Positioning method of a robot system, robot system, and storage medium

Abstract

The application provides a positioning method of a robot system, a robot system and a storage medium. The method obtains a first spatial relationship between a calibration reference object and a first robot through a first detection system arranged on the first robot, and obtains a second spatial relationship between the calibration reference object and a second robot through a second detection system arranged on the second robot, and then determines a spatial relationship between the first robot and the second robot according to the first spatial relationship and the second spatial relationship, so that the mutual positions of multiple split robots can be calibrated.

Description

Technical Field

[0001] This application relates to the field of robot systems, and more particularly to a positioning method for a robot system, a robot system, and a storage medium. Background Technology

[0002] Surgical robots are becoming increasingly common in hospitals. At the same time, in order to reduce the encroachment on surgical space and to facilitate more flexible preoperative positioning, split-type surgical robot systems are gradually emerging. In the surgical application of split-type surgical robots, it is necessary to calibrate the relative positions of different robots to achieve collaborative operation and avoidance among multiple robots. Summary of the Invention

[0003] In view of the above, this application provides a positioning method for a robot system, a robot system, and a computer-readable storage medium.

[0004] Specifically, this application is implemented through the following technical solution: According to a first aspect of the embodiments of this application, a positioning method for a robot system is provided. The robot system includes a first robot and a second robot. The first robot is equipped with a first detection system, and the second robot is equipped with a second detection system. The method includes: The first spatial relationship between the calibration reference object and the first robot is obtained through the first detection system, and the second spatial relationship between the calibration reference object and the second robot is obtained through the second detection system, wherein the calibration reference object is within the detection range of the first detection system and the second detection system; The spatial relationship between the first robot and the second robot is determined based on the first spatial relationship and the second spatial relationship.

[0005] According to a second aspect of the embodiments of this application, a robot system is provided, the robot system comprising: The first robot is equipped with the first detection system; The second robot is equipped with a second detection system; The control device is configured to acquire a first spatial relationship between a calibration reference object and the first robot through the first detection system, acquire a second spatial relationship between the calibration reference object and the second robot through the second detection system, and determine the spatial relationship between the first robot and the second robot based on the first spatial relationship and the second spatial relationship; wherein the calibration reference object is within the detection range of the first detection system and the second detection system.

[0006] According to a third aspect of the embodiments of this application, a computer-readable storage medium is provided, on which computer instructions are stored, wherein when executed by a processor, the computer instructions implement the steps of the method described in any one of the first aspects.

[0007] The technical solutions provided by the embodiments of this application may include the following beneficial effects: In this embodiment, a first spatial relationship between a calibration reference object and the first robot is obtained by a first detection system installed on the first robot, and a second spatial relationship between a calibration reference object and the second robot is obtained by a second detection system installed on the second robot. Then, the spatial relationship between the first robot and the second robot can be determined based on the first spatial relationship and the second spatial relationship, and the mutual positions between multiple split robots can be calibrated.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0009] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0010] Figure 1a This is a schematic diagram of a surgical robot system illustrated in an exemplary embodiment of this application; Figure 1b This is a schematic diagram of another surgical robot system illustrated in an exemplary embodiment of this application; Figure 2 This is a schematic diagram of a robot system illustrated in an exemplary embodiment of this application; Figure 3 This is a schematic diagram of the structure of a robot system shown in an exemplary embodiment of this application; Figure 4 This is a schematic diagram illustrating an exemplary embodiment of the present application of a method for setting up a calibration reference. Figure 5 This is a schematic diagram illustrating another method of setting up a calibration reference object, as shown in an exemplary embodiment of this application; Figure 6 This is a schematic diagram of the structure of a calibration reference object shown in an exemplary embodiment of this application; Figure 7 This is a schematic diagram of the structure of another calibration reference shown in an exemplary embodiment of this application; Figure 8 This is a schematic diagram of the structure of another calibration reference shown in an exemplary embodiment of this application; Figure 9This is a flowchart illustrating a positioning method for a robot system according to an exemplary embodiment of this application. Detailed Implementation

[0011] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0012] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0013] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0014] Surgical robots are becoming increasingly common in hospitals. At the same time, in order to reduce the encroachment on surgical space and to facilitate preoperative positioning, split-type robot systems are emerging. Split-type robots consist of several independent robots (also known as robotic arm systems), each with its own base. Different robots are placed in different positions next to the operating table according to surgical needs. Split-type surgical robots can be deployed more flexibly in the operating room, making clinical applications more convenient.

[0015] Figure 1a A schematic diagram of the structure of a robot system is shown, such as... Figure 1a As shown, the robot system 10 includes a console 101, a first robot 102, a second robot 103, and a control device 104.

[0016] The control console 101 includes a display unit for showing the surgical instrument environment, an operation control mechanism, and armrests. The display unit has an observation window (also known as a stereoscopic display) for the doctor to observe. The operation control mechanism corresponds to the movement of the surgical instruments, and the position of the surgical instruments can be adjusted by controlling the operation control mechanism. The armrests can be used to support the doctor's arms. In addition, the control console 101 also includes other control switches that are easy to touch or press with your hands or feet to perform various functions and complete human-computer interaction.

[0017] The first robot 102 includes one or more first robotic arms 1021. Each first robotic arm 1021 includes several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, so that the end effector of the first robotic arm 1021 can achieve multiple degrees of freedom (e.g., 7 degrees of freedom, depending on the instrument). An instrument actuator, surgical instrument, or image acquisition device is mounted on the end effector of the first robotic arm 1021. The image acquisition device can be an endoscope (e.g., a three-dimensional endoscope), which is detachably mounted on the instrument actuator.

[0018] The second robot 103 includes one or more second robotic arms 1031. The structure of the second robotic arm 1031 and the instruments mounted at its end can be the same as or different from the first robotic arm 1021. The second robot 103 can be a robotic arm system for performing auxiliary manipulation functions, and can typically be used in conjunction with the first robot 102 to perform surgical operations or auxiliary operations.

[0019] The control device 104 includes at least one memory and at least one processor, and is communicatively connected to the console 101, the first robot 102, and the second robot 103, enabling control over the console 101, the first robot 102, and the second robot 103. The control device 104 can execute several programmed instructions (e.g., a computer-readable medium storing the instructions) via the processor to implement some or all of the methods described in the embodiments of this application. Physically, the control device 104 can also be integrated into the console 101, the first robot 102, or the second robot 103, or it can be a stand-alone computer device. The embodiments of this application do not impose specific limitations on the structural form of the control device 104.

[0020] In addition, such as Figure 1bAs shown, the robot system 10 may further include an image system 105, which may include a display screen to display images acquired by the endoscope. The endoscope can acquire images (such as surgical images) and send the acquired images to the display system 105. The endoscope can perform image processing (e.g., decoding) on ​​the acquired images using its own processor or the processor of the image system 105. The processed images can also be sent to other image processing devices for further image processing (e.g., noise reduction, contrast enhancement, sharpness improvement, etc.), or sent to the control console 101. It should be noted that when the robot system 10 includes an image system 105, the control device 104 can also control the image system 105. The image system 105 can be a display system on the control device 104 or a display system attached to other devices.

[0021] To achieve coordinated operation and obstacle avoidance among multiple robots in a modular robotic system during surgical applications, it is necessary to calibrate the relative positions of the robots. Based on this, embodiments of this application provide a positioning method for a robotic system. This method involves obtaining a first spatial relationship between a calibration reference object and the first robot through a first detection system mounted on a first robot, and obtaining a second spatial relationship between the calibration reference object and the second robot through a second detection system mounted on a second robot. Based on the first and second spatial relationships, the spatial relationship between the first and second robots can be determined, thereby calibrating the relative positions of multiple modular robots.

[0022] In some embodiments, please refer to Figure 1a and Figure 2 The robot system 10 includes a first robot 102 and a second robot 103. The first robot 102 is equipped with a first detection system 106a, and the second robot 103 is equipped with a second detection system 106b.

[0023] The first detection system 106a can detect the calibration reference 107 within its detection range A and obtain the first spatial relationship between the calibration reference 107 and the first robot 102; the second detection system 106b can detect the calibration reference 107 within its detection range B and obtain the second spatial relationship between the calibration reference 107 and the second robot 103, thereby determining the spatial relationship between the first robot 102 and the second robot 103 based on the first and second spatial relationships.

[0024] The calibration reference 107 can be set in a position independent of the first robot 102 and the second robot 103. For example, the user can hold the calibration reference 107 and make the calibration reference 107 simultaneously within the detection range of the first detection system 106a and the second detection system 106b.

[0025] It should be noted that the first detection system 106a and the second detection system 106b can be optical positioning systems, and the calibration reference 107 is a reflective ball fixture. Specifically, in order for the optical positioning system to detect the relative relationship between the three-dimensional coordinate system of the reflective ball fixture and its own three-dimensional coordinate system, at least three reflective balls are embedded in the reflective ball fixture. The optical positioning system sends a corresponding light source to the reflective ball fixture and calculates the spatial relationship between the reflective ball fixture and the optical positioning system based on the light source reflected back by the reflective balls. In addition, the first detection system 106a and the second detection system 106b can also be binocular cameras, and the calibration reference 107 is a component with structured images. The binocular camera consists of two cameras, which capture two images of the same scene within its detection range. Each image corresponds to a camera viewpoint. By measuring the pixel differences of the structured part within the detection range in the two images, the three-dimensional position of the structured part in space is determined, thereby determining the spatial relationship between the calibration reference 107 and the robot. Structured images can be, for example, QR code images or other images with regular patterns (such as rectangles, circles, etc.).

[0026] The first robot 102 and the second robot 103 can be either single-armed or multi-armed robots. For example, as shown... Figure 2 As shown, the first robot 102 is a multi-armed robot with multiple robotic arms, and the second robot 103 is a single-armed robot with one robotic arm; and so on. Figure 4 As shown, the first robot 102 and the second robot 103 are single-arm robots, each with only one robotic arm. Depending on the actual surgical requirements, the first robot 102 and the second robot 103 can be robots with different numbers of robotic arms; this embodiment does not impose such limitations.

[0027] It should be noted that the robot system described in the above embodiments contains more than two robots. This application does not specifically limit the number of robots in the robot system. Each robot is equipped with a corresponding detection system. Each detection system detects the calibration reference object within its own detection range to obtain the spatial relationship between the calibration reference object and the robot it belongs to. In this application, the first robot refers to any robot in the robot system that has the same function as the first robot, and the second robot refers to any robot in the robot system that has the same function as the second robot.

[0028] In some embodiments, the first detection system 106a may be set in the area of ​​the first robot 102 that is not covered by a sterile hood, and / or the second detection system 106b may be set in the area of ​​the second robot 103 that is not covered by a sterile hood.

[0029] It should be noted that the sterile cover is a protective covering. In the clinical application of the robotic system 10, the sterile cover needs to be used to cover the relevant areas of the robotic system 10 to prevent harmful substances such as bacteria and viruses from entering and contaminating the robotic system 10.

[0030] In this embodiment, either or both of the first detection system 106a and the second detection system 106b are located in an area of ​​the robot that is not covered by the sterile cover. Therefore, the detection system can accurately obtain the spatial relationship between the calibration reference object 107 and the robot without being affected by the sterile cover.

[0031] In some embodiments, the area not covered by the sterile hood can be the robot's base or its column. Therefore, the first detection system 106a and the second detection system 106b can be selected to be mounted on the base or the column as needed. One of the two detection systems can be mounted on the base and the other on the column, or both can be mounted on the base or both on the column (see reference). Figure 4 (As shown).

[0032] It should be noted that in the clinical application of the robotic system 10, sterile covers are required to cover relevant areas of the first robot 102 and the second robot 103. For example... Figure 3As shown, the first robot 102 includes a first base 1023, a first column 1022 disposed on the first base 1023, and a plurality of first robotic arms 1021 disposed on the first column 1022. The second robot 103 includes a second base 1033, a second column 1032 disposed on the second base 1033, and a plurality of second robotic arms 1031 disposed on the second column 1032. For the first robot 102, a sterile cover is used to cover the first robotic arms 1021, or a sterile cover is used to cover the first robotic arms 1021 and the first column 1022. Correspondingly, the areas of the first robot 102 not covered by the sterile cover include the first base 1023 and / or the first column 1022. Therefore, the first detection system 106a can be disposed on the first base 1023 or the first column 1022 of the first robot 102. For the second robot 103, a sterile cover is used to cover the second robotic arm 1031, or a sterile cover is used to cover the second robotic arm 1031 and the second column 1032. Correspondingly, the areas of the second robot 103 not covered by the sterile cover include the second base 1033 and / or the second column 1032. Therefore, the second detection system 106b can be set on the second base 1033 and the second column 1032 of the second robot 103.

[0033] In some embodiments, the first detection system 106a can be connected to the first robot 102 via a first connecting structure, and / or the second detection system 106b can be connected to the second robot 103 via a second connecting structure. The first connecting structure can be fixedly installed or detachably installed on the first robot 102. The first connecting structure is either a fixed structure or a structure including at least one joint and movable relative to the first robot 102. Based on the fixed structure or its motion parameters of the first connecting structure, combined with the installation position of the first connecting structure relative to the first robot 102, the spatial relationship between the first detection system 106a and the first robot 102 (e.g., the base of the first robot 102) can be obtained. The second connecting mechanism can be the same as the first connecting structure. Alternatively, based on the fixed structure or its motion parameters of the second connecting structure, combined with the installation position of the second connecting structure relative to the second robot 103, the spatial relationship between the second detection system 106b and the second robot 103 (e.g., the base of the second robot 103) can be obtained.

[0034] In some embodiments, the calibration reference 107 may also be disposed on the first robot 102 and / or the second robot 103.

[0035] It is understood that the calibration reference 107 can be set on the first robot 102 or the second robot 103. When there are multiple calibration references 107, they can be set on both the first robot 102 and the second robot 103 simultaneously. Figure 4 As shown, the first detection system 106a is mounted on the first robot 102 and has a corresponding detection range A, and the second detection system 106b is mounted on the second robot 103 and has a corresponding detection range B. If the calibration reference 107 is mounted on the second robot 103, and the second robot 103 is within the detection range A of the first detection system 106a, the spatial relationship between the calibration reference 107 mounted on the second robot 103 and the first robot 102 can be obtained through the first detection system 106a. Since the calibration reference 107 is mounted on the second robot 103, this spatial relationship can be regarded as the spatial relationship between the second robot 103 and the first robot 102.

[0036] It is also understandable that if the calibration reference 107 is set on the first robot 102, and the first robot 102 is within the detection range B of the second detection system 106b, the spatial relationship between the calibration reference 107 set on the first robot 102 and the second robot 103 can be obtained through the second detection system 106b. Since the calibration reference 107 is set on the first robot 102, this spatial relationship can be regarded as the spatial relationship between the first robot 102 and the second robot 103.

[0037] In this embodiment of the application, the first robot 102 and / or the second robot 103 have a calibration reference 107. When the first robot 102 is within the detection range of the second detection system 106b, the spatial relationship between the calibration reference 107 set on the first robot 102 and the second robot 103 can be directly obtained through the second detection system 106b. When the second robot 103 is within the detection range of the first detection system 106a, the spatial relationship between the calibration reference 107 set on the second robot 103 and the first robot 102 can be directly obtained through the first detection system 106a, which facilitates the position calibration of the first robot 102 and the second robot 103.

[0038] In some embodiments, the robot system 10 further includes a calibration component 108 disposed independently of the first robot 102 and the second robot 103, and the calibration component 108 is provided with a calibration reference 107.

[0039] In the embodiments of this application, such as Figure 5As shown, in the clinical application of the robot system 10, the calibration reference 107 can be set on the calibration component 108 and the calibration component 108 can be placed within the detection range of the first detection system 106a and the second detection system 106b. The spatial relationship between the calibration reference 107 and the robot can be obtained through the detection system without the need for a person to hold the calibration reference 107.

[0040] In some embodiments, the calibration component 108 includes a third detection system 106c, and the first robot 102 and the second robot 103 are within the detection range of the third detection system 106c.

[0041] For example, such as Figure 5 As shown, the third detection system 106c is mounted on the third column 1081 of the calibration component 108, and the first robot 102 and the second robot 103 are within the detection range C of the third detection system 106c.

[0042] It is understandable that in the clinical application of robotic system 10, there may be issues such as... Figure 5 In the scenario described, if the calibration reference component is not within the detection range B of the second detection system 106b due to the movement of the second robot 103, or if the second detection system 106b fails to detect the calibration reference component due to obstruction by other equipment or medical personnel, the spatial relationship between the second robot 103 and the third detection system 106c can be obtained through the third detection system 106c installed on the calibration component 108. Similarly, if the calibration reference component is not within the detection range A of the first detection system 106a due to the movement of the first robot 102, or if the first detection system 106a fails to detect the calibration reference component due to obstruction by other equipment or medical personnel, the spatial relationship between the first robot 102 and the third detection system 106c can be obtained through the third detection system 106c installed on the calibration component 108.

[0043] In some embodiments, the calibration component 108 has a base that is movable relative to the first robot 102 and the second robot 103.

[0044] For example, such as Figure 5 As shown, the calibration component 108 includes a third base 1082 and a third column 1081. The calibration reference 107 is disposed on the third column 1081. The third base 1082 is movable relative to the first robot 102 and the second robot 103, so as to facilitate moving the calibration reference 107 to the detection range of the first detection system 106a and the second detection system 106b.

[0045] In a specific embodiment, such as Figure 6As shown, the calibration reference 107 includes only one calibration reference component. The first detection system 106a is disposed on the first robot 102 and has a corresponding detection range A. The second detection system 106b is disposed on the second robot 103 and has a corresponding detection range B. The detection range A and the detection range B have at least a partial overlap area. The calibration reference 107 is placed in the overlap area. For example, only the calibration reference component in the calibration reference 107 may be located in the overlap area.

[0046] In another specific embodiment, such as Figure 7 As shown, the calibration reference 107 includes a first calibration reference component 1071, a second calibration reference component 1072, and a connecting component 1073. The first calibration reference component 1071 and the second calibration reference component 1072 are connected by the connecting component 1073. The first calibration reference component 1071 is within the detection range of the first detection system 106a, and the second calibration reference component 1072 is within the detection range of the second detection system 106b.

[0047] It is understandable that in the clinical application of the robotic system 10, the placement distance between the first robot 102 and the second robot 103 may be too large, resulting in a situation where the detection range A of the first detection system 106a and the detection range C of the second detection system 106b do not overlap within the limited operating room space. In this case, if... Figure 7 As shown, the first calibration reference component 1071 and the second calibration reference component 1072, which are connected by the connection component 1073, can appear within the detection range A of the first detection system 106a and the detection range B of the second detection system 106b, respectively. This allows the first calibration reference component 1071 to be position detected by the first detection system 106a and the second calibration reference component 1072 to be position detected by the second detection system 106b.

[0048] In another specific embodiment, the connection component 1073 has a retractable mechanism to enable the first calibration reference component 1071 to be within the detection range of the first detection system 106a and the second calibration reference component 1072 to be within the detection range of the second detection system 106b.

[0049] In this embodiment, the connecting component 1073 has a retractable mechanism. During the positioning process of the robot system 10, the retractable mechanism can be adjusted so that the first calibration reference component 1071 is within the detection range of the first detection system 106a and the second calibration reference component 1072 is within the detection range of the second detection system 106b, so as to adapt to various placement positions of the split robot in clinical applications and improve the versatility of the positioning method.

[0050] In another specific embodiment, such as Figure 8 As shown, the connecting component 1073 is a bendable telescopic rod. A first calibration reference component 1071 with a variable length L1 is mounted on the first part of the telescopic rod, and a second calibration reference component 1072 with a variable length L2 is mounted on the second part of the telescopic rod. A bending angle θ exists between the first and second parts. In the clinical application of the robot system 10, there may be situations where the first robot 102 and the second robot 103 are placed far apart and not on the same plane. In such cases, the length and bending angle of the telescopic rod can be adjusted so that the first calibration reference component 1071 and the second calibration reference component 1072 appear within the detection range A of the first detection system 106a and the detection range B of the second detection system 106b, respectively. This allows for position detection of the first calibration reference component 1071 via the first detection system 106a and the second calibration reference component 1072 via the second detection system 106b.

[0051] Based on the robot system described in the above embodiments, combined with Figures 2-8 Please see Figure 9 This application provides a positioning method for a robot system, which includes steps S910 and S920.

[0052] Step S910: Obtain the first spatial relationship between the calibration reference object and the first robot through the first detection system, and obtain the second spatial relationship between the calibration reference object and the second robot through the second detection system.

[0053] Step S920: Determine the spatial relationship between the first robot and the second robot based on the first spatial relationship and the second spatial relationship.

[0054] like Figure 2 As shown, the calibration reference 107 is within the detection range of the first detection system 106a and the second detection system 106b. The first detection system 106a is used to detect the first spatial relationship between the calibration reference 107 and the first detection system 106a in three-dimensional space. The second detection system 106b is used to detect the second spatial relationship between the calibration reference 107 and the second detection system 106b. The first spatial relationship refers to the relative relationship between the three-dimensional coordinate system of the calibration reference 107 and the three-dimensional coordinate system of the first detection system 106a. The second spatial relationship refers to the relative relationship between the three-dimensional coordinate system of the calibration reference 107 and the three-dimensional coordinate system of the second detection system 106b.

[0055] It is understandable that since the first detection system 106a is mounted on the first robot 102, the coordinate system of the first detection system 106a itself can be regarded as the coordinate system of the first robot 102. Therefore, the first spatial relationship can also be regarded as the spatial relationship between the calibration reference 107 and the first robot 102. Similarly, since the second detection system 106b is mounted on the second robot 103, the coordinate system of the second detection system 106b itself can be regarded as the coordinate system of the second robot 103. Therefore, the second spatial relationship can also be regarded as the spatial relationship between the calibration reference 107 and the second robot 103. Thus, using the calibration reference 107 as a medium, the spatial relationship between the first robot 102 and the second robot 103 is determined through geometric operations based on the first and second spatial relationships.

[0056] In some embodiments, spatial relationships include positional relationships and / or orientational relationships.

[0057] It is understood that spatial relationships can include positional relationships or orientational relationships, or both. Positional relationships refer to the relative positional relationship between the calibration reference 107 and the robot in three-dimensional space, while orientational relationships refer to the orientation relationship between the calibration reference 107 and the robot. Specifically, for the first spatial relationship, the positional relationship refers to the relative positional relationship between the calibration reference 107 and the first robot 102 in three-dimensional space, and the orientational relationship refers to the orientation relationship between the calibration reference 107 and the first robot 102. For the second spatial relationship, the positional relationship refers to the relative positional relationship between the calibration reference 107 and the second robot 103 in three-dimensional space, and the orientational relationship refers to the orientation relationship between the calibration reference 107 and the second robot 103.

[0058] This application embodiment utilizes a first detection system 106a and a second detection system 106b to obtain the spatial relationship between the calibration reference object and the first robot 102 and the second robot 103, thereby obtaining the positional relationship and / or orientational relationship between the first robot 102 and the second robot 103. This can provide positional and / or orientational relationships between multiple robots for the cooperative operation and avoidance control of split robots.

[0059] For example, when the spatial relationship includes both the positional and orientational relationships between the calibration reference 107 and the robot, the spatial relationship can also be referred to as relative pose, that is, the relative pose of the coordinate system of the calibration reference 107 in the coordinate system of the robot. The first relative pose of the coordinate system of the calibration reference 107 in the coordinate system of the first robot 102 is obtained through the first detection system 106a, and the second relative pose of the coordinate system of the calibration reference 107 in the coordinate system of the second robot 103 is obtained through the second detection system 106b. Based on the first and second relative poses, the relative pose between the first robot 102 and the second robot 103 is determined. This allows for the simultaneous calibration of the position and orientation between the first robot 102 and the second robot 103, providing detailed calibration information between multiple robots for the cooperative operation and obstacle avoidance control of the split-type robot.

[0060] In a specific embodiment, such as Figure 3 As shown, the first detection system 106a is installed on the first column 1022 of the first robot 102, and the second detection system 106b is installed on the second column 1032 of the second robot 103. Alternatively, the first detection system 106a is installed on the first base 1023 of the first robot 102, and the second detection system 106b is installed on the second base 1033 of the second robot 103.

[0061] When the first detection system 106a is installed on the first base 1023 or the first column 1022 of the first robot 102 and the second detection system 106b is installed on the second base 1033 or the second column 1032 of the second robot 103, in the positioning method of the robot system provided in this application embodiment, the first spatial relationship obtained by the first detection system 106a is the spatial relationship between the calibration reference 107 and the base of the first robot 102, and the second spatial relationship obtained by the second detection system 106b is the spatial relationship between the calibration reference 107 and the base of the second robot 103. Therefore, based on the first spatial relationship and the second spatial relationship, the spatial relationship between the bases of the first robot 102 and the second robot 103 can be determined, and the mutual positions of multiple robot bases can be calibrated, which helps the robot system 10 to control the avoidance between multiple robots in clinical applications.

[0062] In a specific embodiment, such as Figure 4As shown, a calibration reference 107 is provided on the second robot 103. When the second robot 103 is within the detection range of the first detection system 106a, the positioning method provided in this embodiment can directly obtain the spatial relationship between the calibration reference 107 on the second robot 103 and the first robot 102 through the first detection system 106a, and use the spatial relationship between the calibration reference 107 and the first robot 102 as the spatial relationship between the second robot 103 and the first robot 102. Alternatively, a calibration reference 107 is provided on the first robot 102. When the first robot 102 is within the detection range of the second detection system 106b, the positioning method provided in this embodiment can directly obtain the spatial relationship between the calibration reference 107 on the first robot 102 and the second robot 103 through the second detection system 106b, and use the spatial relationship between the calibration reference 107 and the second robot 103 as the spatial relationship between the first robot 102 and the second robot 103.

[0063] In a specific embodiment, such as Figure 5 As shown, a third detection system 106c is installed on a calibration component 108, which is independent of the first robot 102 and the second robot 103. The first robot 102 and the second robot 103 are within the detection range of the third detection system 106c. The positioning method provided in this embodiment of the application further includes the following steps: The third spatial relationship between the first robot and the third detection system is obtained through the third detection system, and / or the fourth spatial relationship between the second robot and the third detection system. The spatial relationship between the first robot and the second robot is determined based on the third spatial relationship and the second spatial relationship, or the fourth spatial relationship and the first spatial relationship.

[0064] like Figure 5 As shown, the third detection system 106c is installed on the third column 1081 of the calibration component 108. The first robot 102 and the second robot 103 are within the detection range C of the third detection system 106c. The third spatial relationship between the first robot 102 and the third detection system 106c, and / or the fourth spatial relationship between the second robot 103 and the third detection system 106c are obtained through the third detection system 106c. Then, the spatial relationship between the first robot 102 and the second robot 103 is determined based on the third spatial relationship and the second spatial relationship, or the fourth spatial relationship and the first spatial relationship.

[0065] It should also be noted that a calibration reference 107 can be set on the first robot 102, and the spatial relationship between the calibration reference 107 and the third detection system 106c can be obtained through the third detection system 106c. Since the calibration reference 107 is set on the first robot 102, this spatial relationship can be regarded as a third spatial relationship between the first robot 102 and the third detection system 106c. Similarly, a calibration reference 107 can be set on the second robot 103, and the spatial relationship between the calibration reference 107 and the third detection system 106c can be obtained through the third detection system 106c. Since the calibration reference 107 is set on the second robot 103, this spatial relationship can be regarded as a third spatial relationship between the second robot 103 and the third detection system 106c.

[0066] In this embodiment, the calibration component 108 is provided with a third detection system 106c. When the first detection system 106a or the second detection system 106b fails to detect the calibration reference 107, the third detection system 106c can obtain the third spatial relationship between the first robot 102 and the third detection system 106c or the fourth spatial relationship between the second robot 103 and the third detection system 106c. Using the calibration reference 107 as a medium, the spatial relationship between the first robot 102 and the second robot 103 is determined based on the third spatial relationship and the second spatial relationship or the fourth spatial relationship and the first spatial relationship. This enables the positioning method to continuously calibrate the position of the split robot in the clinical application of the robot system 10, improving the reliability and versatility of the positioning method.

[0067] In a specific embodiment, such as Figure 6 As shown, the calibration reference 107 is set independently of the first robot 102 and the second robot 103, and the calibration reference 107 is located in the overlapping area between the detection range A of the first detection system 106a and the detection range B of the second detection system 106b. The coordinate system {3} of the calibration reference 107 is obtained by the first detection system 106a in the coordinate system {1} of the first detection system 106a, showing its relative pose. The coordinate system {3} of the calibration reference object 107 obtained by the first detection system 106a and its relative pose in the coordinate system {2} of the second detection system 106b are obtained. Since the poses of the detection system and each robot are fixed and known, coordinate systems {1} and {2} can be regarded as the coordinate system of the first robot 102 and the coordinate system of the second robot 103, and then based on the relative poses... and Determine the relative pose of the first robot 102 and the second robot 103. : In a specific embodiment, such as Figure 7 As shown, the calibration reference 107 includes a first calibration reference component 1071, a second calibration reference component 1072, and a connecting component 1073. The first calibration reference component 1071 and the second calibration reference component 1072 are connected by the connecting component 1073. The first calibration reference component 1071 is within the detection range of the first detection system 106a, and the second calibration reference component 1072 is within the detection range of the second detection system 106b. Therefore, when the first calibration reference component 1071 is within the detection range of the first detection system 106a, the first spatial relationship between the first calibration reference component 1071 and the first robot 102 can be obtained through the first detection system 106a. Correspondingly, when the second calibration reference component 1072 is within the detection range of the second detection system 106b, the second spatial relationship between the second calibration reference component 1072 and the second robot 103 can be obtained through the second detection system 106b.

[0068] Correspondingly, in the robot system positioning method provided in this application embodiment, the step of determining the spatial relationship between the first robot and the second robot based on the first spatial relationship and the second spatial relationship includes the following sub-steps: Determine the spatial relationship between the first calibration reference component and the second calibration reference component; The spatial relationship between the first robot and the second robot is determined based on the first spatial relationship, the second spatial relationship, and the spatial relationship between the first calibration reference component and the second calibration reference component.

[0069] It is understandable that when there are two calibration reference components, in determining the spatial relationship between the first robot 102 and the second robot 103, it is necessary to first determine the spatial relationship between the first calibration reference 107 and the second calibration reference 107. Then, based on the three spatial relationships between the first calibration reference component 1071 and the first robot 102, the second calibration reference component 1072 and the second robot 103, and the first calibration reference 107 and the second calibration reference 107, the spatial relationship between the first robot 102 and the second robot 103 is determined through geometric calculations.

[0070] In one specific embodiment, the spatial relationship is a relative pose, such as Figure 7 As shown, the first calibration reference component 1071 is within the detection range of the first detection system 106a, and the second calibration reference component 1072 is within the detection range of the second detection system 106b. The coordinate system {4} of the first calibration reference object 107 is obtained through the first detection system 106a, and its relative pose in the coordinate system {1} of the first detection system 106a is obtained. And the relative pose of the second calibration reference object 107 in the coordinate system {3} of the second detection system 106b under the coordinate system {2} of the second detection system 106b is obtained. The relative pose of the first calibration reference component 1071 in coordinate system {4} within the second calibration reference component 1072 in coordinate system {3} is determined. Then, based on the relative pose , and Determine the relative pose of the first robot 102 and the second robot 103. : In some embodiments, the step of determining the spatial relationship between the first calibration reference component and the second calibration reference component includes the following sub-steps: The shape parameters of the connecting components are determined by using the spatial relationship between the first calibration reference component and the first robot and the second calibration reference component and the second robot under different orientations of the calibration reference object; The spatial relationship between the first calibration reference component and the second calibration reference component is determined based on the shape parameters of the connecting components.

[0071] It should be understood that, since the first calibration reference component 1071 and the second calibration reference component 1072 are connected by the connecting component 1073, in order to determine the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072, the shape parameters of the connecting component 1073 can be determined first, and then the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 can be determined based on the shape parameters of the connecting component 1073.

[0072] Specifically, when the calibration reference object 107 is in a first posture, the spatial relationship between the first calibration reference component 1071 and the first robot 102 is obtained through the first detection system 106a, and the spatial relationship between the second calibration reference component 1072 and the second robot 103 is obtained through the second detection system 106b. Then, by adjusting the posture of the calibration reference object 107, it is brought to a second posture different from the first posture. When the calibration reference object 107 is in the second posture, the spatial relationship between the first calibration reference component 1071 and the second robot 103 is obtained through the first detection system 106a. The spatial relationship between the first calibration reference component 1071 and the first robot 102 is obtained through the second detection system 106b, and the spatial relationship between the second calibration reference component 1072 and the second robot 103 is obtained through the second detection system 106b. Finally, the shape parameters of the connecting component 1073 are determined by using the spatial relationship between the first calibration reference component 1071 and the first robot 102 and the spatial relationship between the second calibration reference component 1072 and the second robot 103 under different postures of the calibration reference object 107. The spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 is determined based on the shape parameters of the connecting component 1073.

[0073] In a specific embodiment, the spatial relationship is a relative pose. When the calibration reference 107 is in a first pose, the coordinate system {4} of the first calibration reference 107 and its relative pose in the coordinate system {1} of the first detection system 106a are obtained through the first detection system 106a. And the relative pose of the second calibration reference object 107 in the coordinate system {3} of the second detection system 106b under the coordinate system {2} of the second detection system 106b is obtained. With the calibration reference 107 in the second pose, the coordinate system {4} of the first calibration reference 107 and its relative pose in the coordinate system {1} of the first detection system 106a are obtained through the first detection system 106a. And the relative pose of the second calibration reference object 107 in the coordinate system {3} of the second detection system 106b under the coordinate system {2} of the second detection system 106b is obtained. .

[0074] Furthermore, the relative pose of the coordinate system {4} of the first calibration reference component 1071 in the coordinate system {3} of the second calibration reference component 1072 is defined. Among them, relative pose Including the shape parameters of the connecting component 1073, the relative pose between the first robot 102 and the second robot 103 when the calibration reference 107 is in the first pose and the second pose. and Since it remains unchanged, we have equation (1): (1) The relative pose can then be obtained from equation (1). This determines the shape parameters of the connecting component 1073.

[0075] In some embodiments, the calibration reference 107 further includes a sensor for measuring positional information between the first calibration reference component 1071 and the second calibration reference component 1072. The step of determining the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 includes the following sub-steps: The shape parameters of the connecting component are determined using the positional information between the first and second calibration reference components measured by the sensor. The spatial relationship between the first calibration reference component and the second calibration reference component is determined based on the shape parameters of the connecting components.

[0076] In this embodiment of the application, the calibration reference 107 is provided with a sensor for measuring the position information between the first calibration reference component 1071 and the second calibration reference 107, such as... Figure 7 As shown, the sensor can be mounted on the connection component 1073 of the calibration component 108, and the shape parameters of the connection component 1073 can be determined by using the position information between the first calibration reference component 1071 and the second calibration reference component 1072 measured by the sensor, and the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 can be determined based on the shape parameters of the connection component 1073.

[0077] In some embodiments, the connecting component 1073 is a telescopic rod, and the shape parameters of the connecting component 1073 include the length of the telescopic rod.

[0078] In the embodiments of this application, such as Figure 7 As shown, the connecting component 1073 is a telescopic rod with a variable length L. Accordingly, the shape parameters of the connecting component 1073 include the length L of the telescopic rod. For example, the relative pose of the coordinate system {4} of the first calibration reference component 1071 in the coordinate system {3} of the second calibration reference component 1072 can be defined based on the length of the telescopic rod. as follows: For equation (1) provided in the above embodiments, the relative pose and It can be represented as follows: Relative pose and It can be represented as follows: According to equation (1) and the matrix representation of the relative pose described above, the following equation exists: (2) (3) in, express The element in the first row and fourth column, express The element in the first row and fourth column can be used to solve the shape parameters of the connecting component 1073, i.e. the length L of the telescopic rod, according to equation (3).

[0079] In some embodiments, the telescopic rod is a bendable telescopic rod, and the shape parameters of the connecting assembly 1073 also include the bending angle of the telescopic rod.

[0080] For example, such as Figure 8 As shown, the telescopic rod is a bendable telescopic rod. A first calibration reference component 1071 with a variable length L1 is mounted on the first part of the telescopic rod, and a second calibration reference component 1072 with a variable length L2 is mounted on the second part of the telescopic rod. A bending angle θ exists between the first and second parts. In the clinical application of the robot system 10, there may be situations where the first robot 102 and the second robot 103 are placed far apart and not on the same plane. In this case, the length and bending angle of the telescopic rod can be adjusted so that the first calibration reference component 1071 and the second calibration reference component 1072 can appear within the detection range A of the first detection system 106a and the detection range B of the second detection system 106b, respectively. This allows the first detection system 106a to detect the position of the first calibration reference component 1071, and the second detection system 106b to detect the position of the second calibration reference component 1072.

[0081] For example, the relative pose of the first calibration reference component 1071 in the coordinate system {4} and the second calibration reference component 1072 in the coordinate system {3} is defined based on the length L1 of the first rod portion, the length L2 of the second rod portion, and the bending angle θ of the telescopic rod. as follows: According to equation (1) and relative pose , , , and From the matrix representation, we can see that the following equation exists: (4) (5) in, for The elements in the first three rows and three columns, for The elements in the first three rows and three columns, due to and It is only related to the bending angle θ of the telescopic rod. Therefore, the bending angle θ can be calculated according to equation (4), and the length L1 of the first rod and the length L2 of the second rod can be calculated according to equation (5).

[0082] It is easy to understand that the solutions described in the above embodiments can be combined when there is no conflict, and not all of them are listed in the embodiments of this application.

[0083] Please see Figure 2 This application also provides a robot system 10, which includes: The first robot 102 is equipped with a first detection system 106a; The second robot 103 is equipped with a second detection system 106b; The control device 104 is configured to acquire a first spatial relationship between the calibration reference object 107 and the first robot 102 through a first detection system 106a, acquire a second spatial relationship between the calibration reference object 107 and the second robot 103 through a second detection system 106b, and determine the spatial relationship between the first robot 102 and the second robot 103 based on the first and second spatial relationships; wherein the calibration reference object 107 is within the detection range of the first detection system 106a and the second detection system 106b.

[0084] In some embodiments, a first detection system 106a is disposed in an area of ​​the first robot 102 that is not covered by a sterile hood, and a second detection system 106b is disposed in an area of ​​the second robot 103 that is not covered by a sterile hood.

[0085] In some embodiments, the areas not covered by the sterile hood include the robot's base and / or columns.

[0086] In some embodiments, the first detection system and the first robot are connected via a first connection structure, and / or the second detection system and the second robot are connected via a second connection structure.

[0087] In some embodiments, a calibration reference 107 is provided on the first robot 102 and / or the second robot 103.

[0088] In some embodiments, such as Figure 5As shown, the robot system 10 also includes a calibration component 108, which is set independently of the first robot 102 and the second robot 103, and a calibration reference 107 is provided on the calibration component 108.

[0089] In some embodiments, such as Figure 5 As shown, the calibration component 108 has a base that can move relative to the first robot 102 and the second robot 103.

[0090] In some embodiments, such as Figure 5 As shown, the calibration component 108 includes a third detection system 106c, and the first robot 102 and the second robot 103 are within the detection range of the third detection system 106c. The control device is also configured to acquire a third spatial relationship between the first robot 102 and the third detection system 106c, and / or a fourth spatial relationship between the second robot 103 and the third detection system 106c, and to determine the spatial relationship between the first robot 102 and the second robot 103 based on the third spatial relationship and the second spatial relationship, or the fourth spatial relationship and the first spatial relationship.

[0091] In some embodiments, the first robot 102 is a single-armed robot or a multi-armed robot, and the second robot 103 is a single-armed robot or a multi-armed robot.

[0092] In some embodiments, the first detection system 106a and the second detection system 106b are optical positioning systems, and the calibration reference 107 is a reflective ball fixture.

[0093] In some embodiments, the first detection system 106a and the second detection system 106b are binocular cameras, and the calibration reference 107 is a component provided with a structured image.

[0094] In some embodiments, such as Figure 7 As shown, the calibration reference 107 includes a first calibration reference component 1071, a second calibration reference component 1072, and a connecting component 1073. The first calibration reference component 1071 and the second calibration reference component 1072 are connected by the connecting component 1073. The first calibration reference component 1071 is within the detection range of the first detection system 106a, and the second calibration reference component 1072 is within the detection range of the second detection system 106b.

[0095] In some embodiments, the first spatial relationship is the spatial relationship between the first calibration reference component 1071 and the first robot 102, and the second spatial relationship is the spatial relationship between the second calibration reference component 1072 and the second robot 103; The control device is also configured to determine the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072, and to determine the spatial relationship between the first robot 102 and the second robot 103 based on the first spatial relationship, the second spatial relationship and the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072.

[0096] In some embodiments, the control device is further configured to determine the shape parameters of the connecting component 1073 using the spatial relationship between the first calibration reference component 1071 and the first robot 102 and the spatial relationship between the second calibration reference component 1072 and the second robot 103 when the calibration reference 107 is in different postures, and to determine the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 based on the shape parameters of the connecting component 1073.

[0097] In some embodiments, the calibration reference 107 further includes a sensor for measuring positional information between the first calibration reference component 1071 and the second calibration reference component 1072. The control device is further configured to determine shape parameters of the connecting component 1073 using the positional information between the first calibration reference component 1071 and the second calibration reference component 1072 measured by the sensor, and to determine the spatial relationship between the first calibration reference component 1071 and the second calibration reference component 1072 based on the shape parameters of the connecting component 1073.

[0098] In some embodiments, the connection component 1073 has a retractable mechanism to enable the calibration reference 107 to be within the detection range of the first detection system 106a and the second detection system 106b.

[0099] In some embodiments, the connecting component 1073 is a telescopic rod, and the shape parameters of the connecting component 1073 include the length of the telescopic rod.

[0100] In some embodiments, such as Figure 8 As shown, the telescopic rod is a bendable telescopic rod, and the shape parameters of the connecting assembly 1073 also include the bending angle of the telescopic rod.

[0101] In some embodiments, spatial relationships include positional relationships and / or orientational relationships.

[0102] It should be noted that the robot system provided in this application embodiment and the positioning method of the robot system described above belong to the same inventive concept. The specific implementation and beneficial effects can be found in the description of the above method, and will not be repeated here.

[0103] This application also provides a non-transitory computer-readable storage medium including computer instructions, such as a memory including instructions that can be executed by a processor of a device to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A positioning method for a robot system, characterized in that, The robot system includes a first robot and a second robot. The first robot is equipped with a first detection system, and the second robot is equipped with a second detection system. The method includes: The first detection system obtains a first spatial relationship between a first calibration reference component of the calibration reference object and the first robot, and the second detection system obtains a second spatial relationship between a second calibration reference component of the calibration reference object and the second robot. The calibration reference object further includes a connecting component, and the first calibration reference component and the second calibration reference component are connected through the connecting component. The connecting component has a retractable mechanism so that the first calibration reference component can be within the detection range of the first detection system and the second calibration reference component can be within the detection range of the second detection system. Determine the spatial relationship between the first calibration reference component and the second calibration reference component; The spatial relationship between the first robot and the second robot is determined based on the first spatial relationship, the second spatial relationship, and the spatial relationship between the first calibration reference component and the second calibration reference component.

2. The method according to claim 1, characterized in that, The first detection system is installed in an area of ​​the first robot that is not covered by a sterile hood, and / or the second detection system is installed in an area of ​​the second robot that is not covered by a sterile hood.

3. The method according to claim 2, characterized in that, The areas not covered by the sterile cover include the robot's base and / or columns.

4. The method according to claim 1, characterized in that, The spatial relationships include positional relationships and / or orientational relationships.

5. The method according to claim 1, characterized in that, The robot system also includes a calibration component that is independent of the first robot and the second robot, and the calibration component is provided with the calibration reference.

6. The method according to claim 5, characterized in that, The calibration component has a base that is movable relative to the first robot and the second robot.

7. The method according to claim 5 or 6, characterized in that, The calibration component includes a third detection system, and the first robot and the second robot are within the detection range of the third detection system. The method further includes: The third spatial relationship between the first robot and the third detection system, and / or the fourth spatial relationship between the second robot and the third detection system are obtained through the third detection system. The spatial relationship between the first robot and the second robot is determined based on the third spatial relationship and the second spatial relationship, or the fourth spatial relationship and the first spatial relationship.

8. The method according to claim 1, characterized in that, Determining the spatial relationship between the first calibration reference component and the second calibration reference component includes: The shape parameters of the connecting component are determined by using the spatial relationship between the first calibration reference component and the first robot and the spatial relationship between the second calibration reference component and the second robot under different orientations of the calibration reference object; The spatial relationship between the first calibration reference component and the second calibration reference component is determined based on the shape parameters of the connecting component.

9. The method according to claim 1, characterized in that, The calibration reference further includes a sensor, which is used to measure the positional information between the first calibration reference component and the second calibration reference component. Determining the spatial relationship between the first calibration reference component and the second calibration reference component includes: The shape parameters of the connecting component are determined using the positional information between the first calibration reference component and the second calibration reference component measured by the sensor. The spatial relationship between the first calibration reference component and the second calibration reference component is determined based on the shape parameters of the connecting component.

10. The method according to claim 9, characterized in that, The connecting component is a telescopic rod, and the shape parameters of the connecting component include the length of the telescopic rod.

11. The method according to claim 10, characterized in that, The telescopic rod is a bendable telescopic rod, and the shape parameters of the connecting assembly also include the bending angle of the telescopic rod.

12. The method according to claim 1, characterized in that, The first robot is a single-armed robot or a multi-armed robot, and the second robot is a single-armed robot or a multi-armed robot.

13. The method according to claim 1, characterized in that, The first detection system and the second detection system are optical positioning systems, and the calibration reference is a reflective ball fixture.

14. The method according to claim 1, characterized in that, The first detection system and the second detection system are binocular cameras, and the calibration reference object is a component with a structured image.

15. A robot system, characterized in that, The robot system includes: The first robot is equipped with the first detection system; The second robot is equipped with a second detection system; The control device is configured to acquire a first spatial relationship between a first calibration reference component of the calibration reference object and the first robot through the first detection system, acquire a second spatial relationship between a second calibration reference component of the calibration reference object and the second robot through the second detection system, and determine the spatial relationship between the first calibration reference component and the second calibration reference component; determine the spatial relationship between the first robot and the second robot based on the first spatial relationship, the second spatial relationship, and the spatial relationship between the first calibration reference component and the second calibration reference component; wherein the calibration reference object further includes a connecting component, the first calibration reference component and the second calibration reference component are connected through the connecting component, the connecting component has a retractable mechanism, so that the first calibration reference component can be within the detection range of the first detection system and the second calibration reference component can be within the detection range of the second detection system.

16. The robot system according to claim 15, characterized in that, The first detection system is installed in the area of ​​the first robot that is not covered by a sterile hood, and the second detection system is installed in the area of ​​the second robot that is not covered by a sterile hood.

17. The robot system according to claim 16, characterized in that, The areas not covered by the sterile cover include the robot's base and / or columns.

18. The robot system according to claim 15, characterized in that, The first detection system is connected to the first robot via a first connection structure, and / or the second detection system is connected to the second robot via a second connection structure.

19. The robot system according to claim 15, characterized in that, The robot system also includes a calibration component that is independent of the first robot and the second robot, and the calibration component is provided with the calibration reference.

20. The robot system according to claim 19, characterized in that, The calibration component has a base that is movable relative to the first robot and the second robot.

21. The robot system according to claim 19 or 20, characterized in that, The calibration component includes a third detection system, and the first robot and the second robot are within the detection range of the third detection system. The control device is further configured to acquire a third spatial relationship between the first robot and the third detection system, and / or a fourth spatial relationship between the second robot and the third detection system, and to determine the spatial relationship between the first robot and the second robot based on the third spatial relationship and the second spatial relationship, or the fourth spatial relationship and the first spatial relationship.

22. The robot system according to claim 15, characterized in that, The first robot is a single-armed robot or a multi-armed robot, and the second robot is a single-armed robot or a multi-armed robot.

23. The robot system according to claim 15, characterized in that, The first detection system and the second detection system are optical positioning systems, and the calibration reference is a reflective ball fixture.

24. The robot system according to claim 15, characterized in that, The first detection system and the second detection system are binocular cameras, and the calibration reference object is a component with a structured image.

25. The robot system according to claim 15, characterized in that, The control device is further configured to determine the shape parameters of the connecting component using the spatial relationship between the first calibration reference component and the first robot and the spatial relationship between the second calibration reference component and the second robot under different orientations of the calibration reference object, and to determine the spatial relationship between the first calibration reference component and the second calibration reference component based on the shape parameters of the connecting component.

26. The robot system according to claim 15, characterized in that, The calibration reference also includes a sensor for measuring the positional relationship between the first calibration reference component and the second calibration reference component. The control device is further configured to determine the shape parameters of the connecting component using the positional relationship between the first calibration reference component and the second calibration reference component measured by the sensor, and to determine the spatial relationship between the first calibration reference component and the second calibration reference component based on the shape parameters of the connecting component.

27. The robot system according to claim 26, characterized in that, The connecting component is a telescopic rod, and the shape parameters of the connecting component include the length of the telescopic rod.

28. The robot system according to claim 27, characterized in that, The telescopic rod is a bendable telescopic rod, and the shape parameters of the connecting assembly also include the bending angle of the telescopic rod.

29. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 14.

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