CN117808898A - Method and device for calibrating pose of robot base, robot and medium - Google Patents
Method and device for calibrating pose of robot base, robot and medium Download PDFInfo
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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Abstract
The embodiment of the invention discloses a method, a device, a robot and a medium for calibrating the pose of a robot base. The method is applied to a robot, the robot comprises a reference arm system and a to-be-measured arm system, the reference arm system comprises a reference arm and a reference calibration device, calibration feature points are preset on the reference calibration device, the to-be-measured arm system comprises a to-be-measured arm and a laser measuring device, and the method comprises the following steps: under the condition that a laser spot emitted by a laser measuring device coincides with a calibration feature point, determining a space position to be measured of the calibration feature point under a base coordinate system to be measured based on a measurement result of the laser measuring device; acquiring a reference space position of a calibration feature point under a reference base coordinate system; and determining a target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the space position to be detected and the reference space position. According to the technical scheme provided by the embodiment of the invention, the pose calibration among the bases in the robot is realized by utilizing the laser measuring device.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a method, a device, a robot and a medium for calibrating the pose of a robot base.
Background
In recent years, a minimally invasive surgery robot can effectively lighten the physical labor of doctors in the surgery process and achieve the aim of accurate surgery through an interventional therapy mode, and becomes one of the important development directions of the medical industry.
At present, a minimally invasive surgical robot generally has a plurality of arm systems, and with the development of minimally invasive surgery, doctors want the minimally invasive surgical robot to have more arm systems in order to cope with various surgical demands.
It should be noted that, in the prior art, the plurality of arm systems are arranged on the same base, but this may result in that the volume of the minimally invasive surgery robot becomes larger as the number of arm systems increases, so that the robot cannot flexibly move. In view of the above, the split type, that is, the minimally invasive surgery robot with each arm system having a respective base, is generated, which can effectively reduce the volume of the arm system body, thereby realizing flexible movement of the minimally invasive surgery robot.
On the basis, it is further described that in order to realize the effective application of the split minimally invasive surgical robot, the pose transformation relation among the bases in the split minimally invasive surgical robot needs to be calibrated in advance. However, at present, effective calibration of the pose transformation relationship cannot be realized, and the problem needs to be solved.
Disclosure of Invention
The embodiment of the invention provides a method, a device, a robot and a medium for calibrating the pose of a base of the robot, so as to realize the pose calibration among bases in the robot.
According to an aspect of the present invention, there is provided a method for calibrating a pose of a robot base, applied to a robot, the robot including a reference arm system and an arm system to be measured, the reference arm system including a reference arm and a reference calibration device, calibration feature points being preset on the reference calibration device, the arm system to be measured including an arm to be measured and a laser measuring device for measuring the calibration feature points, the method comprising:
under the condition that a laser spot emitted by a laser measuring device coincides with a calibration feature point, determining a space position to be measured of the calibration feature point under a base coordinate system to be measured of a base to be measured of an arm to be measured based on a measurement result of the laser measuring device;
acquiring a reference space position of a calibration feature point under a reference base coordinate system of a reference base of a reference arm;
and determining a target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the space position to be detected and the reference space position.
According to another aspect of the present invention, there is provided an apparatus for calibrating a pose of a robot base, configured on a robot including a reference arm system including a reference arm and a reference calibration apparatus on which calibration feature points are preset, and a laser measuring apparatus for measuring the calibration feature points, the apparatus including:
The to-be-measured space position determining module is used for determining the to-be-measured space position of the calibration characteristic point under the coordinate system of the to-be-measured base of the to-be-measured arm based on the measurement result of the laser measuring device under the condition that the laser point emitted by the laser measuring device is coincident with the calibration characteristic point;
the reference space position acquisition module is used for acquiring a reference space position of the calibration feature point under a reference base coordinate system of a reference base of the reference arm;
and the target pose transformation relation determining module is used for determining the target pose transformation relation between the base coordinate system to be detected and the reference base coordinate system according to the spatial position to be detected and the reference spatial position.
According to another aspect of the present invention, there is provided a robot, which may include: the system comprises a reference arm system, an arm system to be tested and a control system;
the system comprises a control system and a control system, wherein the control system comprises at least one processor and a memory in communication connection with the at least one processor;
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to implement the method for robot-based pose calibration provided by any embodiment of the present invention when executed.
According to another aspect of the invention, a computer readable storage medium is provided, on which computer instructions are stored, for causing a processor to execute the method for robot-based pose calibration provided by any embodiment of the invention.
The technical scheme of the embodiment of the invention is applied to a robot, the robot comprises a reference arm system and a to-be-measured arm system, the reference arm system comprises a reference arm and a reference calibration device, calibration characteristic points are preset on the reference calibration device, the to-be-measured arm system comprises a to-be-measured arm and a laser measurement device for measuring the calibration characteristic points, and on the basis, under the condition that a laser point emitted by the laser measurement device coincides with the calibration characteristic points, the to-be-measured spatial position of the calibration characteristic points under a coordinate system of a to-be-measured base of the to-be-measured arm can be determined based on the measurement result of the laser measurement device; acquiring a reference space position of a calibration feature point under a reference base coordinate system of a reference base of a reference arm; further, according to the space position to be detected and the reference space position, a target pose transformation relation between the base coordinate system to be detected and the reference base coordinate system is determined. According to the technical scheme, the reference calibration device with the calibration feature points is arranged on the reference arm system, and the laser measuring device for measuring the calibration feature points is arranged on the arm system to be measured, so that the calibration feature points can be used as an intermediate medium, and the pose calibration between the reference base and the base to be measured is realized by combining the reference space position of the calibration feature points under the reference base coordinate system and the space position to be measured under the base coordinate system to be measured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to be used to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a robot in an exemplary application of various methods for robot base pose calibration provided in accordance with embodiments of the present invention;
FIG. 2 is a flow chart of a method for robot base pose calibration provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a process for determining a target pose transformation relationship in a method for calibrating a pose of a robot base according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for robot base pose calibration provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a determination process of a spatial position to be measured in another method for calibrating a pose of a robot base according to an embodiment of the present invention;
FIG. 6 is a block diagram of an apparatus for robot base pose calibration according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a control system in a robot implementing a method for robot base pose calibration according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. The cases of "target", "original", etc. are similar and will not be described in detail 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.
Before describing the embodiment of the present invention, an exemplary description is given of a robot applied in the embodiment of the present invention. For example, referring to fig. 1, the robot may include a reference arm system and an arm system to be measured, the reference arm system may be understood as a mechanical arm system applied as a reference in a robot base pose calibration process, and a reference base coordinate system of the reference arm system is a coordinate system applied as a reference in the robot; accordingly, the arm system to be tested may be understood as a mechanical arm system to be calibrated with the reference arm system for the base seat pose, and the number of the arm systems to be tested may be one or more, and herein, one arm system to be tested is illustrated as an example.
The reference arm system may include a reference arm and a reference calibration device 4, where one or more calibration feature points are preset on the reference calibration device 4, and in particular, at least three calibration feature points are preset, where reference spatial positions of the calibration feature points under a reference base coordinate system are known; the arm system to be measured may include an arm to be measured and a laser measuring device 5 for measuring calibration feature points, and in practical application, optionally, the pose of the laser measuring device 5 may be adjusted by operating a controller or manually, so that the laser point emitted by the laser measuring device coincides with the calibration feature point, thereby measuring the spatial position to be measured of the calibration feature point under the coordinate system of the base to be measured of the arm system to be measured through the laser measuring device 5.
On the basis, optionally, the reference arm system can further comprise a reference base 1, the reference calibration device 4 and the reference arm are both installed on the reference base 1, and the reference base 1 is used as the basis of the reference arm system and can be freely pushed and provides stable parking; correspondingly, the arm system to be tested can also comprise a base 2 to be tested, and the laser measuring device 5 and the arm to be tested are both arranged on the base 2 to be tested. On the basis, further optionally, before the calibration of the pose of the base of the robot, the two arm systems can be parked to fix the pose of the base, and in the case of an operation robot, for example, before the operation, the reference arm system and the arm system to be tested can be placed beside the operation bed 3 and parked, and then the calibration of the pose of the base can be performed on the basis.
Fig. 2 is a flowchart of a method for calibrating the pose of a robot base according to an embodiment of the present invention. The embodiment can be applied to the situation of carrying out pose calibration on two bases in the robot. The method can be implemented by the device for calibrating the pose of the base of the robot, the device can be realized by software and/or hardware, the device can be integrated on the robot, the robot comprises a reference arm system and a to-be-measured arm system, the reference arm system comprises a reference arm and a reference calibration device, calibration characteristic points are preset on the reference calibration device, and the to-be-measured arm system comprises an to-be-measured arm and a laser measurement device for measuring the calibration characteristic points.
Referring to fig. 2, the method of the embodiment of the present invention specifically includes the following steps:
s110, determining the space position to be measured of the calibration feature point under the coordinate system of the base to be measured of the arm to be measured based on the measurement result of the laser measuring device under the condition that the laser point emitted by the laser measuring device is coincident with the calibration feature point.
The base to be measured can be understood as a base in the arm to be measured, the coordinate system of the base to be measured can be understood as a coordinate system where the base to be measured is located, and the spatial position to be measured can be understood as a spatial position of the calibration feature point under the coordinate system of the base to be measured. Under the condition that the laser point emitted by the laser measuring device coincides with the calibration characteristic point, the calibration characteristic point can be measured based on the laser measuring device, and then the space position to be measured is determined according to the obtained measurement result.
In practical application, optionally, under the condition that the number of the calibration feature points is two or more, measurement can be performed on each calibration feature point in the two or more calibration feature points, that is, the pose of the laser measurement device is automatically or manually adjusted for each calibration feature point, so that the laser point emitted by the laser measurement device coincides with the calibration feature point, thereby obtaining the spatial position to be measured of the calibration feature point.
S120, acquiring a reference space position of the calibration feature point under a reference base coordinate system of a reference base of the reference arm.
The reference base can be understood as a base in the reference arm, the reference base coordinate system can be understood as a coordinate system where the reference base is located, and the reference spatial position can be understood as a spatial position of the calibration feature point under the reference base coordinate system. And acquiring a reference spatial position.
In practical application, the reference spatial position can be obtained in various modes, and optionally, the reference spatial position of the calibration feature point under the reference base coordinate system is obtained according to the mechanical structure of the reference calibration device and the installation position of the reference calibration device relative to the reference base aiming at the reference base coordinate system of the reference base of the reference arm; of course, the reference spatial position may be obtained based on the rest of the modes, which is not particularly limited herein.
S130, determining a target pose transformation relation between the coordinate system of the base to be detected and the coordinate system of the reference base according to the space position to be detected and the reference space position.
The target pose transformation relation between the coordinate system of the base to be measured and the coordinate system of the reference base can be determined according to the space position to be measured and the reference space position, and the target pose transformation relation can represent the pose transformation relation and the position transformation relation between the coordinate systems of the two bases, so that the pose calibration between the two bases in the robot is realized.
Illustratively, referring to FIG. 3, on the basis of FIG. 1, {1} represents the reference base coordinate system, {2} represents the base coordinate system under test, and 4A represents the calibration feature point, then the reference spatial position of 4A under {1} passes 1 p 4A Representing the pass of the spatial position to be measured of 4A under {2} 2 p 4A The representation is performed. On the basis, the pose transformation matrix of {2} relative to {1} is passed through in the target pose transformation relationExpressed as an example, then->I.e. according to 1 p 4A And 2 p 4A obtain->
Therefore, the above-described robot base seat pose calibration process based on the laser measuring device can simply, quickly and accurately determine the pose of the base coordinate system to be measured relative to the base coordinate system, thereby ensuring the effective application of the split robot.
The technical scheme of the embodiment of the invention is applied to a robot, the robot comprises a reference arm system and a to-be-measured arm system, the reference arm system comprises a reference arm and a reference calibration device, calibration characteristic points are preset on the reference calibration device, the to-be-measured arm system comprises a to-be-measured arm and a laser measurement device for measuring the calibration characteristic points, and on the basis, under the condition that a laser point emitted by the laser measurement device coincides with the calibration characteristic points, the to-be-measured spatial position of the calibration characteristic points under a coordinate system of a to-be-measured base of the to-be-measured arm can be determined based on the measurement result of the laser measurement device; acquiring a reference space position of a calibration feature point under a reference base coordinate system of a reference base of a reference arm; further, according to the space position to be detected and the reference space position, a target pose transformation relation between the base coordinate system to be detected and the reference base coordinate system is determined. According to the technical scheme, the reference calibration device with the calibration feature points is arranged on the reference arm system, and the laser measuring device for measuring the calibration feature points is arranged on the arm system to be measured, so that the calibration feature points can be used as an intermediate medium, and the pose calibration between the reference base and the base to be measured is realized by combining the reference space position of the calibration feature points under the reference base coordinate system and the space position to be measured under the base coordinate system to be measured.
On the basis, according to an optional technical scheme, the number of calibration feature points can comprise at least three, and the determining of the target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the spatial position to be detected and the reference spatial position comprises the following steps:
and determining a target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the spatial position to be detected and the reference spatial position which correspond to the at least three calibration feature points respectively.
In order to realize complete solution of the target pose transformation relationship, that is, to realize solution of all pose variables in the target pose transformation relationship, at least three calibration feature points can be preset on a reference calibration device, and then the at least three calibration feature points are respectively measured by using a laser measurement device, so that the target pose transformation relationship can be determined by combining the to-be-measured spatial position and the reference spatial position corresponding to each calibration feature point in the at least three calibration feature points. For example, in the case that the target pose transformation relationship is represented by a pose transformation matrix, a least square method may be adopted, and the solution of the pose transformation matrix may be implemented by combining the spatial position to be measured and the reference spatial position corresponding to each calibration feature point.
The robot comprises a surgical robot, the reference arm system further comprises a reference base, the reference calibration device and the reference arm are arranged on the reference base, the arm system to be tested further comprises a base to be tested, and the laser measuring device and the arm to be tested are arranged on the base to be tested;
before calibrating the reference base and the base to be measured, the reference base and the base to be measured are fixed at corresponding positions corresponding to the operating bed.
Wherein, as can be seen from the above exemplary description set forth in connection with fig. 1, the reference base, which is the basis of the reference arm system, can be freely pushed and provides stable parking; similarly, the base to be tested is used as a basis of the arm system to be tested, can be pushed freely and provides stable parking.
The corresponding position may be understood as a position at which the surgical robot can operate the surgical object on the operating table, for example, a position at which both the surgical instrument mounted on the reference end of the reference arm and the surgical instrument mounted on the end to be measured of the arm to be measured can be brought into contact with the surgical object.
On the basis, the surgical robot is mainly applied to surgery, so that before the reference base and the base to be measured are calibrated, the reference base and the base to be measured can be parked at corresponding positions, so that the pose of two types of arm systems in the surgical robot can be fixed at the corresponding positions, and further, the calibration of the base pose is carried out on the basis, and the effective application of the surgical robot after the calibration of the base pose in surgery is ensured.
Fig. 4 is a flowchart of another method for robot base pose calibration provided in an embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the measurement result may include a measurement spatial position of the calibration feature point under a measurement coordinate system of the laser measurement device; based on the measurement result of the laser measurement device, determining the space position to be measured of the calibration feature point under the coordinate system of the base to be measured of the arm to be measured, including: determining a to-be-measured pose transformation relationship between a measurement coordinate system and a to-be-measured base coordinate system aiming at the to-be-measured base coordinate system of the to-be-measured arm; and obtaining the space position to be measured of the calibration characteristic point under the coordinate system of the base to be measured according to the measured space position and the pose transformation relation to be measured. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.
Referring to fig. 4, the method of this embodiment may specifically include the following steps:
s210, under the condition that a laser spot emitted by the laser measuring device coincides with the calibration feature point, determining a pose transformation relation to be measured between a measuring coordinate system of the laser measuring device and a base coordinate system to be measured, wherein the base coordinate system to be measured is a coordinate system of a base to be measured of an arm to be measured.
The measurement coordinate system is understood to be the coordinate system applied by the laser measuring device, on the basis of which the measurement results of the laser measuring device are measured. The position and pose transformation relationship to be measured can be understood as the position and pose transformation relationship between the measurement coordinate system and the base coordinate system to be measured. And determining the pose transformation relation to be detected.
In practical application, optionally, the pose transformation relationship to be measured can be determined in various ways, and for example, a position sensor is respectively arranged in each adjustable joint in the laser measurement device, so that the stroke of each adjustable joint in the laser measurement device is acquired by using the position sensor arranged in the adjustable joint; and determining the pose transformation relation to be measured between the measurement coordinate system and the base coordinate system to be measured by using a kinematic position orthometric solution algorithm of the laser measuring device and the corresponding travel of each adjustable joint.
One or more joints with adjustable pose are installed in the laser measuring device, and in particular, two or more joints with adjustable pose are installed in the laser measuring device.
For each adjustable joint in the laser measuring device, a position sensor is arranged in the adjustable joint, so that the travel of the adjustable joint can be acquired in real time or at intervals by using the position sensor. After the strokes corresponding to each adjustable joint are obtained, the position correction algorithm of the kinematics of the laser measuring device can be utilized to combine the obtained strokes to obtain the pose transformation relation to be measured.
It can be understood that in the case where two or more calibration feature points exist, as described above, measurement may be performed on the two or more calibration feature points, and on this basis, the pose transformation relationship to be measured may also be calculated on the two or more calibration feature points, so that, in combination with the subsequent steps, the spatial positions to be measured corresponding to the two or more calibration feature points may be obtained.
Of course, the pose transformation relationship to be detected may also be determined based on the rest of the modes, which is not specifically limited herein.
S220, obtaining the space position to be measured of the calibration feature point under the coordinate system of the base to be measured according to the measurement space position of the calibration feature point under the coordinate system of the measurement and the transformation relation of the pose to be measured.
The measurement space position represents the space position of the calibration feature point under the measurement coordinate system, and the pose transformation relation to be measured represents the pose transformation relation between the measurement coordinate system and the base coordinate system to be measured, so that after the measurement space position is obtained by using the laser measuring device, the space position to be measured of the calibration feature point under the base coordinate system to be measured can be obtained according to the measurement space position and the pose transformation relation to be measured.
Exemplary, referring to FIG. 5, based on FIGS. 1 and 3, { L } represents the measurement coordinate system, then 4A measures the space bits under { L }Put through L p 4A The representation is performed. Based on this, the pose transformation matrix of { L } relative to {2} is passed through in the pose transformation relation to be measuredExpressed as an example, then->I.e. according to L p 4A And->Obtaining 2 p 4A 。
S230, acquiring a reference space position of the calibration feature point under a reference base coordinate system, wherein the reference base coordinate system is a coordinate system of a reference base of the reference arm.
S240, determining a target pose transformation relation between the coordinate system of the base to be detected and the coordinate system of the reference base according to the space position to be detected and the reference space position.
According to the technical scheme, the to-be-measured pose transformation relation between the measurement coordinate system and the to-be-measured base coordinate system is determined, so that the to-be-measured spatial position of the calibration feature point under the to-be-measured base coordinate system is obtained according to the measurement spatial position of the calibration feature point under the measurement coordinate system by utilizing the to-be-measured pose transformation relation, and the accurate determination of the to-be-measured spatial position is realized.
Fig. 6 is a block diagram of an apparatus for calibrating a robot base pose according to an embodiment of the present invention, which is used to perform the method for calibrating a robot base pose according to any of the above embodiments. The device and the method for calibrating the robot base pose in the embodiments belong to the same invention conception, and the details of the device for calibrating the robot base pose in the embodiments are not described in detail, and reference is made to the embodiments of the method for calibrating the robot base pose. Referring to fig. 6, the apparatus is configured on a robot including a reference arm system including a reference arm and a reference calibration apparatus on which calibration feature points are preset, and a to-be-measured arm system including a to-be-measured arm and a laser measuring apparatus for measuring the calibration feature points, the apparatus may include: the system comprises a to-be-detected space position determining module 310, a reference space position obtaining module 320 and a target pose transformation relation determining module 330.
The to-be-measured spatial position determining module 310 is configured to determine, based on a measurement result of the laser measurement device, a to-be-measured spatial position of the calibration feature point under a coordinate system of a to-be-measured base of the to-be-measured arm, where the laser point emitted by the laser measurement device coincides with the calibration feature point;
a reference spatial position obtaining module 320, configured to obtain a reference spatial position of the calibration feature point under a reference base coordinate system where a reference base of the reference arm is located;
the target pose transformation relation determining module 330 is configured to determine a target pose transformation relation between the base coordinate system to be measured and the reference base coordinate system according to the spatial position to be measured and the reference spatial position.
Optionally, the measurement result includes a measurement spatial position of the calibration feature point under a measurement coordinate system of the laser measurement device; the spatial location determination module to be measured 310 may include:
the to-be-measured pose transformation relation determining unit is used for determining a to-be-measured pose transformation relation between a measurement coordinate system and a to-be-measured base coordinate system aiming at the to-be-measured base coordinate system of the to-be-measured arm;
the to-be-measured spatial position obtaining unit is used for obtaining the to-be-measured spatial position of the calibration characteristic point under the coordinate system of the to-be-measured base according to the measured spatial position and the to-be-measured pose transformation relation.
On the basis, optionally, each adjustable joint in the laser measuring device is respectively provided with a position sensor, and the pose transformation relation determining unit to be measured can comprise:
the stroke acquisition subunit is used for acquiring the stroke of each adjustable joint in the laser measuring device by using a position sensor arranged in the adjustable joint;
and the to-be-measured pose transformation relation determining subunit is used for determining the to-be-measured pose transformation relation between the measurement coordinate system and the to-be-measured base coordinate system by utilizing a kinematic position correction algorithm of the laser measuring device and the corresponding travel of each adjustable joint.
On the basis, the superposition of the laser point and the calibration characteristic point can be realized by adjusting the pose of at least part of adjustable joints in the laser measuring device.
Optionally, the number of calibration feature points includes at least three, and the target pose transformation relationship determining module 330 is specifically configured to:
and determining a target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the spatial position to be detected and the reference spatial position which correspond to the at least three calibration feature points respectively.
Optionally, the reference spatial position acquisition module 320 is specifically configured to:
And aiming at a reference base coordinate system of the reference base of the reference arm, acquiring a reference space position of the calibration feature point under the reference base coordinate system according to the mechanical structure of the reference calibration device and the installation position of the reference calibration device relative to the reference base.
Optionally, on the basis of any one of the above devices, the robot includes a surgical robot, the reference arm system further includes a reference base, the reference calibration device and the reference arm are mounted on the reference base, the arm system further includes a base to be measured, and the laser measurement device and the arm to be measured are mounted on the base to be measured;
before calibrating the reference base and the base to be measured, the reference base and the base to be measured are fixed at corresponding positions corresponding to the operating bed.
The device for calibrating the pose of the base of the robot is configured on the robot, the robot comprises a reference arm system and a to-be-measured arm system, the reference arm system comprises a reference arm and a reference calibration device, calibration feature points are preset on the reference calibration device, the to-be-measured arm system comprises a to-be-measured arm and a laser measuring device for measuring the calibration feature points, and on the basis, the to-be-measured spatial position determining module can determine the to-be-measured spatial position of the calibration feature points under the coordinate system of the to-be-measured base of the to-be-measured arm based on the measurement result of the laser measuring device under the condition that the laser points emitted by the laser measuring device are overlapped with the calibration feature points; acquiring a reference space position of the calibration feature point under a reference base coordinate system of a reference base of the reference arm through a reference space position acquisition module; and then, determining the target pose transformation relation between the base coordinate system to be detected and the reference base coordinate system according to the space position to be detected and the reference space position by a target pose transformation relation determination module. According to the device, the reference calibration device with the calibration feature points is arranged on the reference arm system, and the laser measurement device for measuring the calibration feature points is arranged on the arm system to be measured, so that the calibration feature points can be used as an intermediate medium, and the pose calibration between the reference base and the base to be measured can be realized by combining the reference space position of the calibration feature points under the reference base coordinate system and the space position to be measured under the base coordinate system to be measured.
The device for calibrating the robot base seat pose provided by the embodiment of the invention can execute the method for calibrating the robot base seat pose provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the apparatus for calibrating the pose of the robot base, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Fig. 7 shows a schematic structural diagram of a control system 10 in a robot that may be used to implement an embodiment of the invention. The robot includes a reference arm system including a reference arm and a reference calibration device on which calibration feature points are preset, an arm system to be measured including an arm to be measured and a laser measuring device for measuring the calibration feature points, and a control system intended to represent various forms of digital computers such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The control system may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 7, the control system 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the control system 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the control system 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the control system 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a method for robot-based pose calibration.
In some embodiments, the method for robot-based pose calibration may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the control system 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for robot base pose calibration described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method for robot base pose calibration by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a control system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the control system. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for calibrating the pose of a robot base, which is characterized in that the method is applied to a robot, the robot comprises a reference arm system and an arm system to be measured, the reference arm system comprises a reference arm and a reference calibration device, calibration feature points are preset on the reference calibration device, the arm system to be measured comprises an arm to be measured and a laser measuring device for measuring the calibration feature points, and the method comprises the following steps:
Under the condition that a laser point emitted by the laser measuring device is coincident with the calibration feature point, determining the space position to be measured of the calibration feature point under the coordinate system of the base to be measured of the arm to be measured based on the measurement result of the laser measuring device;
acquiring a reference space position of the calibration feature point under a reference base coordinate system of a reference base of the reference arm;
and determining a target pose transformation relationship between the base coordinate system to be detected and the reference base coordinate system according to the spatial position to be detected and the reference spatial position.
2. The method according to claim 1, characterized in that the measurement result comprises a measured spatial position of the calibration feature point in a measurement coordinate system of the laser measurement device;
the determining, based on the measurement result of the laser measurement device, the spatial position of the calibration feature point to be measured in the coordinate system of the base to be measured of the arm to be measured, includes:
determining a to-be-measured pose transformation relationship between a measurement coordinate system and a to-be-measured base coordinate system of the to-be-measured base of the to-be-measured arm according to the to-be-measured base coordinate system of the to-be-measured base;
And obtaining the space position to be measured of the calibration characteristic point under the coordinate system of the base to be measured according to the measured space position and the pose transformation relation to be measured.
3. The method according to claim 2, wherein each adjustable joint in the laser measuring device is provided with a position sensor, and the determining the pose transformation relationship to be measured between the measurement coordinate system and the base coordinate system to be measured includes:
acquiring, for each adjustable joint in the laser measurement device, a stroke of the adjustable joint using a position sensor provided in the adjustable joint;
and determining the pose transformation relationship to be measured between the measurement coordinate system and the base coordinate system to be measured by using a kinematic position orthometric solution algorithm of the laser measurement device and the strokes respectively corresponding to each adjustable joint.
4. A method according to claim 3, characterized in that the coincidence of the laser point with the calibration feature point is achieved by adjusting the pose of at least part of the adjustable joint in the laser measuring device.
5. The method according to claim 1, wherein the number of calibration feature points includes at least three, and the determining the target pose transformation relationship between the base coordinate system to be measured and the reference base coordinate system according to the spatial position to be measured and the reference spatial position includes:
And determining a target pose transformation relationship between the coordinate system of the base to be detected and the coordinate system of the reference base according to the spatial position to be detected and the reference spatial position corresponding to the at least three calibration feature points respectively.
6. The method of claim 1, wherein the obtaining the reference spatial position of the calibration feature point in a reference base coordinate system in which a reference base of the reference arm is located comprises:
and aiming at a reference base coordinate system of the reference base of the reference arm, acquiring a reference space position of the calibration feature point under the reference base coordinate system according to the mechanical structure of the reference calibration device and the installation position of the reference calibration device relative to the reference base.
7. The method of any one of claims 1-6, wherein the robot comprises a surgical robot, the fiducial arm system further comprises a fiducial mount, the fiducial calibration device and the fiducial arm are mounted on the fiducial mount, and the arm system further comprises a mount to be tested, the laser measurement device and the arm to be tested are mounted on the mount to be tested;
before calibrating the reference base and the base to be measured, the reference base and the base to be measured are fixed at corresponding positions corresponding to an operating table.
8. A device for calibrating the pose of a robot base, characterized in that it is configured on a robot, the robot comprises a reference arm system and an arm system to be measured, the reference arm system comprises a reference arm and a reference calibration device, calibration feature points are preset on the reference calibration device, the arm system to be measured comprises an arm to be measured and a laser measuring device for measuring the calibration feature points, the device comprises:
the to-be-measured space position determining module is used for determining the to-be-measured space position of the calibration feature point under the coordinate system of the to-be-measured base of the to-be-measured arm based on the measurement result of the laser measuring device under the condition that the laser point emitted by the laser measuring device is coincident with the calibration feature point;
the reference space position acquisition module is used for acquiring the reference space position of the calibration feature point under the reference base coordinate system of the reference base of the reference arm;
and the target pose transformation relation determining module is used for determining the target pose transformation relation between the base coordinate system to be detected and the reference base coordinate system according to the spatial position to be detected and the reference spatial position.
9. A robot, comprising: the system comprises a reference arm system, an arm system to be tested and a control system;
the reference arm system comprises a reference arm and a reference calibration device, calibration characteristic points are preset on the reference calibration device, the arm system to be tested comprises an arm to be tested and a laser measuring device for measuring the calibration characteristic points, and the control system comprises at least one processor and a memory in communication connection with the at least one processor;
the memory stores a computer program executable by the at least one processor to cause the at least one processor to perform the method for robotic base pose calibration according to any of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the method for robot base pose calibration according to any of claims 1-7.
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