Actuator pose determination method and device, electronic equipment and storage medium

Abstract

The invention provides an actuator pose determination method and device, electronic equipment and a storage medium. The method comprises the steps that firstly, reference point real-time information and temperature data of a tool arranged at the tail end of an actuator are acquired; then, according to the mapping model of the preset temperature and the tool deformation and the temperature data, the reference point real-time information is corrected, corrected reference point information is obtained, deformation errors of the tool caused by environment temperature changes are effectively counteracted, the problem of pose calculation deviation caused by temperature interference is solved, the accuracy of actuator pose determination is remarkably improved, and the accuracy of actuator pose determination is improved. Then, reference point reference information is determined according to geometric parameters of the actuator; and finally, calculating the corrected reference point information based on the reference point reference information to obtain pose information of the actuator. According to the technical scheme, pose determination can be achieved only through the simple tool containing the reference point in combination with conventional coordinates, temperature information collection and geometric operation, the hardware configuration cost is reduced while the precision is guaranteed, and economical efficiency and practicability are both considered.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to an actuator pose determination method, apparatus, electronic device, and storage medium. Background Technology

[0002] In fields such as medical robotics, industrial automation, and precision manufacturing, the pose control of robotic arm end effectors is a core technology. Taking robotic surgery as an example, the robotic arm end effector needs to achieve millimeter-level precision in positioning and orientation within a confined space to ensure the safety and accuracy of the surgical procedure.

[0003] In related technologies, high-precision sensors are installed to collect the position and attitude data of the end effector of mechanical equipment in real time. However, this method has drawbacks such as high cost of the mechanical equipment and susceptibility to environmental interference.

[0004] Therefore, how to provide a low-cost and high-precision actuator pose determination method has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides an actuator pose determination method, apparatus, electronic device, and storage medium to address the problems of high cost and susceptibility to environmental interference in related technologies for mechanical equipment.

[0006] In a first aspect, embodiments of this application provide an actuator pose determination method, including:

[0007] Obtain real-time information on the reference point and temperature data of the tooling set at the end of the actuator;

[0008] Based on the mapping model between preset temperature and tooling deformation and temperature data, the real-time information of the reference point is corrected to obtain the corrected reference point information; the mapping model between preset temperature and tooling deformation is obtained by analyzing the coordinate offset based on the historical information of the reference point at different temperatures.

[0009] Determine the reference point datum information based on the actuator's geometric parameters;

[0010] The position and pose information of the actuator are obtained by calculating the corrected reference point information based on the reference point reference information.

[0011] In one possible implementation, determining the reference point datum information based on the actuator's geometric parameters includes:

[0012] Perform kinematic modeling on the geometric parameters of the actuator to determine the reference coordinate system and reference pose of the actuator;

[0013] Based on the reference coordinate system, reference pose, and geometric information of the tooling, determine the reference point reference information of the tooling.

[0014] In one possible implementation, the reference point reference information includes reference point position information and reference point attitude information.

[0015] In one possible implementation, the pose information of the actuator is obtained by calculating the corrected reference point information based on the reference point reference information, including:

[0016] The tooling is calibrated based on the reference point information to obtain the relative position and attitude relationship between the reference point of the tooling and the actuator.

[0017] Based on the relationship between relative position and attitude, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information.

[0018] In one possible implementation, the tooling has three reference points; any two reference points are located in the horizontal plane where the actuator's end is located, symmetrically distributed along the x-axis, and centered on the actuator's end.

[0019] The corrected reference point information includes the first corrected coordinates of the first reference point, the second corrected coordinates of the second reference point, and the third corrected coordinates of the third reference point.

[0020] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the corrected reference point information to obtain the actuator's pose information, including:

[0021] Based on the relative position, the midpoint of the first and second corrected coordinates is calculated to determine the position information of the actuator;

[0022] Based on the attitude correlation, the vector pointing from the first corrected coordinate to the second corrected coordinate is calculated and determined as the unit direction vector of the actuator's x-axis;

[0023] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0024] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0025] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0026] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the corrected reference point information to obtain the actuator's pose information, including:

[0027] Based on the relative position, calculate the center coordinates of the equilateral triangle formed by the first, second, and third corrected coordinates to determine the position information of the actuator;

[0028] Based on the attitude correlation, the vector pointing from the center point to the first corrected coordinate is calculated to determine the unit direction vector of the actuator's x-axis;

[0029] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0030] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0031] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0032] Secondly, embodiments of this application provide an actuator pose determination device, comprising:

[0033] The acquisition module is used to acquire real-time information on the reference point and temperature data of the tooling set at the end of the actuator;

[0034] The processing module is used to correct the real-time information of the reference point based on the mapping model between the preset temperature and the tooling deformation and the temperature data, so as to obtain the corrected reference point information. The mapping model between the preset temperature and the tooling deformation is obtained by analyzing the coordinate offset based on the historical information of the reference point at different temperatures.

[0035] The determination module is used to determine the reference point datum information based on the geometric parameters of the actuator;

[0036] The determination module is also used to calculate the corrected reference point information based on the reference point reference information to obtain the actuator's pose information.

[0037] In one possible implementation, the determining module is specifically used for:

[0038] Perform kinematic modeling on the geometric parameters of the actuator to determine the reference coordinate system and reference pose of the actuator;

[0039] Based on the reference coordinate system, reference pose, and geometric information of the tooling, determine the reference point reference information of the tooling.

[0040] In one possible implementation, the reference point reference information includes reference point position information and reference point attitude information.

[0041] In one possible implementation, the determining module is specifically used for:

[0042] The tooling is calibrated based on the reference point information to obtain the relative position and attitude relationship between the reference point of the tooling and the actuator.

[0043] Based on the relationship between relative position and attitude, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information.

[0044] In one possible implementation, the tooling has three reference points; any two reference points are located in the horizontal plane where the actuator's end is located, symmetrically distributed along the x-axis, and centered on the actuator's end.

[0045] The corrected reference point information includes the first corrected coordinates of the first reference point, the second corrected coordinates of the second reference point, and the third corrected coordinates of the third reference point.

[0046] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information. The determination module is specifically used for:

[0047] Based on the relative position, the midpoint of the first and second corrected coordinates is calculated to determine the position information of the actuator;

[0048] Based on the attitude correlation, the vector pointing from the first corrected coordinate to the second corrected coordinate is calculated and determined as the unit direction vector of the actuator's x-axis;

[0049] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0050] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0051] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0052] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information. The determination module is specifically used for:

[0053] Based on the relative position, calculate the center coordinates of the equilateral triangle formed by the first, second, and third corrected coordinates to determine the position information of the actuator;

[0054] Based on the attitude correlation, the vector pointing from the center point to the first corrected coordinate is calculated to determine the unit direction vector of the actuator's x-axis;

[0055] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0056] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0057] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0058] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0059] The memory stores the instructions that the computer executes;

[0060] The processor executes computer-executable instructions stored in memory to implement the method as described in the first aspect or any of the above.

[0061] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method described in the first aspect or any of the above-mentioned methods.

[0062] Fifthly, embodiments of this application provide a computer program. The computer program product includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, it can implement the methods described in the first aspect or any of the above-mentioned methods.

[0063] The actuator pose determination method, apparatus, electronic device, and storage medium provided in this application first acquire real-time reference point information and temperature data of a tooling set at the actuator end. Then, based on a preset temperature-tooling deformation mapping model and temperature data, the real-time reference point information is corrected to obtain corrected reference point information. This effectively offsets the deformation error of the tooling caused by environmental temperature changes, solves the pose calculation deviation problem caused by temperature interference, and significantly improves the accuracy of actuator pose determination. Next, reference point datum information is determined based on the actuator's geometric parameters. Finally, the corrected reference point information is calculated based on the reference point datum information to obtain the actuator's pose information. This technical solution achieves pose determination using only a simple tooling containing reference points combined with conventional coordinate and temperature information acquisition and geometric calculations, reducing hardware configuration costs while ensuring accuracy, thus balancing economy and practicality. Attached Figure Description

[0064] 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.

[0065] Figure 1 A flowchart illustrating the actuator pose determination method provided in this application embodiment. Figure 1 ;

[0066] Figure 2 A flowchart illustrating the actuator pose determination method provided in this application embodiment. Figure 2 ;

[0067] Figure 3 This is a schematic diagram of the tooling structure provided in the embodiments of this application;

[0068] Figure 4 This is a schematic diagram showing the connection between the tooling and the actuator provided in the embodiments of this application;

[0069] Figure 5 This is a schematic diagram of the actuator pose determination device provided in the embodiments of this application;

[0070] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0071] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] Before introducing the embodiments of this application, the application background of the embodiments of this application will be explained first:

[0074] In fields such as medical robotics, industrial automation, and precision manufacturing, the pose control of robotic arm end effectors is a core technology. Taking robotic surgery as an example, robotic arm end effectors need to achieve millimeter-level precision in positioning and orientation within confined spaces to ensure the safety and accuracy of surgical procedures. For instance, in minimally invasive surgery, surgeons need to use real-time pose feedback from the robotic arm end effector to precisely control surgical instruments to enter specific locations within the patient's body and complete complex cutting and suturing operations. Furthermore, in industrial automation scenarios, robotic arm end effectors must maintain a precise spatial relationship with the workpiece to achieve high-precision assembly, welding, or inspection tasks.

[0075] However, traditional pose detection methods often rely on high-cost sensors (such as laser trackers and high-precision vision systems) or complex calibration processes, resulting in high mechanical equipment costs, complex deployment, and difficulty in obtaining high-precision pose information in real time in dynamic operation scenarios.

[0076] In related technologies, the pose determination of the end effector mainly relies on the following two types of schemes:

[0077] 1. Sensor-based direct measurement: This method involves acquiring the position and attitude data of the end effector in real time by installing high-precision sensors. While this approach offers high accuracy, it suffers from high equipment costs, complex installation, susceptibility to environmental interference, and the need for synchronous calibration of the sensors with the robotic arm, making it difficult to adapt to dynamic or complex environments.

[0078] 2. Indirect calculation based on kinematic models: The pose of the end effector is inferred from the joint angles of the robotic arm and the kinematic model of the mechanical device. This method does not require additional sensors, but it relies on the modeling accuracy and calibration results of the robotic arm itself. In practical applications, it is easily affected by mechanical errors and model simplification errors, resulting in deviations between the calculated results and the true values, making it difficult to meet the requirements of high-precision scenarios.

[0079] In addition, some existing technologies attempt to combine vision systems for pose detection, but this requires attaching specific markers to the end effector and relies on complex image processing algorithms, which have problems such as easy wear and tear of the markers and long computation time.

[0080] In summary, how to provide a low-cost and high-precision actuator pose determination method has become an urgent technical problem to be solved.

[0081] To address the technical problems existing in related technologies, the inventors of this application propose the following solution: Firstly, by setting a simple fixture with three reference points at the actuator end, actuator pose determination can be achieved without relying on expensive high-precision detection equipment, thus reducing hardware costs. Secondly, based on historical information of reference points at different temperatures, coordinate offsets are pre-analyzed to establish a mapping model between preset temperatures and fixture deformation. Real-time temperature data is used to correct the real-time information of the reference points, eliminating accuracy loss caused by temperature interference. Simultaneously, through kinematic modeling of the actuator's geometric parameters, a reference coordinate system and reference pose are determined. Combined with the fixture's geometric information, reference point reference information is obtained, and the relative position and attitude relationship between the reference points and the actuator is calibrated and solidified. Finally, based on the relative position and attitude relationship, concise geometric algorithms such as midpoint calculation and vector analysis are used to calculate the corrected reference point information, accurately deriving the actuator's position information and attitude matrix. This achieves high-precision pose determination with low-cost hardware configuration, effectively balancing cost and accuracy requirements.

[0082] The parts not described in detail are disclosed in the following embodiments.

[0083] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0084] It is worth noting that the application fields of the methods, devices, electronic equipment and storage media in this application are not limited.

[0085] The subject of this application is an electronic device, which may specifically be a server, terminal device, etc.

[0086] Figure 1 A flowchart illustrating the actuator pose determination method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method may include the following steps:

[0087] Step 11: Obtain real-time information on the reference point and temperature data of the tooling set at the end of the actuator.

[0088] In this step, the pre-set tooling is first fixedly installed on the end of the actuator using assembly structures such as slots and snaps to ensure that there is no relative displacement between the tooling and the actuator, thus providing a stable foundation for subsequent data acquisition and calculation.

[0089] The tooling surface is equipped with three reference points, each marked with a laser-etched spherical marker to facilitate accurate identification of the serial number and coordinates by the vision sensor. The vision sensor collects real-time three-dimensional coordinate data of the three reference points in the robotic arm's base coordinate system, providing real-time reference point information. Simultaneously, a miniature temperature sensor is embedded within the tooling to obtain temperature data.

[0090] Step 12: Based on the preset mapping model of temperature and tooling deformation and temperature data, correct the real-time information of the reference point to obtain the corrected reference point information.

[0091] The mapping model between preset temperature and tooling deformation is obtained by analyzing the coordinate offset based on historical reference point information at different temperatures.

[0092] In this step, after obtaining the real-time temperature data, it is input into the preset temperature and tooling deformation mapping model to calculate the deformation offset of each reference point in the x, y, and z axes. Then, the real-time information of the reference point is subtracted from the corresponding offset to complete the correction of the real-time information of the reference point, thereby obtaining the corrected reference point information and eliminating the deviation in actuator pose determination caused by tooling deformation.

[0093] The mapping model between preset temperature and tooling deformation is pre-calibrated through experiments. The process is as follows: the actuator with tooling is placed in a temperature-controlled environmental chamber, the temperature range is set to 10℃-60℃, and each 5℃ is a calibration node. At each temperature node, the standard coordinates of three reference points are collected by a laser tracker and compared with the coordinates of the reference point at room temperature of 25℃. The coordinate offset of each reference point at different temperatures is calculated, the correspondence between temperature value and coordinate offset is established, and the mapping model is obtained by fitting.

[0094] Step 13: Determine the reference point datum information based on the actuator's geometric parameters.

[0095] In this step, the geometric parameters of the actuator are analyzed, and a kinematic model of the actuator is constructed based on the principles of robot kinematics. This clarifies the reference point information, providing a theoretical basis for subsequent calibration and pose calculation. The reference point information is the core link between the actuator and the tooling reference point, and its accuracy directly affects the accuracy of the final pose calculation result.

[0096] Among them, the geometric parameters of the actuator include key structural parameters such as the length of the actuator, the position of the end effector clamping center, and the range of joint rotation angles.

[0097] Specifically, step 13 may include the following implementation methods:

[0098] Step 1: Perform kinematic modeling of the actuator's geometric parameters to determine the actuator's reference coordinate system and reference pose.

[0099] For example, the center of the robotic arm's base is set as the origin of the reference coordinate system, with the horizontal direction to the right as the positive x-axis, the vertical direction upward as the positive z-axis, and the y-axis determined by the right-hand rule. The reference pose is defined as follows: the center of the actuator's end effector gripping center is the pose reference point, the x-axis is the direction of the actuator's gripping opening, the z-axis is the actuator's working forward direction, and the y-axis is an axis that is orthogonal to both the x-axis and z-axis, forming a right-hand coordinate system.

[0100] Step 2: Determine the reference point reference information of the tooling based on the reference coordinate system, reference pose, and geometric information of the tooling.

[0101] The reference point information includes the reference point position information and the reference point attitude information.

[0102] The geometric information of the aforementioned tooling includes the distribution of reference points, the distance between reference points, and the dimensions of the assembly interface between the tooling and the actuator. The reference point position information refers to the inherent theoretical coordinates of the three reference points in the reference coordinate system.

[0103] For example, if the tooling adopts an x-axis symmetrical distribution design, and reference points 1 and 2 are symmetrical about the center of the actuator end, both 50mm away from the center of the end, and reference point 3 is located on the y-axis and 30mm away from the center of the end, then in the reference coordinate system, the position information of reference point 1 is (-50, 0, 0), reference point 2 is (50, 0, 0), and reference point 3 is (0, 30, 0).

[0104] Reference point attitude information refers to the relationship between the reference point and the actuator's reference pose. For example, the line connecting reference point 1 and reference point 2 is parallel to the x-axis of the reference pose, and the plane formed by reference points 1, 2, and 3 is parallel to the xOy plane of the reference coordinate system, with its normal direction consistent with the z-axis of the reference pose. Through these relationships, a fixed connection between the reference point and the actuator's reference pose is established.

[0105] Step 14: Calculate the corrected reference point information based on the reference point datum information to obtain the actuator's pose information.

[0106] In this step, the reference point baseline information serves as the theoretical basis, while the corrected reference point information is real-time data after environmental compensation. By combining the two and employing a preset geometric algorithm, the actuator pose can be derived from the reference point data. Utilizing the fixed correlation between the reference point and the actuator baseline pose, the corrected real-time position of the reference point is mapped to the actuator's end-effector pose. This ensures the rigor of the calculation while also eliminating environmental interference through the corrected reference point information, thus improving the accuracy of pose calculation.

[0107] For example, in medical robot scenarios, this step can convert the real-time coordinate data of the reference point into the precise pose of the actuator, ensuring that the robotic arm actuator of the medical robot can accurately align with the position of the medical operation to be performed.

[0108] This application provides a method for determining the pose of an actuator. The method first acquires real-time reference point information and temperature data of a tooling fixture set at the actuator's end effector. Then, based on a preset mapping model between temperature and tooling deformation and the temperature data, the real-time reference point information is corrected to obtain corrected reference point information. This effectively offsets the deformation error of the tooling caused by changes in ambient temperature, solves the problem of pose calculation deviation caused by temperature interference, and significantly improves the accuracy of actuator pose determination. Next, reference point datum information is determined based on the actuator's geometric parameters. Finally, the corrected reference point information is calculated based on the reference point datum information to obtain the actuator's pose information. This technical solution achieves pose determination using only a simple tooling fixture containing reference points, combined with conventional coordinate and temperature information acquisition and geometric calculations. It reduces hardware configuration costs while ensuring accuracy, balancing economy and practicality.

[0109] Based on the above embodiments, Figure 2 A flowchart illustrating the actuator pose determination method provided in this application embodiment. Figure 2 ,like Figure 2 As shown, step 14 may include the following steps:

[0110] Step 21: Calibrate the tooling according to the reference point information to obtain the relative position and attitude relationship between the reference point of the tooling and the actuator.

[0111] The purpose of the calibration process is to verify and solidify the accuracy of the reference point datum information, eliminating minor errors that may occur during tooling assembly. The specific calibration method is as follows: the actuator with the tooling is fixed on the calibration platform, the actual coordinates of three reference points are collected using a laser tracker, compared with the theoretical coordinates in the reference point datum information, and the coordinate deviation is calculated.

[0112] If the deviation is within the preset threshold (e.g., ±0.005mm), the relative positional relationship between the reference point and the actuator is directly confirmed (i.e., the relative distance and orientation corresponding to the actual coordinates and theoretical coordinates). If the deviation exceeds the threshold, the installation position of the tooling is adjusted, and the data collection and comparison are repeated until the deviation meets the requirements, and finally the relative positional and attitude relationships between the reference point and the actuator are solidified.

[0113] Specifically, Figure 3 This is a schematic diagram of the tooling structure provided in the embodiments of this application, such as... Figure 3 As shown, the reference points for the tooling are three small dots. Figure 4This is a schematic diagram showing the connection between the tooling and the actuator provided in the embodiments of this application, as shown below. Figure 4 As shown, the end of the actuator 41 is connected to the tooling 42 via a slot. The sensor 43 is used to collect the coordinate information of the tooling 42. Any two reference points are located in the horizontal plane where the end of the actuator is located, symmetrically distributed along the x-axis, and centered on the end of the actuator.

[0114] Step 22: Based on the relationship between relative position and attitude, a geometric algorithm is used to calculate the corrected reference point information to obtain the actuator's pose information.

[0115] The corrected reference point information includes the first corrected coordinates of the first reference point, the second corrected coordinates of the second reference point, and the third corrected coordinates of the third reference point.

[0116] Specifically, step 22 can also be implemented in the following ways:

[0117] Step 1: Based on the relative position, calculate the midpoint of the first and second corrected coordinates to determine the position information of the actuator.

[0118] Under this implementation, based on the relative position relationship, it can be seen that the first reference point and the second reference point are symmetrical about the center of the actuator end. Therefore, the midpoint of the first corrected coordinate and the second corrected coordinate is the real-time position of the actuator end in the reference coordinate system.

[0119] For example, if the first corrected coordinates are (149.98, 199.99, 299.99) and the second corrected coordinates are (250.02, 200.01, 300.01), then the calculated actuator position information is (200.00, 200.00, 300.00).

[0120] Step 2: Based on the attitude correlation, calculate the vector pointing from the first corrected coordinate to the second corrected coordinate, and determine it as the unit direction vector of the actuator's x-axis.

[0121] In this implementation, based on the attitude correlation, the line connecting the first reference point and the second reference point is parallel to the x-axis of the actuator. Therefore, the original vector pointing from the first corrected coordinate to the second corrected coordinate is first calculated, and then the vector is normalized to obtain the unit direction vector of the actuator's x-axis.

[0122] For example, if the first corrected coordinates are (149.98, 199.99, 299.99) and the second corrected coordinates are (250.02, 200.01, 300.01), then the original vector pointing from the first corrected coordinates to the second corrected coordinates is (100.04, 0.02, 0.02), with a magnitude of approximately 100.04 mm. After normalization, the unit direction vector of the x-axis is approximately (1.00, 0.0002, 0.0002), which is approximately (1.00, 0.00, 0.00).

[0123] Step 3: Based on the attitude correlation, calculate the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate, and then determine the unit direction vector of the actuator's z-axis.

[0124] In this implementation, based on the attitude correlation, the plane formed by the first reference point, the second reference point, and the third reference point is parallel to the xOy plane of the actuator's reference coordinate system, and its normal direction is consistent with the actuator's z-axis direction. The normal direction vector of the plane formed by the first, second, and third corrected coordinates is calculated, and the normal direction vector is normalized to obtain the actuator's z-axis unit direction vector.

[0125] Step 4: Based on the attitude correlation, and based on the x-axis unit direction vector, z-axis unit direction vector, and right-hand rule, determine the y-axis unit direction vector of the actuator.

[0126] In this implementation, based on the attitude correlation, the x-axis, y-axis, and z-axis of the actuator satisfy the right-hand coordinate system rule. Therefore, the unit direction vector of the y-axis can be obtained by the cross product of the unit direction vector of the z-axis and the unit direction vector of the x-axis.

[0127] For example, if the x-axis unit direction vector is (1.00, 0.00, 0.00) and the z-axis unit direction vector is (0.00, 0.00, 1.00), then the cross product of the y-axis unit direction vector is (0.00×0.00-1.00×0.00, 1.00×1.00-0.00×0.00, 0.00×0.00-0.00×1.00)=(0.00, 1.00, 0.00). The x-axis unit direction vector, y-axis unit direction vector, and z-axis unit direction vector constitute a standard right-handed coordinate system.

[0128] Step 5: Determine the actuator's attitude matrix based on the x-axis unit direction vector, y-axis unit direction vector, and z-axis unit direction vector.

[0129] In this implementation, the actuator's attitude matrix is ​​a 3×3 orthogonal matrix, with its column vectors being the unit direction vectors of the x-axis, y-axis, and z-axis, respectively.

[0130] For example, the unit direction vector of the x-axis is The unit direction vector of the y-axis is The unit direction vector of the z-axis is Then the attitude matrix R is:

[0131]

[0132] Specifically, step 22 can also be implemented in the following ways:

[0133] Step 1: Based on the relative position, calculate the center coordinates of the equilateral triangle formed by the first, second, and third corrected coordinates to determine the position information of the actuator.

[0134] In this implementation, based on the relative positional relationship, the geometric center of the equilateral triangle formed by the three reference points coincides perfectly with the center of the actuator end effector. Therefore, the position information of the actuator can be obtained by calculating the geometric center of the three corrected coordinates.

[0135] Step 2: Based on the attitude correlation, calculate the vector pointing from the center point to the first corrected coordinate corresponding to the center coordinate, and determine the unit direction vector of the actuator's x-axis.

[0136] In this implementation, based on the attitude correlation, the direction from the center of the equilateral triangle to the first reference point is consistent with the positive x-axis direction of the actuator. First, the original vector pointing from the center point to the first corrected coordinate is calculated, and then this vector is normalized to obtain the unit x-axis direction vector of the actuator.

[0137] Step 3: Based on the attitude correlation, calculate the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate, and then determine the unit direction vector of the actuator's z-axis.

[0138] In this implementation, based on the attitude correlation, the plane containing the equilateral triangle formed by the three reference points is perpendicular to the actuator's z-axis. Therefore, the normal direction of this plane is the actuator's z-axis direction. After normalizing the normal direction vector, the actuator's z-axis unit direction vector is obtained.

[0139] Step 4: Based on the attitude correlation, and based on the x-axis unit direction vector, z-axis unit direction vector, and right-hand rule, determine the y-axis unit direction vector of the actuator.

[0140] Step 5: Determine the actuator's attitude matrix based on the x-axis unit direction vector, y-axis unit direction vector, and z-axis unit direction vector.

[0141] It is worth noting that the reference points for tooling are not limited to three and can be adjusted according to the actual application scenario.

[0142] In one possible implementation, the tooling has four reference points. Any two reference points are located within the horizontal plane of the actuator's end effector and are symmetrically distributed along the x-axis. The other reference points are located within the horizontal plane of the actuator's end effector and are symmetrically distributed along the y-axis. The corrected reference point information for these four reference points includes the fourth corrected coordinate of the fourth reference point, the fifth corrected coordinate of the fifth reference point, and the sixth corrected coordinate of the sixth reference point. With four reference points, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the corrected reference point information to obtain the actuator's pose information, as follows:

[0143] Based on the relative positional relationship, the four reference points are distributed symmetrically around the actuator end. The midpoints between the fourth and fifth reference points, and between the sixth and seventh reference points, are calculated. The average coordinates of the two midpoints are taken as the actuator's position information, further improving the accuracy and stability of the position calculation. For example, with the fourth corrected coordinates (140, 200, 300) and the fifth corrected coordinates (260, 200, 300), the first midpoint between the fourth and fifth corrected coordinates is (200, 200, 300); with the sixth corrected coordinates (200, 170, 300) and the seventh corrected coordinates (200, 230, 300), the second midpoint between the sixth and seventh corrected coordinates is (200, 200, 300). The final actuator position is the average of the first and second midpoints, which is (200, 200, 300).

[0144] Based on the attitude correlation, the vector pointing from the fourth reference point to the fifth reference point is calculated and normalized to obtain the unit direction vector of the actuator x-axis.

[0145] Calculate and normalize the vector pointing from the sixth reference point to the seventh reference point to obtain the unit direction vector of the actuator's y-axis;

[0146] Based on the right-hand rule, the z-axis unit direction vector of the actuator (i.e., the normal direction of the plane containing the four reference points) is obtained by the cross product of the x-axis unit direction vector and the y-axis unit direction vector.

[0147] Using the unit direction vectors of the x, y, and z axes as column vectors, construct the actuator's attitude matrix, and combine it with the position information to obtain the actuator's pose information.

[0148] This application provides an actuator pose determination method. First, the tooling is calibrated based on reference point information to obtain the relative position and attitude relationship between the tooling's reference point and the actuator. This provides a precise basis for actuator pose calculation and reduces the impact of assembly errors. Then, based on the relative position and attitude relationship, a geometric algorithm is used to calculate the corrected reference point information. A simple calculation method is used to quickly derive the accurate actuator pose, improving the accuracy of the actuator pose determination method.

[0149] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0150] Figure 5 This is a schematic diagram of the actuator pose determination device provided in an embodiment of this application. Figure 5 As shown, the device includes:

[0151] The acquisition module 51 is used to acquire real-time information of the reference point and temperature data of the tooling set at the end of the actuator;

[0152] The processing module 52 is used to correct the real-time information of the reference point based on the mapping model between the preset temperature and the tooling deformation and the temperature data, so as to obtain the corrected reference point information; the mapping model between the preset temperature and the tooling deformation is obtained by analyzing the coordinate offset based on the historical information of the reference point at different temperatures.

[0153] The determination module 53 is used to determine the reference point datum information based on the geometric parameters of the actuator;

[0154] The determination module 53 is also used to calculate the corrected reference point information based on the reference point reference information to obtain the actuator's pose information.

[0155] In one possible implementation, the determining module 53 is specifically used for:

[0156] Perform kinematic modeling on the geometric parameters of the actuator to determine the reference coordinate system and reference pose of the actuator;

[0157] Based on the reference coordinate system, reference pose, and geometric information of the tooling, determine the reference point reference information of the tooling.

[0158] In one possible implementation, the reference point reference information includes reference point position information and reference point attitude information.

[0159] In one possible implementation, the determining module 53 is specifically used for:

[0160] The tooling is calibrated based on the reference point information to obtain the relative position and attitude relationship between the reference point of the tooling and the actuator.

[0161] Based on the relationship between relative position and attitude, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information.

[0162] In one possible implementation, the tooling has three reference points; any two reference points are located in the horizontal plane where the actuator's end is located, symmetrically distributed along the x-axis, and centered on the actuator's end.

[0163] The corrected reference point information includes the first corrected coordinates of the first reference point, the second corrected coordinates of the second reference point, and the third corrected coordinates of the third reference point.

[0164] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information. The determination module 53 is specifically used for:

[0165] Based on the relative position, the midpoint of the first and second corrected coordinates is calculated to determine the position information of the actuator;

[0166] Based on the attitude correlation, the vector pointing from the first corrected coordinate to the second corrected coordinate is calculated and determined as the unit direction vector of the actuator's x-axis;

[0167] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0168] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0169] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0170] In one possible implementation, based on the relative position and attitude correlation, a geometric algorithm is used to calculate the correction reference point information to obtain the actuator's pose information. The determination module 53 is specifically used for:

[0171] Based on the relative position, calculate the center coordinates of the equilateral triangle formed by the first, second, and third corrected coordinates to determine the position information of the actuator;

[0172] Based on the attitude correlation, the vector pointing from the center point to the first corrected coordinate is calculated to determine the unit direction vector of the actuator's x-axis;

[0173] Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the unit direction vector of the actuator's z-axis is determined.

[0174] Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule.

[0175] The attitude matrix of the actuator is determined based on the unit direction vectors of the x-axis, y-axis, and z-axis.

[0176] The apparatus provided in this application embodiment can be used to execute the determination method in any of the above embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0177] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented in software via processing element calls, while others are implemented in hardware. Additionally, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through the integrated logic circuits in the hardware of the processor element or through software instructions.

[0178] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 6 As shown, the electronic device may include: a processor 61, a memory 62, and computer program instructions stored in the memory 62 and executable on the processor 61. When the processor 61 executes the computer program instructions, it implements the method provided in any of the foregoing embodiments.

[0179] Optionally, the various components of the electronic device can be connected via a system bus.

[0180] The memory 62 can be a separate memory unit or a memory unit integrated into the processor 61. The number of processors 61 can be one or more.

[0181] It should be understood that processor 61 can be a Central Processing Unit (CPU), or other general-purpose processor 61, digital signal processor 61 (DSP), application-specific integrated circuit (ASIC), etc. The general-purpose processor 61 can be a microprocessor 61, or any conventional processor 61. The steps of the method disclosed in this application can be directly manifested as being executed by the hardware processor 61, or being executed by a combination of hardware and software modules within the processor 61.

[0182] The system bus can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Memory 62 may include random access memory (RAM) 62, and may also include non-volatile memory (NVM) 62, such as at least one disk storage device 62.

[0183] All or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable memory 62. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned memory 62 (storage medium) includes: read-only memory 62 (ROM), RAM, flash memory 62, hard disk, solid-state hard disk, magnetic tape, floppy disk, optical disk, and any combination thereof.

[0184] The electronic device provided in this application embodiment can be used to execute the method provided in any of the above method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0185] This application provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the above-described method.

[0186] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0187] Optionally, a readable storage medium can be coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. Both the processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components within the device.

[0188] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium, and the at least one processor can implement the above-described method when executing the computer program.

[0189] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for determining the pose of an actuator, characterized in that, include: Obtain real-time information on the reference point and temperature data of the tooling set at the end of the actuator; Based on the preset temperature and tooling deformation mapping model and the temperature data, the real-time information of the reference point is corrected to obtain the corrected reference point information; the preset temperature and tooling deformation mapping model is obtained by analyzing the coordinate offset based on the historical information of the reference point at different temperatures. The reference point datum information is determined based on the geometric parameters of the actuator; The position information of the actuator is obtained by calculating the corrected reference point information based on the reference point reference information.

2. The method according to claim 1, characterized in that, The step of determining the reference point datum information based on the geometric parameters of the actuator includes: Perform kinematic modeling on the geometric parameters of the actuator to determine the reference coordinate system and reference pose of the actuator; The reference point reference information of the tooling is determined based on the reference coordinate system, the reference pose, and the geometric information of the tooling.

3. The method according to claim 2, characterized in that, The reference point information includes reference point position information and reference point attitude information.

4. The method according to claim 2, characterized in that, The step of calculating the corrected reference point information based on the reference point reference information to obtain the pose information of the actuator includes: The tooling is calibrated based on the reference point information to obtain the relative position and attitude relationship between the reference point of the tooling and the actuator. Based on the relative position and the attitude correlation, a geometric algorithm is used to calculate the corrected reference point information to obtain the pose information of the actuator.

5. The method according to claim 4, characterized in that, The tooling has three reference points; any two reference points are located in the horizontal plane where the end of the actuator is located, symmetrically distributed along the x-axis, and centered on the end of the actuator. The corrected reference point information includes the first corrected coordinates of the first reference point, the second corrected coordinates of the second reference point, and the third corrected coordinates of the third reference point.

6. The method according to claim 5, characterized in that, The step of calculating the pose information of the actuator by using a geometric algorithm based on the relative position and the attitude correlation includes: Based on the relative position, the midpoint of the first corrected coordinate and the second corrected coordinate is calculated to determine the position information of the actuator; Based on the attitude correlation, the vector pointing from the first corrected coordinate to the second corrected coordinate is calculated and determined as the x-axis unit direction vector of the actuator; Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the z-axis unit direction vector of the actuator is determined. Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule. The attitude matrix of the actuator is determined based on the x-axis unit direction vector, the y-axis unit direction vector, and the z-axis unit direction vector.

7. The method according to claim 5, characterized in that, The step of calculating the pose information of the actuator by using a geometric algorithm based on the relative position and the attitude correlation includes: Based on the relative position, the center coordinates of the equilateral triangle formed by the first corrected coordinates, the second corrected coordinates, and the third corrected coordinates are calculated to determine the position information of the actuator; Based on the attitude correlation, the vector pointing from the center point corresponding to the center coordinate to the first corrected coordinate is calculated, and the x-axis unit direction vector of the actuator is determined. Based on the attitude correlation, the normal direction vector of the plane formed by the first corrected coordinate, the second corrected coordinate, and the third corrected coordinate is calculated, and then the z-axis unit direction vector of the actuator is determined. Based on the attitude correlation, the y-axis unit direction vector of the actuator is determined based on the x-axis unit direction vector, the z-axis unit direction vector, and the right-hand rule. The attitude matrix of the actuator is determined based on the x-axis unit direction vector, the y-axis unit direction vector, and the z-axis unit direction vector.

8. An actuator pose determination device, characterized in that, include: The acquisition module is used to acquire real-time information on the reference point and temperature data of the tooling set at the end of the actuator; The processing module is used to correct the real-time information of the reference point according to the preset temperature and tooling deformation mapping model and the temperature data to obtain corrected reference point information; the preset temperature and tooling deformation mapping model is obtained by analyzing the coordinate offset based on the historical information of the reference point at different temperatures. The determination module is used to determine reference point datum information based on the geometric parameters of the actuator; The determining module is further configured to calculate the corrected reference point information based on the reference point reference information to obtain the pose information of the actuator.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

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