step of solving the third transformation equation to obtain the first calibration posture T_falan_calib of the first tracer module relative to the flange is not limited to the above steps S41 to S42, for example, the third transformation equation can be used for direct solution, or other methods that can achieve equation solving can be used.

[0082] In an optional implementation, the step S2014 of determining a third calibration pose of the execution tool relative to the target registration point according to the first calibration pose, the second calibration pose, and the offset of the execution tool relative to the second tracing module includes: Determine a translation operator of the execution tool according to a second marking posture of the second tracing module relative to the first tracing module and an offset of the execution tool relative to the second tracing module; The first calibration pose is right-multiplied by the execution tool translation operator to obtain the third calibration pose.

[0083] In the embodiment of the present application, for different execution tools, their offsets relative to the standard tooling (second tracing module) can be preset different fixed values. Since the second calibration posture of the second tracing module relative to the first tracing module can also be a preset fixed value, the execution tool translation operator of different execution tools can be obtained.

[0084] For example, the offset of the wide swing saw (saw_W16) relative to the standard tooling may be saw_W16_offset = [-2.5, 0, -16.3]; the offset of the narrow swing saw (saw_W9) relative to the standard tooling may be saw_W9_offset = [-12.5, 0, -16.3]; the offset of the rough milling cutter (cutter_R6) relative to the standard tooling may be cutter_R6_offset = [-12.5, 0, 3.4]; the offset of the fine milling cutter (cutter_R3) relative to the standard tooling may be cutter_R3_offset = [-1.9, 0, 3.4]; the offset of the drill (drill_R6) relative to the standard tooling may be drill_R6_offset = [-6.9, 0, 3.4].

[0085] Taking the wide swing saw (saw_W16) as an example, the third calibration posture T_falan_sawW16 of the wide swing saw (saw_W16) relative to the flange (target registration point) is: T_falan_sawW16=T_falan_calib×Transl(tr_saw_W16_offset) (10) Among them, Transl(tr_saw_W16_offset) represents the translation operator of the execution tool (wide swing saw). In this way, the calibration of the wide swing saw can be completed. The calibration of other execution tools can be calculated by replacing the translation operator of the execution tool corresponding to the offset with the translation operator of the wide swing saw in formula (10).

[0086] In some possible implementations, the above formula (10) can be converted into a 1×6 axis angle form and written into the robot controller (processor) to improve the calculation and transmission speed and save storage space.

[0087] In this way, the embodiment of the present application utilizes standard tooling and the offset of different execution tools relative to the standard tooling, has high accuracy, and can quickly and automatically perform calibration after switching different execution tools, thereby greatly simplifying the calibration process of various execution tools and improving calibration accuracy and speed.

[0088] Figure 5 A schematic diagram of a principle block diagram of a specific example of a robotic arm automatic registration device in an embodiment of the present application is shown. As shown in the figure, the robotic arm automatic registration device includes: A first response module 101 is used for responding to the registration and calibration instruction given by the operating subject, and the robot arm automatically moves so that the target registration point moves from the starting posture to the first posture of a preset number; wherein the starting posture and the first posture are both the postures of the target registration point relative to the robot arm base; The registration module 102 is used for acquiring and recording the second posture of the first tracking module relative to the optical navigation device corresponding to the first posture each time the target registration point reaches the first posture, so as to complete the registration.

[0089] Figure 6 The schematic diagram of the principle block diagram of a specific example of the tool automatic calibration device in the embodiment of the present application is shown. As shown in the figure, the tool automatic calibration device includes: The response and calibration module 201 is used to respond to the alignment and calibration instructions given by the operating subject, and complete the calibration of the execution tool based on the calibration equation during the alignment process using the automatic alignment method of the robotic arm as described in the first aspect; wherein the calibration equation is determined based on the equivalence relationship between at least two posture transformation relationships.

[0090] Regarding the device in the above embodiment, the specific manner in which each module (for example, the first response module 101, the alignment module 102, the response and calibration module 201) performs operations can refer to the corresponding description in the above method embodiment, and will not be elaborated here.

[0091] It should be understood that the division of the units or modules in the above devices is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above devices.

[0092] Figure 7 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application is shown. As shown in the figure, the electronic device includes: A memory storing instructions; and a processor configured to execute the instructions to implement at least one of the following: the automatic alignment method of the robot arm as described in the above embodiment; the automatic calibration method of the tool as described in the above embodiment.

[0093] like Figure 7 As shown, the electronic device includes a processor, a memory, a network interface, a display and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. The display of the electronic device can be a liquid crystal display or an electronic ink display, and the input device of the electronic device can be a touch layer covered on the display, or a button, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0094] Those skilled in the art will understand that Figure 7 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0095] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is executed, the corresponding functions described in the above method embodiment can be implemented. The computer program can also be stored in a computer-readable storage medium such as Figure 7 The memory of the electronic device contains various program modules constituting the above-mentioned automatic registration device for the robot arm and / or the above-mentioned automatic calibration device for the tool. When the computer program composed of the various program modules is executed, at least one of the following can be realized: the automatic registration method for the robot arm as described in the above-mentioned embodiment; the automatic calibration method for the tool as described in the above-mentioned embodiment.

[0096] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the robot arm automatic registration method and / or the tool automatic calibration method provided in the above various implementations.

[0097] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0098] In an exemplary embodiment, a robot system is also provided, which can be used to implement the robot arm automatic registration method and / or tool automatic calibration method provided in the above embodiments. Figure 1 As shown, the robot system includes a robot arm 1, a flange 2, a power tool 3, a standard tool 4, an optical navigation device 5, a first tracing module 6, a second tracing module 7, and a processor (not shown in the figure); The mechanical arm 1 is used to control the movement of the power tool 3 and the standard tool 4; The flange 2 is mounted at the end of the mechanical arm 1 and is used to connect the mechanical arm 1 and the power tool 3; The power tool 3 is used to control the translation of the standard tool 4; The standard tool 4 is installed at the end of the power tool 3 and is used as or for loading an execution tool; The first tracing module 6 is installed on the power tool 3 and is used to indicate the position and posture of the power tool 3; The second tracing module 7 is installed on the standard tooling 4 and is used to indicate the position and posture of the standard tooling 4; The optical navigation device 5 is used to measure the positions and postures of the first tracing module 6 and the second tracing module 7; The processor is used to implement at least one of the following: the automatic registration method of the robot arm as described in the above embodiment; the automatic calibration method of the tool as described in the above embodiment.

[0099] In this way, the embodiment of the present application can realize automatic alignment of the robot system through the above-mentioned robot system, and can quickly complete the calibration after each switching of the execution tool, thereby greatly simplifying the calibration process, improving efficiency, eliminating the influence of human factors, and improving calibration accuracy.

[0100] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the claims. Various modifications and changes may be made on the basis of the above embodiments without departing from the scope of the present application. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form other embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. A method for automatic registration of a robotic arm, characterized in that: The automatic registration method of the robotic arm comprises: In response to the registration and calibration instruction given by the operator, the robot arm automatically moves so that the target registration point moves from the starting position to the first position of a preset number; wherein the starting position and the first position are both the positions of the target registration point relative to the robot arm base; Each time the target registration point reaches a first posture, the second posture of the first tracking module corresponding to the first posture relative to the optical navigation device is acquired and recorded to complete the registration.

2. The automatic registration method for a robotic arm according to claim 1, characterized in that: The robotic arm automatically moves so that the target registration point moves from the starting position to the first position of a preset number, including: Acquire the starting position of the target registration point relative to the robot arm base, and acquire and record the initial calibration position of the first tracing module relative to the optical navigation device when the target registration point is at the starting position; wherein the first tracing module is used to indicate the position of the first preset tracing position; Acquire a first posture of a preset number of the target registration points relative to the robot arm base; wherein the first posture is the posture that the target registration points are to achieve during the registration process.

3. The automatic registration method for a robotic arm according to claim 1 or 2, characterized in that: The position of the target registration point includes at least one of the following: At the end of the robotic arm; On the flange connected to the end of the robot arm; At the center of the first tracer module; wherein the first tracer module is mounted on the flange.

4. A tool automatic calibration method, characterized in that: The tool automatic calibration method comprises: In response to the alignment and calibration instructions given by the operating subject, in the process of completing the alignment using the robotic arm automatic alignment method as described in any one of claims 1-3, the calibration of the execution tool is completed based on the calibration equation; wherein, the calibration equation is determined based on the equivalence relationship between at least two posture transformation relationships.

5. The automatic tool calibration method according to claim 4, characterized in that: The step of completing the calibration of the execution tool based on the calibration equation includes: Determine a calibration equation based on an equivalence relationship between at least two posture conversion relationships; wherein the at least two posture conversion relationships include a first calibration posture of a first tracing module relative to a target registration point; and the first tracing module is used to indicate a posture of a first preset tracing position; In the automatic registration process, obtaining a first real-time position of the target registration point at each of the at least six mobile space positions relative to the robot arm base, and a second real-time position of the first tracing module relative to the optical navigation device; Based on at least six of the first real-time postures and at least six of the second real-time postures, simplifying the calibration equation by linear transformation, and solving to obtain a first calibration posture of the first tracing module relative to the target registration point; Acquire a second calibration posture of the second tracing module relative to the first tracing module, and determine a third calibration posture of the execution tool relative to the target alignment point according to the first calibration posture, the second calibration posture and the offset of the execution tool relative to the second tracing module; wherein the second tracing module is used to indicate the posture of the second preset tracing position.

6. The automatic tool calibration method according to claim 5, characterized in that: The step of determining a calibration equation based on an equivalent relationship between at least two posture transformation relationships comprises: Determine a calibration equation based on a first pose conversion relationship and a second pose conversion relationship; The first posture conversion relationship is used to convert the posture of the first tracer module relative to the robot arm base according to at least the posture of the flange relative to the robot arm base and the first calibration posture of the first tracer module relative to the flange to obtain the posture of the first tracer module relative to the robot arm base; The second posture conversion relationship is used to convert the posture of the first tracing module relative to the robot arm base according to at least the posture of the optical navigation device relative to the robot arm base and the posture of the first tracing module relative to the optical navigation device.

7. The automatic tool calibration method according to claim 4, characterized in that: The calibration equation is: T_base_falan i ×T_falan_calib=T_base_cam×T_cam_calib i ; Among them, T_base_falan i represents the i-th first real-time pose of the flange relative to the base of the manipulator at the i-th mobile space position, T_falan_calib represents the first calibration pose of the first tracer module relative to the flange, T_base_cam represents the pose of the optical navigation device relative to the base of the manipulator, and T_cam_calib i It represents the i-th second real-time position of the first tracking module at the i-th mobile space position relative to the optical navigation device, where i is a natural number greater than or equal to 6.

8. The automatic tool calibration method according to claim 5 or 6, characterized in that: The determining, according to the first marking posture, the second marking posture and the offset of the execution tool relative to the second tracing module, a third marking posture of the execution tool relative to the target registration point comprises: Determine a translation operator of an execution tool according to a second marking posture of the second tracing module relative to the first tracing module and an offset of an execution tool relative to the second tracing module; The first calibration pose is right-multiplied by the execution tool translation operator to obtain the third calibration pose.

9. An electronic device, characterized in that: The electronic device comprises: a memory storing instructions; and A processor configured to execute the instructions to implement at least one of the following: the automatic alignment method of a robot arm as described in any one of claims 1 to 3; the automatic calibration method of a tool as described in any one of claims 4 to 8.

10. A robot system, characterized in that: The robot system includes a robot arm, a flange, a power tool, a standard tooling, an optical navigation device, a first tracing module, a second tracing module, and a processor; The mechanical arm is used to control the movement of the power tool and the standard tooling; The flange is mounted at the end of the mechanical arm and is used to connect the mechanical arm and the power tool; The power tool is used to control the translation of the standard tool; The standard tool is installed at the end of the power tool and is used as or for loading an execution tool; The first tracing module is installed on the power tool and is used to indicate the position and posture of the power tool; The second tracing module is installed on the standard tooling and is used to indicate the position and posture of the standard tooling; The optical navigation device is used to measure the position and posture of the first tracing module and the second tracing module; The processor is used to implement at least one of the following: the automatic registration method of a robotic arm as described in any one of claims 1-3; the automatic calibration method of a tool as described in any one of claims 4-8.

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