Mechanical arm segmented calibration configuration method and device, electronic equipment and storage medium

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for segmented calibration and configuration of a robotic arm, relating to the field of robotics technology. The method includes: acquiring overall arm configuration information; segmenting the overall arm configuration information to obtain preset segmented configurations, and saving the preset segmented configurations in segmented files, wherein the number of preset segmented configurations is determined according to the number of robotic arm segments; calibrating the preset segmented configurations in each segmented file; and when a preset segmented configuration meets a first preset condition, writing the preset segmented configuration to a master configuration file to complete the segmented calibration and configuration of the robotic arm. This invention makes the recalibration process of the robotic arm more convenient.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method, apparatus, electronic device, and storage medium for segmented calibration and configuration of a robotic arm. Background Technology

[0002] With the continuous development of robotics technology, robots are increasingly widely used in various fields such as medicine, industry, logistics, and agriculture. Especially in the medical field, surgical robots have attracted widespread attention due to their high precision and low invasiveness. Surgical robots need to perform precise operations in complex surgical environments, which places extremely high demands on the precision and reliability of the robotic arm. To ensure that robotic arms in various high-precision applications meet the required performance standards, the calibration process becomes crucial.

[0003] In related technologies, a complete kinematic calibration of the entire robotic arm is typically required to ensure the accuracy of the geometric relationships between all joints and links. However, this overall calibration method lacks flexibility: when the parameters of a joint or link change, the entire robotic arm needs to be recalibrated, increasing the time required for each calibration and reducing the calibration efficiency of the robotic arm.

[0004] There is no good solution in the existing technology for optimizing the recalibration method of robotic arms to make it more efficient and easier to operate. Summary of the Invention

[0005] The technical problem solved by this invention is how to make the recalibration process of a robotic arm more convenient.

[0006] To address the aforementioned problems, this invention provides a method, apparatus, electronic device, and storage medium for segmented calibration and configuration of a robotic arm.

[0007] In a first aspect, the present invention provides a method for segmented calibration and configuration of a robotic arm, comprising: Obtain the overall boom configuration information; The entire arm configuration information is segmented to obtain a preset segment configuration, and the preset segment configuration is saved in a segment file. The number of preset segment configurations is determined according to the number of robotic arm segments. Define the preset segmentation configuration for each of the segmentation files; When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file to complete the segmentation calibration configuration of the robotic arm.

[0008] Optionally, the first preset condition includes that after the preset segmentation configuration in all the segmented files is written to a temporary table, the temporary table has no gaps, wherein the number of rows in the temporary table is equal to the number of preset segmentation configurations.

[0009] Optionally, the calibration of the preset segmentation configuration in each of the segment files includes: Obtain the actual structural parameters of the robotic arm; The actual segmentation configuration is obtained based on the actual structural parameters; The deviation between the actual segmentation configuration and the preset segmentation configuration is taken as the first deviation; Adjust the preset segmentation configuration in the corresponding segmentation file according to the first deviation.

[0010] Optionally, before writing the preset segmentation configuration to the main configuration file when the preset segmentation configuration meets the first preset condition, the method further includes: The fixed sequence is determined based on the structure of the robotic arm and the number of segments of the robotic arm; The table structure of the temporary table is determined according to the fixed order.

[0011] Optionally, after specifying the preset segmentation configuration in each of the segment files, the method further includes: When the preset segmentation configuration does not meet the first preset condition, the preset segmentation configuration of all segmented files is rewritten to a temporary table. When the preset segmentation configuration no longer meets the first preset condition, the missing position and missing information of the temporary table are determined, the missing position is corrected according to the missing information, and the preset segmentation configuration in the segmentation file corresponding to the missing position is re-marked.

[0012] Optionally, when the preset segmentation configuration meets the first preset condition, writing the preset segmentation configuration into the main configuration file includes: When the preset segmentation configuration meets the first preset condition, determine whether the preset segmentation configuration in the temporary table meets the second preset condition; When the preset segmentation configuration in the temporary table meets the second preset condition, the preset segmentation configuration in the temporary table is written into the main configuration file; When the preset segment configuration in the temporary table does not meet the second preset condition, the data of the preset segment configuration that does not meet the second preset condition is determined, the data is corrected, and the preset segment configuration in the segment file corresponding to the data is recalibrated. The second preset condition includes that the link length meets the design specifications of the robotic arm and the range of change of the joint angle does not exceed the motion limit of the robotic arm.

[0013] Optionally, after obtaining the overall arm configuration information, the method further includes: The entire arm configuration information is converted into recognizable text.

[0014] Secondly, the present invention provides a segmented calibration and configuration device for a robotic arm, comprising: The acquisition module is used to obtain the overall arm configuration information; The segmentation module is used to segment the whole arm configuration information to obtain a preset segment configuration, and save the preset segment configuration in a segment file, wherein the number of preset segment configurations is determined according to the number of robot arm segments; The calibration module is used to calibrate the preset segmentation configuration in each of the segmentation files; The configuration module is used to write the preset segment configuration into the main configuration file when the preset segment configuration meets the first preset condition, thereby completing the segment calibration configuration of the robotic arm.

[0015] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the robotic arm segment calibration and configuration method as described in the first aspect when executing the computer program.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the robotic arm segment calibration and configuration method as described in the first aspect.

[0017] The beneficial effects of the robotic arm segment calibration configuration method, apparatus, electronic device, and storage medium of the present invention are as follows: By acquiring the overall configuration information of the robotic arm, data support is provided for subsequent segment calibration. Based on the actual physical structure of the robotic arm, the overall configuration information is decomposed into multiple preset segment configurations, and these preset segment configurations are stored separately in segment files, providing sufficient preparation for subsequent segment calibration. Each preset segment configuration in each segment file is independently calibrated to ensure that the preset segment configurations (such as joint angles, link lengths, etc.) in each segment file match the actual physical structure of the robotic arm, thereby enabling the robotic arm to move as expected during operation. When a problem occurs in a certain structure of the robotic arm, only that structure needs to be recalibrated. When multiple structures of the robotic arm have problems, these structures can be recalibrated simultaneously. Compared with existing methods that require recalibrating the entire robotic arm, this method greatly simplifies the recalibration process, improves recalibration efficiency, and facilitates rapid repair of the robotic arm. When the preset segment configuration meets the first preset condition, the preset segment configuration is written to the master configuration file, ensuring that all preset segment configurations after calibration are correctly saved. In this way, the robotic arm can perform precise operations according to the master configuration file, ensuring the performance of the robotic arm. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the segmented calibration and configuration method for a robotic arm according to an embodiment of the present invention. Figure 2 This is a schematic diagram illustrating the specific process of the robotic arm segment calibration and configuration method according to an embodiment of the present invention; Figure 3 This is a system architecture diagram of the robotic arm segment calibration and configuration device according to an embodiment of the present invention; Figure 4 This is a system architecture diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0024] To address the problems existing in the aforementioned related technologies, this embodiment provides a method, apparatus, electronic device, and storage medium for segmented calibration and configuration of a robotic arm.

[0025] like Figure 1 As shown in the figure, an embodiment of the present invention provides a segmented calibration and configuration method for a robotic arm, comprising: Obtain the full arm configuration information.

[0026] Specifically, the overall arm configuration information refers to all the necessary data describing the geometry and kinematic characteristics of the robotic arm. This data defines the physical shape of the robotic arm and the relative positional relationships between its parts. Overall arm configuration information typically includes, but is not limited to: Joint angles: the positional parameters of each joint, determining the robotic arm's posture; Link lengths: the distance between adjacent joints, affecting the robotic arm's working range; Joint axis directions: the direction of rotation or movement of each joint, affecting the robotic arm's motion patterns; Other parameters: such as mass and inertia matrix, used for dynamic modeling.

[0027] The robotic arm's overall configuration information can be obtained directly from the control system via the communication interface. The specific process is as follows: Connect the computer to the robotic arm's network port via an Ethernet cable. Open the dedicated configuration software provided by the manufacturer and select the correct robotic arm model. Configure the communication parameters (IP address, port number, etc.) in the software to ensure a successful handshake with the robotic arm. Click the "Get Configuration" button, and the software will automatically read all necessary configuration information from the robotic arm controller.

[0028] When a master configuration file exists, the robotic arm's overall configuration information can be directly obtained from it via a read operation. The specific process is as follows: Confirm the path to the master configuration file. Select the appropriate library to process the master configuration file based on the programming language used. Use the appropriate function to open the master configuration file and read all necessary configuration information.

[0029] The entire arm configuration information is segmented to obtain a preset segment configuration, and the preset segment configuration is saved in a segment file. The number of preset segment configurations is determined according to the number of robot arm segments.

[0030] Specifically, first, the physical structure of the robotic arm needs to be clearly defined, dividing it into several independent working segments (or modules). For example, a typical six-degree-of-freedom robotic arm can be divided into a base segment, intermediate segment 1, intermediate segment 2, and end effector segment. Each working segment typically contains at least one joint (such as a rotary joint or linear slider) and a link (a rigid component connecting two joints). These joints and links constitute the basic motion unit of the robotic arm. Then, based on the above division of the physical structure, the overall arm configuration information obtained from the control system is divided into multiple preset segment configurations. Each preset segment configuration corresponds to a working segment of the robotic arm and contains all the necessary parameters for that segment, such as joint angles, link lengths, and joint axis directions. Next, an independent segment file is created for each preset segment configuration to store the preset segment configuration. These segment files can be named according to segment numbers, such as Arm Part 1, Arm Part 2, Arm Part 3, etc., for easy management and retrieval. After saving the preset segment configurations in the segment files, the preset segment configurations in all segment files are checked to ensure that all preset segment configurations have been saved correctly.

[0031] The number of preset segment configurations directly depends on how many work segments the robotic arm is divided into. For example, if the robotic arm has four work segments, it will be divided into four corresponding preset segment configurations, each saved in a separate segment file.

[0032] In some embodiments, the six-degree-of-freedom robotic arm consists of a base segment, intermediate segment 1, intermediate segment 2, and an end effector. The base segment includes a base fixed to the ground and a first joint. Intermediate segment 1 includes the second and third joints and the connecting rods between them. Intermediate segment 2 includes the fourth and fifth joints and the connecting rods between them. The end effector includes a sixth joint and an end tool. The process of segmenting the six-degree-of-freedom robotic arm is as follows: Confirm that the robotic arm consists of the above four working segments. Divide the acquired overall arm configuration information into four preset segment configurations corresponding to the four working segments. Save the four preset segment configurations in four segment files.

[0033] Define the preset segmentation configuration in each of the segmentation files.

[0034] Specifically, since calibration can correct deviations caused by manufacturing tolerances, installation errors or other factors, by calibrating the preset segment configurations in each segment file, it can be ensured that the preset segment configurations (such as joint angles, link lengths, etc.) in each segment file match the actual physical structure of the robotic arm, so that the robotic arm can move as expected during operation.

[0035] When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file to complete the segmentation calibration configuration of the robotic arm.

[0036] Specifically, the first preset condition ensures that each preset segment configuration is correctly saved. When the preset segment configuration meets the first preset condition, all preset segment configuration information is integrated into a master configuration file. This master configuration file serves as the final segment calibration result for the robotic arm, guiding its normal operation and ensuring its accuracy during operation.

[0037] If the master configuration file does not exist, a new master configuration file is created, and all preset segment configurations are written into the new master configuration file in sequence; if the master configuration file already exists, the original whole arm configuration information is deleted, and all preset segment configurations are written into the existing master configuration file in sequence.

[0038] In this embodiment, the overall configuration information of the robotic arm is acquired to provide data support for subsequent segment calibration. Based on the actual physical structure of the robotic arm, the overall configuration information is decomposed into multiple preset segment configurations, and these preset segment configurations are saved in segment files respectively, ensuring sufficient preparation for subsequent segment calibration. Each preset segment configuration in each segment file is independently calibrated to ensure that the preset segment configurations (such as joint angles, link lengths, etc.) in each segment file match the actual physical structure of the robotic arm, thereby enabling the robotic arm to move as expected during operation. When a problem occurs in a certain structure of the robotic arm, only that structure needs to be recalibrated. When multiple structures of the robotic arm have problems, these structures can be recalibrated simultaneously. Compared with the existing method that requires recalibrating the entire robotic arm, this method greatly simplifies the recalibration process, improves recalibration efficiency, and facilitates rapid repair of the robotic arm. When the preset segment configuration meets the first preset condition, the preset segment configuration is written to the master configuration file to ensure that all calibrated preset segment configurations are correctly saved. In this way, the robotic arm can perform precise operations based on the overall configuration file, ensuring the performance of the robotic arm.

[0039] Optionally, the first preset condition includes that after the preset segmentation configuration in all the segmented files is written to a temporary table, the temporary table has no gaps, wherein the number of rows in the temporary table is equal to the number of preset segmentation configurations.

[0040] Specifically, after calibrating the preset segment configurations in each segment file, the preset segment configurations from all segment files are written to a temporary table. When the temporary table is empty, all preset segment configurations are read from the temporary table and written to the main configuration file. The temporary table is a temporary data storage structure, typically in a table or similar format, used to centrally store the preset segment configuration information extracted from each segment file. The number of rows in the temporary table equals the number of preset segment configurations. For example, for a six-DOF robotic arm composed of six segments, the temporary table will have six rows, each corresponding to one segment. The number of columns in the temporary table equals the number of expected data fields, with each column corresponding to one expected data field. These expected data fields include joint angles, link lengths, and axis distances. Each expected data field can be set as mandatory to check for gaps in the temporary table.

[0041] In this optional embodiment, after calibrating the preset segment configurations in each segment file, checking for gaps in the temporary table ensures that all preset segment configuration information is correctly written, effectively preventing any omission of preset segment configuration items and guaranteeing that the configuration information ultimately integrated into the main configuration file is complete and error-free. When the temporary table has no gaps, all preset segment configurations are read from the temporary table and written into the main configuration file, ensuring that the robotic arm's operation after calibration can proceed as expected, reducing operational errors or malfunction risks caused by missing preset segment configurations.

[0042] Optionally, such as Figure 2 As shown, the calibration of the preset segmentation configuration in each segment file includes: Obtain the actual structural parameters of the robotic arm; The actual segmentation configuration is obtained based on the actual structural parameters; The deviation between the actual segmentation configuration and the preset segmentation configuration is taken as the first deviation; Adjust the preset segmentation configuration in the corresponding segmentation file according to the first deviation.

[0043] Specifically, during segment calibration, the actual structural parameters of each structure of the robotic arm must first be obtained. These actual structural parameters reflect the real-world state of the robotic arm in the environment, such as joint angles and link lengths. Then, based on the actual structural parameters of each structure, the corresponding actual segment configuration is obtained. This actual segment configuration is then compared one by one with the preset segment configuration in the corresponding segment file to determine the first deviation. Based on the magnitude and direction of this first deviation, the preset segment configuration in the corresponding segment file is adjusted accordingly. For example, if the angle of a certain joint of the robotic arm deviates, the preset angle of that joint is adjusted. The adjusted preset segment configuration can be verified again through a feedback mechanism to ensure that the final preset segment configuration meets the actual requirements.

[0044] Methods for obtaining the actual structural parameters of a robotic arm include: using high-precision measuring instruments such as coordinate measuring machines, laser tracking interferometers, and telescopic ballbars to measure the actual pose of the robotic arm's end effector; using a camera fixed at a specific position at the end effector or in the working environment to measure the actual pose of the end effector; and constructing a closed kinematic chain by adding constraints to the end effector and identifying kinematic parameters using joint angle data and closed-loop kinematic equations.

[0045] Assume the preset link length of the robotic arm's upper arm is 300mm and the preset joint angle is 45°. Obtain the actual segment configuration: The actual link length is 302mm, and the actual joint angle is 46°.

[0046] Determine the first deviation: Calculate the connecting rod length deviation: 302mm - 300mm = 2mm.

[0047] Calculate the joint angle deviation: 46°-45°=1°.

[0048] Adjust the preset segmentation configuration: The new preset link length is 302mm, and the new preset joint angle is 46°.

[0049] In this optional embodiment, by obtaining the actual segment configuration based on the actual structural parameters of the robotic arm, it can be ensured that the subsequent calibration process is based on the actual state of the robotic arm, thus improving the accuracy of the calibration. By comparing the actual segment configuration of each structure of the robotic arm with the preset segment configuration in the corresponding segment file, the preset segment configuration is precisely adjusted to ensure that the preset segment configuration in each segment file matches the actual physical structure of the robotic arm. This allows the robotic arm to move as expected during operation, reducing the risk of operational errors or malfunctions caused by configuration errors.

[0050] Optionally, before writing the preset segmentation configuration to the main configuration file when the preset segmentation configuration meets the first preset condition, the method further includes: The fixed sequence is determined based on the structure of the robotic arm and the number of segments of the robotic arm; The table structure of the temporary table is determined according to the fixed order.

[0051] Specifically, based on the robotic arm's design drawings or technical documents provided by the manufacturer, a comprehensive understanding of the robotic arm's structure is obtained, and the number of segments is determined. Based on the robotic arm's structure and number of segments, a fixed sequence is derived. This fixed sequence is typically set according to the direction from the base to the end effector to ensure that the dependencies between the various robotic arm components are correctly handled. For example, if the robotic arm consists of a base, upper arm, lower arm, and wrist, the fixed sequence might be: from base to upper arm, from upper arm to lower arm, and from lower arm to wrist. A temporary table is created based on this fixed sequence. After the preset segment configurations of all segment files are calibrated, the preset segment configurations in each segment file are written to the temporary table in a fixed order.

[0052] In this optional embodiment, if the configuration information in the robotic arm's master configuration file does not have a fixed order, it may cause errors or prevent the robotic arm from reaching the target position when performing tasks. A fixed order is determined based on the robotic arm's structure and number of segments. According to this fixed order, a temporary table is constructed to ensure that all preset segment configurations are written into the master configuration file in a pre-set order. This facilitates the robotic arm's movement as expected during operation and ensures coordinated movement between the various structures of the robotic arm.

[0053] Optionally, such as Figure 2 As shown, after specifying the preset segmentation configuration in each segment file, the method further includes: When the preset segmentation configuration does not meet the first preset condition, the preset segmentation configuration of all segmented files is rewritten to a temporary table. When the preset segmentation configuration no longer meets the first preset condition, the missing position and missing information of the temporary table are determined, the missing position is corrected according to the missing information, and the preset segmentation configuration in the segmentation file corresponding to the missing position is re-marked.

[0054] Specifically, if the preset segmentation configuration does not meet the first preset condition, it means that after writing the preset segmentation configurations from all segmentation files into the temporary table, there are gaps in the temporary table. When the preset segmentation configuration does not meet the first preset condition, i.e., when a gap in the temporary table is detected for the first time, the preset segmentation configurations from all segmentation files are reread and written into the temporary table. If there are no gaps in the temporary table at this time, all preset segmentation configurations in the temporary table are read and written into the main configuration file to ensure that the robotic arm can operate as expected after calibration. If there are still gaps in the temporary table, the gap locations and specific gap information (such as the corresponding segmentation file, expected data fields, etc.) are obtained from the temporary table for correction. The correction method can be automatic correction or manual correction. Automatic correction: Based on the specific gap information, the gap locations are filled according to preset rules. For example, default values ​​or reasonable values ​​derived from other related configurations are used to fill the gap locations. However, automatic correction needs to be handled with caution to avoid introducing new errors. Manual correction: Based on the missing information provided, staff check the preset segment configuration in the corresponding segment file, input the correct data, and ensure the preset segment configuration is complete. After correction, the temporary table is checked again to confirm that all gaps have been filled. If there are no gaps in the temporary table, the preset segment configuration in the segment file corresponding to the missing position is recalibrated.

[0055] In this optional embodiment, when the preset segmentation configuration initially fails to meet the first preset condition, the preset segmentation configuration of all segment files is rewritten into a temporary table. This eliminates the possibility of gaps caused by accidental errors (such as network fluctuations, storage failures, external interference, etc.) during the transmission or writing of the preset segmentation configuration, ensuring the integrity and accuracy of the preset segmentation configuration. Furthermore, when the preset segmentation configuration again fails to meet the first preset condition, the temporary table is checked to determine the specific gap location and information. Corrections are then made based on the gap location and information, ensuring the integrity and accuracy of the preset segmentation configuration and reducing the risk of operational errors or malfunctions in the robotic arm due to missing preset segmentation configurations.

[0056] Optionally, such as Figure 2 As shown, when the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file, including: When the preset segmentation configuration meets the first preset condition, determine whether the preset segmentation configuration in the temporary table meets the second preset condition; When the preset segmentation configuration in the temporary table meets the second preset condition, the preset segmentation configuration in the temporary table is written into the main configuration file; When the preset segment configuration in the temporary table does not meet the second preset condition, the data of the preset segment configuration that does not meet the second preset condition is determined, the data is corrected, and the preset segment configuration in the segment file corresponding to the data is recalibrated. The second preset condition includes that the link length meets the design specifications of the robotic arm and the range of change of the joint angle does not exceed the motion limit of the robotic arm.

[0057] Specifically, after writing the preset segment configurations from all segment files into a temporary table, if the temporary table is empty, it is determined whether all preset segment configurations in the temporary table meet the second preset condition, i.e., a rationality check is performed on each preset segment configuration. For example, whether the link length conforms to the design specifications of the robotic arm, whether the range of joint angle changes exceeds the motion limits of the robotic arm, etc. When the data in all preset segment configurations conforms to the actual physical characteristics and design specifications of the robotic arm, the preset segment configurations in the temporary table are written into the main configuration file; when the data in all preset segment configurations does not conform to the actual physical characteristics and design specifications of the robotic arm, the location and related information of the data in the temporary table that does not conform to the actual physical characteristics and design specifications of the robotic arm are determined, and automatic correction or manual correction is selected. Automatic correction: Based on the relevant information of the data, the data at the corresponding position is modified according to preset rules. For example, a default value is used or a reasonable value is derived from other related configurations, and the reasonable value replaces the original data. However, automatic correction needs to be handled with caution to avoid introducing new errors. Manual correction: The staff checks the preset segment configurations in the corresponding segment files according to the relevant information of the prompted data, and inputs the correct data to replace the original data. For the corrected data, the preset segmentation configuration in the corresponding segmentation file is recalibrated. Then, the recalibrated preset segmentation configuration is written to a temporary table.

[0058] In this optional embodiment, by determining whether each preset segment configuration in the temporary table meets the second preset condition, possible unreasonable data, such as abnormal values ​​or parameters out of range, can be detected and corrected in advance, ensuring the correctness of the preset segment configuration written into the total configuration file, which is beneficial for the robotic arm to move as expected during operation.

[0059] Optionally, after obtaining the overall arm configuration information, the method further includes: The entire arm configuration information is converted into recognizable text.

[0060] Specifically, the overall arm configuration information is usually stored in a compact and machine-readable format, such as a combination of English letters and numbers, which is easy for computers to process. Converting the overall arm configuration information into a recognizable text format by loading the Extensible Markup Language (XML) protocol or other methods (such as converting J1_45.0 to setting the angle of joint 1 to 45 degrees) is beneficial for subsequent segment calibration configuration.

[0061] In this optional embodiment, during the segmented calibration and configuration process, staff need to frequently check and correct the robotic arm's configuration information. If this information is presented in easily readable text, verification and adjustment can be performed more quickly and accurately, reducing human error. Furthermore, standardized text format makes configuration information easier to record and archive, facilitating subsequent review and auditing.

[0062] like Figure 3 As shown, an embodiment of the present invention provides a robotic arm segment calibration and configuration device 300, comprising: Module 310 is used to acquire the overall arm configuration information; The segmentation module 320 is used to segment the whole arm configuration information to obtain a preset segmentation configuration, and save the preset segmentation configuration in a segmentation file, wherein the number of preset segmentation configurations is determined according to the number of robot arm segments; Calibration module 330 is used to calibrate the preset segmentation configuration in each of the segmentation files; The configuration module 340 is used to write the preset segment configuration into the main configuration file when the preset segment configuration meets the first preset condition, thereby completing the segment calibration configuration of the robotic arm.

[0063] Optionally, the first preset condition in the configuration module 340 includes that after the preset segmentation configuration in all the segmented files is written to a temporary table, the temporary table has no gaps, wherein the number of rows in the temporary table is equal to the number of preset segmentation configurations.

[0064] Optionally, the calibration module 330 is specifically used to obtain the actual structural parameters of the robotic arm; obtain the actual segment configuration based on the actual structural parameters; take the deviation between the actual segment configuration and the preset segment configuration as the first deviation; and adjust the preset segment configuration in the corresponding segment file according to the first deviation.

[0065] Optionally, the robotic arm segment calibration and configuration device 300 further includes a determination module, which is used to: determine a fixed sequence based on the robotic arm structure and the number of robotic arm segments; and determine the table structure of the temporary table based on the fixed sequence.

[0066] The robotic arm segment calibration and configuration device 300 further includes a verification module, which is used to: when the preset segment configuration does not meet the first preset condition, rewrite the preset segment configuration of all the segment files into a temporary table; when the preset segment configuration again does not meet the first preset condition, determine the missing position and missing information of the temporary table, correct the missing position according to the missing information, and recalibrate the preset segment configuration in the segment file corresponding to the missing position.

[0067] The configuration module 340 is specifically used for: when the preset segment configuration meets the first preset condition, determining whether the preset segment configuration in the temporary table meets the second preset condition; when the preset segment configuration in the temporary table meets the second preset condition, writing the preset segment configuration in the temporary table into the main configuration file; when the preset segment configuration in the temporary table does not meet the second preset condition, determining the data of the preset segment configuration that does not meet the second preset condition, correcting the data, and recalibrating the preset segment configuration in the segment file corresponding to the data, wherein the second preset condition includes the link length conforming to the design specifications of the robotic arm and the change range of the joint angle not exceeding the movement limit of the robotic arm.

[0068] The robotic arm segment calibration and configuration device 300 also includes a conversion module, which is used to convert the whole arm configuration information into a recognizable text format.

[0069] like Figure 4 As shown, an electronic device 400 provided in this embodiment of the invention includes a memory 410 and a processor 420; the memory 410 is used to store a computer program; the processor 420 is used to implement the robotic arm segment calibration and configuration method as described above when the computer program is executed.

[0070] Alternatively, an electronic device 400 includes a memory 410 and a processor 420 coupled to the memory 410; the memory 410 is configured to store a computer program; and the processor 420 is configured to perform the following operations when the computer program is executed: Obtain the overall boom configuration information; The entire arm configuration information is segmented to obtain a preset segment configuration, and the preset segment configuration is saved in a segment file. The number of preset segment configurations is determined according to the number of robotic arm segments. Define the preset segmentation configuration for each of the segmentation files; When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file to complete the segmentation calibration configuration of the robotic arm.

[0071] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the robotic arm segment calibration and configuration method described above.

[0072] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: Obtain the overall boom configuration information; The entire arm configuration information is segmented to obtain a preset segment configuration, and the preset segment configuration is saved in a segment file. The number of preset segment configurations is determined according to the number of robotic arm segments. Define the preset segmentation configuration for each of the segmentation files; When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file to complete the segmentation calibration configuration of the robotic arm.

[0073] The present invention will now be described an electronic device 400 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 400 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 400 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0074] Electronic device 400 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0075] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0076] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for segmented calibration and configuration of a robotic arm, characterized in that, include: Obtain the overall boom configuration information; The entire arm configuration information is segmented to obtain a preset segment configuration, and the preset segment configuration is saved in a segment file. The number of preset segment configurations is determined according to the number of robotic arm segments. The process of calibrating the preset segment configuration in each segment file includes: obtaining the actual structural parameters of the robotic arm; obtaining the actual segment configuration based on the actual structural parameters; taking the deviation between the actual segment configuration and the preset segment configuration as a first deviation; and adjusting the preset segment configuration in the corresponding segment file based on the first deviation. When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file to complete the segmentation calibration configuration of the robotic arm; the first preset condition includes that after the preset segmentation configuration in all the segmentation files is written into a temporary table, the temporary table has no empty rows and the number of rows in the temporary table is equal to the number of preset segmentation configurations. Before writing the preset segmentation configuration into the overall configuration file when the preset segmentation configuration meets the first preset condition, the method further includes: determining a fixed order based on the robotic arm structure and the number of robotic arm segments; and determining the table structure of the temporary table based on the fixed order. After specifying the preset segmentation configuration in each segment file, the method further includes: When the preset segmentation configuration does not meet the first preset condition, the preset segmentation configuration of all segmented files is rewritten to a temporary table. When the preset segmentation configuration no longer meets the first preset condition, the missing position and missing information of the temporary table are determined, the missing position is corrected according to the missing information, and the preset segmentation configuration in the segmentation file corresponding to the missing position is re-marked.

2. The robotic arm segment calibration and configuration method according to claim 1, characterized in that, When the preset segmentation configuration meets the first preset condition, the preset segmentation configuration is written into the main configuration file, including: When the preset segmentation configuration meets the first preset condition, determine whether the preset segmentation configuration in the temporary table meets the second preset condition; When the preset segmentation configuration in the temporary table meets the second preset condition, the preset segmentation configuration in the temporary table is written into the main configuration file; When the preset segment configuration in the temporary table does not meet the second preset condition, the data of the preset segment configuration that does not meet the second preset condition is determined, the data is corrected, and the preset segment configuration in the segment file corresponding to the data is recalibrated. The second preset condition includes that the link length conforms to the design specifications of the robotic arm and the range of change of the joint angle does not exceed the motion limit of the robotic arm.

3. The robotic arm segment calibration and configuration method according to claim 1, characterized in that, After obtaining the full arm configuration information, the following is also included: The entire arm configuration information is converted into recognizable text.

4. A segmented calibration and configuration device for a robotic arm, characterized in that, include: The acquisition module is used to obtain the overall arm configuration information; The segmentation module is used to segment the whole arm configuration information to obtain a preset segment configuration, and save the preset segment configuration in a segment file. The number of preset segment configurations is determined according to the number of robot arm segments. A calibration module is used to calibrate the preset segment configuration in each segment file, including: obtaining the actual structural parameters of the robotic arm; obtaining the actual segment configuration based on the actual structural parameters; taking the deviation between the actual segment configuration and the preset segment configuration as a first deviation; and adjusting the preset segment configuration in the corresponding segment file according to the first deviation. The configuration module is used to write the preset segment configuration into the main configuration file when the preset segment configuration meets the first preset condition, thereby completing the segment calibration configuration of the robotic arm. The first preset condition includes that after the preset segmentation configuration in all the segmented files is written to the temporary table, the temporary table has no gaps, and the number of rows in the temporary table is equal to the number of preset segmentation configurations; Before writing the preset segmentation configuration into the overall configuration file when the preset segmentation configuration meets the first preset condition, the method further includes: determining a fixed order based on the robotic arm structure and the number of robotic arm segments; and determining the table structure of the temporary table based on the fixed order. After specifying the preset segmentation configuration in each segment file, the method further includes: When the preset segmentation configuration does not meet the first preset condition, the preset segmentation configuration of all segmented files is rewritten to a temporary table. When the preset segmentation configuration no longer meets the first preset condition, the missing position and missing information of the temporary table are determined, the missing position is corrected according to the missing information, and the preset segmentation configuration in the segmentation file corresponding to the missing position is re-marked.

5. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the robotic arm segment calibration and configuration method as described in any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the robotic arm segment calibration and configuration method as described in any one of claims 1 to 3.

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