CN113771096A - Method and device for processing pose information of mechanical arm - Google Patents
Method and device for processing pose information of mechanical arm Download PDFInfo
- Publication number
- CN113771096A CN113771096A CN202111317044.3A CN202111317044A CN113771096A CN 113771096 A CN113771096 A CN 113771096A CN 202111317044 A CN202111317044 A CN 202111317044A CN 113771096 A CN113771096 A CN 113771096A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- pose information
- coordinate system
- acquiring
- marker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method and a device for processing pose information of a mechanical arm. Wherein, the method comprises the following steps: acquiring sampling data of the mechanical arm in the operation process; judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; and under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment. The invention solves the technical problem that the measurement error in the related technology can bring adverse effect to the accuracy of the navigation system.
Description
Technical Field
The invention relates to the field of surgical navigation systems, in particular to a method and a device for processing pose information of a mechanical arm.
Background
The navigation system for the orthopedic medical operation is generally composed of a vision device, a mechanical arm, a marker and the like. The operator can realize high-precision operation and reduce the interference of operation artificial factors by the aid of a navigation system. Because a series of preparation work needs to be carried out on the mechanical arm before the operation, the measurement errors can bring adverse effects to the accuracy of a navigation system due to the interference of various complex factors such as different places for each operation, different equipment placing positions, height adjustment of an operating table, patient fat and thin and lying postures according to different people, operation types and the like, for example, the inaccurate pose information is caused.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for processing pose information of a mechanical arm, which are used for at least solving the technical problem that measurement errors in the related technology can bring adverse effects to the accuracy of a navigation system.
According to an aspect of the embodiments of the present invention, there is provided a method for processing pose information of a robot arm, including: acquiring sampling data of the mechanical arm in the operation process; judging whether the sampling times corresponding to the sampling data are larger than or equal to a preset time threshold value or not; and under the condition that the sampling times are greater than or equal to the preset times threshold, processing the sampling data to obtain the pose information of the visual equipment in a base coordinate system and the pose information of the marker in a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
Optionally, the method further comprises: and under the condition that the sampling times are smaller than the preset times threshold, storing and continuously acquiring the sampling data.
Optionally, acquiring sampling data of the mechanical arm in the operation process includes: acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and acquiring pose information of the tail end of the mechanical arm under a base coordinate system.
Optionally, acquiring pose information of the marker on the end of the mechanical arm in a camera coordinate system includes: acquiring spatial three-dimensional position information of the marker; and obtaining pose information of the tail end of the mechanical arm under the camera coordinate system according to the space three-dimensional position information.
Optionally, acquiring pose information of the tail end of the mechanical arm in the base coordinate system includes: acquiring the angle of each joint of the mechanical arm; and obtaining pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
Optionally, processing the sampling data to obtain pose information of the visual device in the base coordinate system and pose information of the marker in the end coordinate system of the robot arm, including: and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment in the base coordinate system and the pose information of the marker in the mechanical arm tail end coordinate system.
Optionally, before acquiring sampling data of the mechanical arm during operation, the method further includes: and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude.
According to another aspect of the embodiments of the present invention, there is also provided a device for processing pose information of a robot arm, including: the acquisition module is used for acquiring sampling data of the mechanical arm in the operation process; the judging module is used for judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; and the first processing module is used for processing the sampling data to obtain the pose information of the visual equipment in a base coordinate system and the pose information of the marker in a terminal coordinate system of the mechanical arm under the condition that the sampling frequency is greater than or equal to the preset frequency threshold, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is executed to execute the processing method of the pose information of the robot arm described above when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the method for processing pose information of a robot arm described in the above.
In the embodiment of the invention, sampling data of the mechanical arm in the operation process is acquired; judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment, and when the sampling frequency is greater than or equal to the preset frequency threshold, processing the sampling data obtained in the operation process of the mechanical arm to obtain the pose information of the visual equipment under the base coordinate system and the pose information of the marker under the terminal coordinate system of the mechanical arm, so that the aim of accurately calculating various pose information corresponding to the mechanical arm is fulfilled, the full-space information perception of the mechanical arm is realized, the measurement error is reduced, the precision and the accuracy of the calculation result are improved, and the technical effect of the reliability of a navigation system is improved, and further, the technical problem that the accuracy of a navigation system is adversely affected due to measurement errors in the related art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a processing method of pose information of a robot arm according to an embodiment of the present invention;
fig. 2 is a flowchart of a processing method of pose information of a robot arm according to an alternative embodiment of the present invention;
fig. 3 is a schematic diagram of a processing apparatus of pose information of a robot arm according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, an embodiment of a method for processing pose information of a robot arm is provided, it should be noted that the steps illustrated in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different from that here.
Fig. 1 is a flowchart of a method of processing pose information of a robot arm according to an embodiment of the present invention, and as shown in fig. 1, the method includes the steps of:
step S102, acquiring sampling data of the mechanical arm in the operation process;
the sampled data includes, but is not limited to, pose information, wherein the pose information includes, but is not limited to, a position, a pose, etc. of the target object.
In an alternative embodiment, acquiring sampling data of the mechanical arm during operation comprises: acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and acquiring pose information of the tail end of the mechanical arm under the base coordinate system. In the specific implementation process, the spatial three-dimensional position information of the marker can be acquired, and the pose information of the tail end of the mechanical arm in the camera coordinate system is acquired according to the spatial three-dimensional position information, so that the pose information of the marker on the tail end of the mechanical arm in the camera coordinate system can be accurately acquired. In addition, the angle of each joint of the mechanical arm can be acquired, and the pose information of the tail end of the mechanical arm under the base coordinate system can be acquired according to the angle of each joint, so that the pose information of the tail end of the mechanical arm under the base coordinate system can be accurately acquired.
In an optional embodiment, before acquiring sampling data of the mechanical arm during operation, the method further comprises: and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude. Through the implementation mode, the accuracy of the sampling data of the mechanical arm in the operation process is improved by controlling the motion angle and/or the motion amplitude of the mechanical arm.
Step S104, judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not;
the preset number threshold may be set according to a specific application scenario, for example, the preset number threshold may be set to 5 times, 10 times, 20 times, and the like.
And S106, under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment in a base coordinate system and the pose information of the marker in a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
In an optional implementation manner, the processing the sample data to obtain pose information of the vision device in the base coordinate system and pose information of the marker in the end coordinate system of the robot arm includes: and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a mechanical arm tail end coordinate system.
Such visual devices include, but are not limited to, laser meters, cameras, and the like. It should be noted that the mechanical arm and the vision device are both devices in the surgical navigation system.
In an optional embodiment, the method further comprises: and under the condition that the sampling times are smaller than a preset time threshold, storing and continuously acquiring the sampling data.
The application scenarios of the method include but are not limited to surgical navigation systems and the like.
Through the steps, when the sampling frequency is greater than or equal to the preset frequency threshold value, the sampling data acquired by the mechanical arm in the operation process can be processed to obtain the pose information of the visual equipment under the base coordinate system and the pose information of the marker under the terminal coordinate system of the mechanical arm, and the aim of accurately calculating various pose information corresponding to the mechanical arm is fulfilled, so that the full-space information perception of the mechanical arm is realized, the measurement error is reduced, the precision and the accuracy of the calculation result are improved, the technical effect of improving the reliability of the navigation system is further improved, and the technical problem that the measurement error in the related technology can bring adverse effects to the precision of the navigation system is further solved.
An alternative embodiment of the invention is described in detail below.
Fig. 2 is a flowchart of a method for processing pose information of a robot arm according to an alternative embodiment of the present invention, and as shown in fig. 2, the robot arm is first moved so that a marker fixed at the end of the robot arm is located in a working range observable by a vision device (laser measuring instrument), preferably at the edge of a visible range, then three-dimensional position information of three target balls on a marker plate is obtained by the vision device, and a coordinate system, i.e., a spatial pose matrix at the marker is determined by three points in the space
Simultaneously recording the angle of each joint of the mechanical arm at the same time
And the space pose matrix of the tail end of the mechanical arm under the world coordinate system at the moment is calculated through forward kinematics of the mechanical arm
. Then the mechanical arm moves towards a point which is farthest away from the current point in the working range of the vision equipment, and the joint angle at the moment are recorded after the mechanical arm arrives
. The linear distance between a point defining the edge of a certain workspace in the visual range and the point farthest from it in the visual range is called the motion amplitude. When the motion amplitude is larger, the proportion of various adverse factors such as error fluctuation and the like introduced by the vision equipment is reduced to the minimum, so that the accuracy and the precision of the calculation result are improved. Several groups of results are obtained in sequence by moving the mechanical arm, and then the results are calculated
To obtain
And so on.
It should be noted that, because the conventional camera has no distance information, the internal reference and the external reference of the camera are obtained by shooting the marking plate for multiple times and then the position of the target distance camera is calculated, the result is not accurate, and therefore, the final hand-eye calibration result is not accurate due to the introduction of the measurement error.
In the selection of the destination of the mechanical arm terminal, the traditional method is any point, and no optimization concept exists. The embodiment of the invention is based on calculation precision optimization, and proposes that a point which is as far away from the last point location as possible is selected in a working space of the visual equipment to acquire data, namely the motion amplitude is as large as possible. Because the measurement error introduced by the measurement accuracy of the vision equipment, the environment and the like is basically fluctuated in a specific small range every time, when the amplitude of the two-time movement of the mechanical arm is larger, the proportion of the error is smaller, namely, the adverse effect of the error introduced by various calculation measurements and the like on the accuracy of a calculation result is reduced as much as possible. And then, starting hand-eye calibration calculation, wherein in each two experiments, the marker is fixed at the tail end of the mechanical arm in a physical linkage mode, so that the situation that no actual deviation displacement occurs between the marker and the mechanical arm between two calibration actions can be presumed, namely:
this gives:
the above formula can be simplified into
Form (a), wherein:
First, a rotation matrix is transformed by a Rodrigues transform
And
conversion to a rotation vector:
then, the rotation vector is normalized:
representing the attitude change using the modified rodgers parameter:
calculating an initial rotation vector:
each time the mechanical arm moves, a rotation vector is obtained,
always singular, requiring at least two sets of motion data to solve for a unique solution by least squares or SVD
. Then pass through
Find out
。
Wherein the content of the first and second substances,
for antisymmetric operation, a three-dimensional vector is assumed
The antisymmetric matrix is:
from this, a rotation vector can be obtained:
and calculating a translation vector, namely position information, by a least square method:
finally, the following is obtained:
the subscripts 12 and 23 in the formula indicate the two sets of motion data used for calibration, e.g.,
rotation matrix representing a first set of movements consisting of a first and a second motion
The corresponding rotating shaft is provided with a rotating shaft,
rotation matrix representing a second set of movements consisting of a second and a third motion
A corresponding axis of rotation.
When in solution, a least square method is adopted, and the coefficient matrix of the equation is solved by using two groups of motion data as follows:
it can be seen from the coefficient matrix that the larger the angle between the rotation axes of the two movements, the closer the coefficient matrix is to being linearly independent, which means the more accurate the result is. It can be concluded therefrom that the larger the angle between the axes of rotation of the two movements, the better.
In addition, the rotation error can be expressed as:
the translation error can be expressed as:
the denominators of both error formulas have
Therefore, the larger the rotation angle of each movement, the higher the calibration accuracy.
Therefore, in the moving process of the mechanical arm, the moving included angle between every two times is as large as possible, and the larger the included angle is, the better the included angle is; the motion amplitude between every two times is made as large as possible, and the larger the motion amplitude, the better the motion amplitude.
By doing so
Calculating and acquiring spatial pose information related to the surgical equipment by group data, namely calculating pose information of the visual equipment in a world coordinate system
And the pose information of the marker in the terminal coordinate system of the mechanical arm
Thereby realizing the full-space information perception of the surgery related instruments.
Example 2
According to another aspect of the embodiments of the present invention, there is also provided a processing apparatus of pose information of a robot arm, fig. 3 is a schematic diagram of the processing apparatus of pose information of the robot arm according to the embodiments of the present invention, as shown in fig. 3, the processing apparatus of pose information of the robot arm including: an acquisition module 32, a determination module 34, and a first processing module 36. The following describes in detail the processing device of the posture information of the robot arm.
The acquisition module 32 is used for acquiring sampling data of the mechanical arm in the operation process; a determining module 34, connected to the obtaining module 32, for determining whether the sampling frequency corresponding to the sampling data is greater than or equal to a preset frequency threshold; and a first processing module 36, connected to the determining module 34, configured to process the sampled data when the sampling frequency is greater than or equal to a preset frequency threshold, so as to obtain pose information of the visual device in the base coordinate system and pose information of the marker in the terminal coordinate system of the robot arm, where the marker is disposed at the terminal of the robot arm, and the marker is in the sampling area of the visual device.
In the embodiment, the processing device for the pose information of the mechanical arm can process the sampling data acquired by the mechanical arm in the operation process when the sampling frequency is greater than or equal to the preset frequency threshold value to obtain the pose information of the visual equipment in the base coordinate system and the pose information of the marker in the terminal coordinate system of the mechanical arm, so that the aim of accurately calculating various pose information corresponding to the mechanical arm is fulfilled, the sensing of the full-space information of the mechanical arm is realized, the measurement error is reduced, the precision and the accuracy of the calculation result are improved, the technical effect of improving the reliability of a navigation system is further improved, and the technical problem that the measurement error in the related technology can bring adverse effects to the precision of the navigation system is further solved.
It should be noted here that the above-mentioned acquiring module 32, determining module 34 and first processing module 36 correspond to steps S102 to S106 in embodiment 1, and the above-mentioned modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to what is disclosed in embodiment 1 above.
Optionally, the apparatus further comprises: and the second processing module is used for storing and continuously acquiring the sampling data under the condition that the sampling times are smaller than the preset time threshold.
Optionally, the obtaining module 32 includes: the first acquisition unit is used for acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and the second acquisition unit is used for acquiring the pose information of the tail end of the mechanical arm under the base coordinate system.
Optionally, the first obtaining unit includes: a first acquisition subunit, configured to acquire spatial three-dimensional position information of a marker; and the first processing subunit is used for obtaining pose information of the tail end of the mechanical arm in a camera coordinate system according to the spatial three-dimensional position information.
Optionally, the second obtaining unit includes: the second acquisition subunit is used for acquiring the angle of each joint of the mechanical arm; and the second processing subunit is used for obtaining pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
Optionally, the first processing module 36 includes: and the processing unit is used for processing the sampling data by utilizing a hand-eye calibration algorithm to obtain the pose information of the visual equipment under the base coordinate system and the pose information of the marker under the tail end coordinate system of the mechanical arm.
Optionally, the apparatus further comprises: the control module is used for controlling the motion angle of the mechanical arm to be larger than a preset motion angle and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude before acquiring sampling data of the mechanical arm in the operation process.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is executed to perform the method for processing pose information of a robot arm described above.
Optionally, in this embodiment, the computer-readable storage medium may be located in any one of a group of computer terminals in a computer network and/or in any one of a group of mobile terminals, and the computer-readable storage medium includes a stored program.
Optionally, the program when executed controls an apparatus in which the computer-readable storage medium is located to perform the following functions: acquiring sampling data of the mechanical arm in the operation process; judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; and under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
Optionally, the method further comprises: and under the condition that the sampling times are smaller than a preset time threshold, storing and continuously acquiring the sampling data.
Optionally, acquiring sampling data of the mechanical arm in the operation process includes: acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and acquiring pose information of the tail end of the mechanical arm under the base coordinate system.
Optionally, acquiring pose information of the marker on the tip of the mechanical arm in a camera coordinate system includes: acquiring spatial three-dimensional position information of a marker; and obtaining pose information of the tail end of the mechanical arm under a camera coordinate system according to the spatial three-dimensional position information.
Optionally, acquiring pose information of the tail end of the mechanical arm under the base coordinate system includes: acquiring the angle of each joint of the mechanical arm; and obtaining the pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
Optionally, the processing the sampling data to obtain pose information of the visual device in the base coordinate system and pose information of the marker in the terminal coordinate system of the robot arm includes: and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a mechanical arm tail end coordinate system.
Optionally, before acquiring sampling data of the mechanical arm during operation, the method further includes: and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus including a memory and a processor, wherein the memory optionally stores a computer program, and the processor is configured to execute the above processing method of the pose information of the robot arm by the computer program.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: acquiring sampling data of the mechanical arm in the operation process; judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; and under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
Optionally, the method further comprises: and under the condition that the sampling times are smaller than a preset time threshold, storing and continuously acquiring the sampling data.
Optionally, acquiring sampling data of the mechanical arm in the operation process includes: acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and acquiring pose information of the tail end of the mechanical arm under the base coordinate system.
Optionally, acquiring pose information of the marker on the tip of the mechanical arm in a camera coordinate system includes: acquiring spatial three-dimensional position information of a marker; and obtaining pose information of the tail end of the mechanical arm under a camera coordinate system according to the spatial three-dimensional position information.
Optionally, acquiring pose information of the tail end of the mechanical arm under the base coordinate system includes: acquiring the angle of each joint of the mechanical arm; and obtaining the pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
Optionally, the processing the sampling data to obtain pose information of the visual device in the base coordinate system and pose information of the marker in the terminal coordinate system of the robot arm includes: and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a mechanical arm tail end coordinate system.
Optionally, before acquiring sampling data of the mechanical arm during operation, the method further includes: and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude.
The invention also provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring sampling data of the mechanical arm in the operation process; judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not; and under the condition that the sampling frequency is greater than or equal to a preset frequency threshold, processing the sampling data to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
Optionally, the method further comprises: and under the condition that the sampling times are smaller than a preset time threshold, storing and continuously acquiring the sampling data.
Optionally, acquiring sampling data of the mechanical arm in the operation process includes: acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system; and acquiring pose information of the tail end of the mechanical arm under the base coordinate system.
Optionally, acquiring pose information of the marker on the tip of the mechanical arm in a camera coordinate system includes: acquiring spatial three-dimensional position information of a marker; and obtaining pose information of the tail end of the mechanical arm under a camera coordinate system according to the spatial three-dimensional position information.
Optionally, acquiring pose information of the tail end of the mechanical arm under the base coordinate system includes: acquiring the angle of each joint of the mechanical arm; and obtaining the pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
Optionally, the processing the sampling data to obtain pose information of the visual device in the base coordinate system and pose information of the marker in the terminal coordinate system of the robot arm includes: and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment under a base coordinate system and the pose information of the marker under a mechanical arm tail end coordinate system.
Optionally, before acquiring sampling data of the mechanical arm during operation, the method further includes: and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for processing pose information of a mechanical arm is characterized by comprising the following steps:
acquiring sampling data of the mechanical arm in the operation process;
judging whether the sampling times corresponding to the sampling data are larger than or equal to a preset time threshold value or not;
and under the condition that the sampling times are greater than or equal to the preset times threshold, processing the sampling data to obtain the pose information of the visual equipment in a base coordinate system and the pose information of the marker in a terminal coordinate system of the mechanical arm, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
2. The method of claim 1, further comprising:
and under the condition that the sampling times are smaller than the preset times threshold, storing and continuously acquiring the sampling data.
3. The method of claim 1, wherein acquiring sampling data of the robotic arm during operation comprises:
acquiring pose information of a marker on the tail end of the mechanical arm in a camera coordinate system;
and acquiring pose information of the tail end of the mechanical arm under a base coordinate system.
4. The method of claim 3, wherein acquiring pose information of markers on the tip of the robotic arm in a camera coordinate system comprises:
acquiring spatial three-dimensional position information of the marker;
and obtaining pose information of the tail end of the mechanical arm under the camera coordinate system according to the space three-dimensional position information.
5. The method according to claim 3, wherein acquiring pose information of the tip of the robotic arm in the base coordinate system comprises:
acquiring the angle of each joint of the mechanical arm;
and obtaining pose information of the tail end of the mechanical arm under the base coordinate system according to the angle of each joint.
6. The method of claim 1, wherein processing the sampled data to obtain pose information of the vision device in a base coordinate system and pose information of the marker in an end coordinate system of the robot arm comprises:
and processing the sampling data by using a hand-eye calibration algorithm to obtain the pose information of the visual equipment in the base coordinate system and the pose information of the marker in the mechanical arm tail end coordinate system.
7. The method of any one of claims 1 to 6, further comprising, prior to acquiring the sampled data of the robotic arm during operation:
and controlling the motion angle of the mechanical arm to be larger than a preset motion angle, and/or controlling the motion amplitude of the mechanical arm to be larger than a preset motion amplitude.
8. A processing device of pose information of a mechanical arm is characterized by comprising:
the acquisition module is used for acquiring sampling data of the mechanical arm in the operation process;
the judging module is used for judging whether the sampling times corresponding to the sampling data are greater than or equal to a preset time threshold value or not;
and the first processing module is used for processing the sampling data to obtain the pose information of the visual equipment in a base coordinate system and the pose information of the marker in a terminal coordinate system of the mechanical arm under the condition that the sampling frequency is greater than or equal to the preset frequency threshold, wherein the marker is arranged at the terminal of the mechanical arm and is in a sampling area of the visual equipment.
9. A computer-readable storage medium characterized by comprising a stored program, wherein the program is executed to execute the processing method of the pose information of the robot arm according to any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, wherein the memory stores therein a computer program, and the processor is configured to execute the processing method of the pose information of the robot arm according to any one of claims 1 to 7 by the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111317044.3A CN113771096A (en) | 2021-11-09 | 2021-11-09 | Method and device for processing pose information of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111317044.3A CN113771096A (en) | 2021-11-09 | 2021-11-09 | Method and device for processing pose information of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113771096A true CN113771096A (en) | 2021-12-10 |
Family
ID=78956790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111317044.3A Pending CN113771096A (en) | 2021-11-09 | 2021-11-09 | Method and device for processing pose information of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113771096A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556109A (en) * | 2022-10-24 | 2023-01-03 | 深圳市通用测试系统有限公司 | Method and device for positioning mechanical arm in test system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5297238A (en) * | 1991-08-30 | 1994-03-22 | Cimetrix Incorporated | Robot end-effector terminal control frame (TCF) calibration method and device |
| CN104842371A (en) * | 2015-05-29 | 2015-08-19 | 山东大学 | Robot hand-eye calibration method based on non-minimized and non-optimized algorithm |
| CN106695796A (en) * | 2016-11-02 | 2017-05-24 | 北京信息科技大学 | Portable laser scanning measuring arm hand-eye calibration method based on RANSAC |
| CN108344360A (en) * | 2017-11-15 | 2018-07-31 | 北京航空航天大学 | A kind of the laser scan type overall situation calibrating installation and method of vision measurement system |
| CN110238845A (en) * | 2019-05-22 | 2019-09-17 | 湖南视比特机器人有限公司 | Optimal Calibration point chooses and the automatic hand and eye calibrating method and device of error measurement |
| CN110555889A (en) * | 2019-08-27 | 2019-12-10 | 西安交通大学 | CALTag and point cloud information-based depth camera hand-eye calibration method |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN111070199A (en) * | 2018-10-18 | 2020-04-28 | 杭州海康威视数字技术股份有限公司 | Hand-eye calibration assessment method and robot |
| CN111660290A (en) * | 2019-03-05 | 2020-09-15 | 波音公司 | Automatic calibration for robotic optical sensors |
| CN112223302A (en) * | 2020-12-17 | 2021-01-15 | 国网瑞嘉(天津)智能机器人有限公司 | Rapid calibration method and device of live working robot based on multiple sensors |
-
2021
- 2021-11-09 CN CN202111317044.3A patent/CN113771096A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5297238A (en) * | 1991-08-30 | 1994-03-22 | Cimetrix Incorporated | Robot end-effector terminal control frame (TCF) calibration method and device |
| CN104842371A (en) * | 2015-05-29 | 2015-08-19 | 山东大学 | Robot hand-eye calibration method based on non-minimized and non-optimized algorithm |
| CN106695796A (en) * | 2016-11-02 | 2017-05-24 | 北京信息科技大学 | Portable laser scanning measuring arm hand-eye calibration method based on RANSAC |
| CN108344360A (en) * | 2017-11-15 | 2018-07-31 | 北京航空航天大学 | A kind of the laser scan type overall situation calibrating installation and method of vision measurement system |
| CN111070199A (en) * | 2018-10-18 | 2020-04-28 | 杭州海康威视数字技术股份有限公司 | Hand-eye calibration assessment method and robot |
| CN111660290A (en) * | 2019-03-05 | 2020-09-15 | 波音公司 | Automatic calibration for robotic optical sensors |
| CN110238845A (en) * | 2019-05-22 | 2019-09-17 | 湖南视比特机器人有限公司 | Optimal Calibration point chooses and the automatic hand and eye calibrating method and device of error measurement |
| CN110555889A (en) * | 2019-08-27 | 2019-12-10 | 西安交通大学 | CALTag and point cloud information-based depth camera hand-eye calibration method |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN112223302A (en) * | 2020-12-17 | 2021-01-15 | 国网瑞嘉(天津)智能机器人有限公司 | Rapid calibration method and device of live working robot based on multiple sensors |
Non-Patent Citations (1)
| Title |
|---|
| TSAI R.Y.等: "A new technique for fully autonomous and efficient 3D robotics hand/eye calibration", 《IEEE TRANSACTIONS ON ROBOTICS & AUTOMATION》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115556109A (en) * | 2022-10-24 | 2023-01-03 | 深圳市通用测试系统有限公司 | Method and device for positioning mechanical arm in test system |
| CN115556109B (en) * | 2022-10-24 | 2024-06-11 | 深圳市通用测试系统有限公司 | Positioning method and device for mechanical arm in test system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110695993B (en) | Synchronous measurement method, system and device for flexible mechanical arm | |
| CN108324373B (en) | Accurate positioning implementation method of puncture surgery robot based on electromagnetic positioning system | |
| CN111070199A (en) | Hand-eye calibration assessment method and robot | |
| EP3157715A1 (en) | Method for calibrating a robot and a robot system | |
| CN114918926B (en) | Mechanical arm visual registration method and device, control terminal and storage medium | |
| CN112603542B (en) | Hand-eye calibration method and device, electronic equipment and storage medium | |
| CN114074330B (en) | Robot control method, system, robot and storage medium | |
| CN114310901B (en) | Coordinate system calibration method, device, system and medium for robot | |
| JP2022183032A (en) | Hand-eye calibration of camera-guided devices | |
| CN116277035B (en) | Robot control method and device, processor and electronic equipment | |
| CN105574884B (en) | A kind of medical robot DH parameter calibration methods | |
| CN114310880A (en) | Mechanical arm calibration method and device | |
| CN113771096A (en) | Method and device for processing pose information of mechanical arm | |
| CN113524201B (en) | Active adjusting method and device for pose of mechanical arm, mechanical arm and readable storage medium | |
| Lee et al. | High precision hand-eye self-calibration for industrial robots | |
| CN114918928A (en) | Method and device for accurately positioning surgical mechanical arm, control terminal and storage medium | |
| CN112361959A (en) | Method and system for correcting coordinate of coding point for measuring motion attitude of helicopter blade and computer-readable storage medium | |
| EP3693697A1 (en) | Method for calibrating a 3d measurement arrangement | |
| CN115919250A (en) | Human dynamic joint angle measuring system | |
| Callejas-Cuervo et al. | Capture and analysis of biomechanical signals with inertial and magnetic sensors as support in physical rehabilitation processes | |
| CN116942314A (en) | Positioning method and system for mixing optical positioning and mechanical positioning | |
| CN115813556A (en) | Surgical robot calibration method and device, surgical robot and storage medium | |
| CN113384347B (en) | Robot calibration method, device, equipment and storage medium | |
| CN114209433A (en) | Surgical robot navigation positioning method and device | |
| JP2014117409A (en) | Method and apparatus for measuring body joint position |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211210 |
|
| RJ01 | Rejection of invention patent application after publication |