WO2022199047A1

WO2022199047A1 - Robot registration method and apparatus, electronic device, and storage medium

Info

Publication number: WO2022199047A1
Application number: PCT/CN2021/130151
Authority: WO
Inventors: 张逸凌; 刘星宇
Original assignee: 北京长木谷医疗科技有限公司; 张逸凌
Priority date: 2021-03-26
Filing date: 2021-11-11
Publication date: 2022-09-29
Also published as: CN113081266B; CN113081266A

Abstract

A robot registration method and apparatus, an electronic device, and a storage medium. The method comprises: recording, at a first moment in the motion process of a robotic arm flange (102), position coordinates of a tracking ball (104) in an optical positioning and tracking system (101) coordinate system and position coordinates of the robotic arm flange (102) in a robotic arm coordinate system (201); according to the position coordinates of the tracking ball (104) in the optical positioning and tracking system (101) coordinate system at the first motion and a predetermined positional relationship between the robotic arm flange (102) and the tracking ball (104), determining position coordinates of the robotic arm flange (102) in the optical positioning and tracking system (101) coordinate system at the first moment (202); and according to the position coordinates of the robotic arm flange (102) in the optical positioning and tracking system (101) coordinate system at the first motion and the position coordinates of the robotic arm flange (102) in the robotic arm coordinate system at the first moment, determining a conversion relationship between the position coordinates in the optical positioning and tracking system (101) coordinate system and the position coordinates in the robotic arm coordinate system (203).

Description

Robot registration method, device, electronic device and storage medium

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application filed on March 26, 2021 with the application number 2021103268835 and the invention title is "Robot registration method, device, electronic device and storage medium", the entire content of which is by reference Incorporated in this application.

technical field

The present disclosure relates to the field of robotics, and in particular, to a robot registration method, device, electronic device, and storage medium.

Background technique

Registration refers to the alignment of two or more images of the same object in space. The robot usually involves the alignment of multiple images of the same target in different three-dimensional space coordinate systems, so the robot needs to be registered.

Taking the surgical navigation robot as an example, during the clinical operation, the end of the robotic arm is equipped with surgical instruments, and the surgical instruments are driven by the robotic arm to move, and the positions of the surgical instruments are tracked and recorded by the optical positioning tracking system the corresponding location coordinates. The motion command for commanding the motion of the end of the robot arm is issued by the robot, and the coordinate system of the motion command is the robot arm coordinate system. In order to verify whether the actual motion of the end of the robotic arm matches the motion command, it is necessary to calculate the conversion relationship between the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates in the coordinate system of the robotic arm, that is, the surgical navigation robot needs to be registered. operate.

In addition to surgical navigation robots, robots in other application fields such as industrial robots and fire-fighting robots also need to perform robot registration operations.

In the related art, a third-party instrument, such as a laser rangefinder, is needed to solve the registration problem of the robot. Due to the need to resort to third-party instruments, there are shortcomings in registration complexity and cost.

SUMMARY OF THE INVENTION

In view of the problems existing in the related art, the present disclosure provides a robot registration method, device, electronic device and storage medium.

The present disclosure provides a robot registration method, including:

At the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the robot arm coordinate system are recorded; wherein, the tracking ball is installed in the On the operating instrument, the operating instrument is mounted on the flange of the robotic arm;

According to the position coordinates of the tracking ball at the first moment, in the optical positioning and tracking system coordinate system, and the predetermined positional relationship between the robot arm flange and the tracking ball, it is determined that the robot arm flange at the first moment and the position of the optical positioning tracking Position coordinates in the system coordinate system;

According to the position coordinates of the robot arm flange at the first moment under the coordinate system of the optical positioning and tracking system, and the position coordinates of the robot arm flange at the first moment under the coordinate system of the robot arm, determine the position coordinates in the coordinate system of the optical positioning and tracking system. The conversion relationship between the position coordinates and the position coordinates in the robot arm coordinate system.

According to a robot registration method provided by the present disclosure, at the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange on the robot arm are recorded. Before the position coordinates in the coordinate system, the method also includes:

Taking the robot arm flange as the center and rotating the operating device with the tracking ball installed in at least two planes, according to the position coordinates of the tracking ball and the position coordinates of the robot arm flange recorded during the rotation process, determine the relationship between the robot arm flange and the robot arm flange. Track the positional relationship between the balls.

According to a robot registration method provided by the present disclosure, the robot arm flange moves according to the received control command, and the movement includes rotation, horizontal movement and vertical movement;

When the robot arm flange moves, it drives the operating equipment installed on the robot arm flange and the tracking ball installed on the operating equipment to move;

Rotate the manipulator equipped with the tracking ball in at least two planes in a circular manner with the flange of the robot arm as the center;

During the movement of the robot arm flange, the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system are collected and recorded by the optical positioning and tracking system, and the position coordinates of the robot arm flange under the coordinate system of the robot arm are collected and recorded by the robot. location coordinates.

According to a robot registration method provided by the present disclosure, during the movement of the robot arm flange, the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system and the coordinates of the robot arm flange under the coordinate system of the robot arm are collected multiple times at multiple times. The position coordinates under the system;

According to the least squares method and the results of multiple acquisitions, the position coordinates of the robot arm flange at the first moment in the robot arm coordinate system and the position coordinates of the tracking ball at the first moment under the optical positioning and tracking system coordinate system are determined.

According to a robot registration method provided by the present disclosure, at the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the coordinate system of the optical positioning and tracking system and the coordinates of the robot arm flange in the robot arm are recorded. Position coordinates under the system, including:

During the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the robot arm coordinate system are recorded at multiple times;

According to the least squares method, calculate the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system recorded at multiple times, and use the calculation result as the position coordinates of the tracking ball at the first moment under the optical positioning and tracking system coordinate system;

According to the least square method, the position coordinates of the robot arm flange in the robot arm coordinate system recorded at multiple times are calculated, and the calculation result is taken as the position coordinates of the robot arm flange at the first moment under the robot arm coordinate system.

According to a robot registration method provided by the present disclosure, the operating instrument with the robot arm flange as the center and installed with the tracking ball in at least two planes is rotated according to the position coordinates of the tracking ball recorded during the rotation process and The position coordinates of the robot arm flange determine the positional relationship between the robot arm flange and the tracking ball, including:

During the rotation, the optical positioning and tracking system collects and records multiple position coordinates of the tracking ball;

According to the multiple position coordinates of the tracking ball, the ball center is fitted, and the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system are obtained according to the coordinates of the ball center;

According to the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system, the positional relationship between the robot arm flange and the tracking ball is determined.

According to a robot registration method provided by the present disclosure, the robot arm flange is determined according to the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system. The formula for calculating the positional relationship with the trackball is:

_ONDI =P×M _OP ;

Among them, O _NDI is the position coordinate of the robot arm flange in the optical positioning and tracking system coordinate system, M _OP is used to represent the positional relationship between the robot arm flange and the tracking ball; P represents the tracking ball in the optical positioning and tracking system coordinate system. the coordinates below.

According to a robot registration method provided by the present disclosure, according to the position coordinates of the tracking ball at the first moment, in the coordinate system of the optical positioning tracking system, and the predetermined positional relationship between the flange of the robot arm and the tracking ball, The calculation formula for determining the position coordinates of the robot arm flange at the first moment in the coordinate system of the optical positioning and tracking system is:

O _{match_NDI} =P _{match_NDI} ×M _OP ;

Among them, O _{match_NDI} represents the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system at the first moment; P _{match_NDI} represents the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system at the first moment; M _OP Used to represent the positional relationship between the robot arm flange and the tracking ball.

According to a robot registration method provided by the present disclosure, the position coordinates of the robot arm flange in the coordinate system of the optical positioning and tracking system at the first moment and the position coordinates of the robot arm flange in the coordinate system of the robot arm at the first moment The calculation formula for determining the conversion relationship between the position coordinates in the optical positioning tracking system coordinate system and the position coordinates in the robot arm coordinate system is:

O _{match_NDI} = O _{match_robot} ×M;

Among them, O _{match_NDI} represents the position coordinates of the robot arm flange at the first moment in the optical positioning and tracking system coordinate system, O _{match_robot} represents the position coordinates of the robot arm flange at the first moment in the robot arm coordinate system, and M is A matrix used to represent the conversion relationship between the position coordinates in the optical positioning tracking system coordinate system and the position coordinates in the robot arm coordinate system.

The present disclosure also provides a robot registration device, comprising:

The position coordinate recording module is configured to record the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system and the position coordinates of the robot arm flange under the coordinate system of the robot arm at the first moment during the movement of the robot arm flange; Wherein, the tracking ball is mounted on an operating instrument, and the operating instrument is mounted on the robotic arm flange;

The position coordinate conversion module is configured to determine the position of the robot arm flange at the first moment, the position coordinates in the optical positioning tracking system coordinate system, and the predetermined positional relationship between the robot arm flange and the tracking ball. At the first moment, the position coordinates in the coordinate system of the optical positioning and tracking system;

The coordinate system conversion relationship determination module is configured to be based on the position coordinates of the robot arm flange at the first moment under the coordinate system of the optical positioning tracking system and the position coordinates of the robot arm flange at the first moment under the robot arm coordinate system , to determine the conversion relationship between the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates in the coordinate system of the robot arm.

The present disclosure also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the robot registration according to any one of the above when the processor executes the program steps of the method.

The present disclosure also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of any one of the above-mentioned robot registration methods.

The robot registration method, device, electronic device and storage medium provided by the present disclosure track and record the position coordinates of the tracking ball in the coordinate system of the optical positioning tracking system and the position of the robot arm flange by arranging the tracking ball on the robot arm flange. The position coordinates of the robot arm coordinate system, and then according to the positional relationship between the robot arm flange and the tracking ball, determine the position coordinates of the robot arm flange in the optical positioning tracking system coordinate system, and finally according to the same moment, the robot arm method The position coordinates of the flange in the coordinate system of the robot arm and the position coordinates of the flange of the robot arm in the coordinate system of the optical positioning and tracking system are calculated. conversion relationship. The above registration process does not require the use of third-party equipment such as a laser rangefinder, and has the advantages of simple, practical and flexible operation steps; since only the position coordinate transformation of the robot arm flange and the tracking ball is involved in the registration process, no To other components, the intermediate links of coordinate transformation are reduced, so the method of the present disclosure also has the advantage of high precision.

Description of drawings

In order to illustrate the technical solutions in the present disclosure or related technologies more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments or related technologies. Obviously, the drawings in the following description are of the present disclosure. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic diagram of a device involved in the robot registration method of the present disclosure;

2 is a flowchart of a robot registration method provided by the present disclosure;

3 is a schematic structural diagram of a robot registration device provided by the present disclosure;

FIG. 4 is a schematic structural diagram of an electronic device provided by the present disclosure.

Reference number:

101: Optical positioning tracking system; 102: Robot arm flange; 103: Surgical instrument; 104: Track ball.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions in the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the present disclosure. Obviously, the described embodiments are part of the present disclosure. , not all examples. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

The robot registration method, apparatus, electronic device, and storage medium of the present disclosure will be described below with reference to FIGS. 1 to 4 .

The robot registration method of the present disclosure can be applied to robots for various purposes, such as surgical robots, industrial robots, and fire-fighting robots. For ease of understanding, in the following embodiments, a surgical robot is taken as an example to describe the robot registration method of the present disclosure.

FIG. 1 is a schematic diagram of the equipment involved in the robot registration method of the present disclosure. Referring to FIG.

The optical positioning and tracking system 101 is used to track the position of the robot arm flange 102 and the tracking ball 104 , and record the position coordinates of the robot arm flange 102 and the tracking ball 104 in the optical positioning and tracking system coordinate system.

The robotic arm flange 102 is located at the end of the robotic arm, which moves under the command of the robotic control system. A surgical instrument 103 is mounted on the robotic arm flange 102 , and at least three tracking balls 104 are mounted on the surgical instrument 103 . Since the position of the trackball 104 and the surgical instrument 103 are very close, the position coordinates of the trackball 104 can be regarded as the position coordinates of the surgical instrument 103 .

The robot can track the position of the robot arm flange 102 and the tracking ball 104, and record the position coordinates of the robot arm flange 102 and the tracking ball 104 in the robot arm coordinate system.

The work to be completed by the robot registration method of the present disclosure is to calculate the conversion relationship between the position coordinates of the same object in the robot arm coordinate system and the position coordinates of the optical positioning and tracking system coordinate system, so as to realize the registration.

FIG. 2 is a flowchart of a robot registration method provided by the present disclosure. Referring to FIG. 2 , the robot registration method provided by the present disclosure includes:

Step 201 , at the first moment during the movement of the robot arm flange 102 , record the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange 102 in the robot arm coordinate system.

During the use of the robot, the robot arm flange 102 moves under the action of the control command. The movement includes rotation, horizontal movement, vertical movement, and the like. The movement of the robot arm flange 102 will drive the movement of the tracking ball 104 mounted on the robot arm flange 102 . Tracking and recording the position coordinates of the robot arm flange 102 and the tracking ball 104 during the movement process is helpful to realize the transformation between the position coordinates in different coordinate systems.

Optionally, in this embodiment, a geometric figure (such as a quadrilateral, a triangle, a hexagon, etc.) can be drawn in space by using the robot arm flange 102 . During the movement of the robotic arm flange 102, the optical positioning and tracking system 101 records the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system; the robot records the position coordinates of the robotic arm flange 102 under the robotic arm coordinate system. .

The setting of the robot arm coordinate system is the common knowledge of those skilled in the art; how does the optical positioning and tracking system 101 record the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system, and how does the robot record the robot arm flange 102 in the robot arm coordinate system? The location coordinates below are all in the prior art, and therefore will not be further described here.

Step 202: According to the position coordinates of the tracking ball 104 at the first moment, in the optical positioning tracking system coordinate system, and the predetermined positional relationship between the robot arm flange 102 and the tracking ball 104, determine that the robot arm flange 102 is at the first position. At a moment, the position coordinates in the coordinate system of the optical positioning and tracking system.

The positional relationship between the robot arm flange 102 and the tracking ball 104 is used to describe the difference between the position coordinates of the robot arm flange 102 and the position coordinates of the tracking ball 104 under the same coordinate system. According to the positional relationship between the robot arm flange 102 and the tracking ball 104 , the mutual conversion between the position coordinates of the robot arm flange 102 and the position coordinates of the tracking ball 104 under the same coordinate system can be realized. In this embodiment, the positional relationship between the robot arm flange 102 and the tracking ball 104 is predetermined. In other embodiments, the generation process of the positional relationship will be described.

In the previous steps, the position coordinates of the tracking ball 104 in the optical positioning tracking system coordinate system have been recorded at the first moment of movement of the robot arm flange 102 . The positional relationship between the robot arm flange 102 and the tracking ball 104 is also predetermined. Since the position between the robot arm flange 102 and the tracking ball 104 is relatively fixed, in this embodiment, the robot arm can be used The positional relationship between the flange 102 and the tracking ball 104 and the positional coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system at the first moment are calculated to calculate the robot arm flange 102 at the first moment in the optical positioning and tracking system. The position coordinates in the coordinate system.

The corresponding calculation formula is:

O _{match_NDI} =P _{match_NDI} ×M _OP ;

Wherein, O _{match_NDI} represents the position coordinates of the robot arm flange 102 at the first moment in the optical positioning and tracking system coordinate system; P _{match_NDI} represents the position coordinates of the tracking ball 104 at the first moment in the optical positioning and tracking system coordinate system; M _OP is used to represent the positional relationship between the robot arm flange 102 and the tracking ball 104 .

Step 203: Determine the optical positioning and tracking according to the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system at the first moment and the position coordinates of the robot arm flange 102 in the robot arm coordinate system at the first moment The conversion relationship between the position coordinates in the system coordinate system and the position coordinates in the robot arm coordinate system.

In the previous steps, the coordinates of the same object (the robot arm flange 102 ) in the coordinate system of the optical positioning and tracking system and the coordinate system of the robot arm have been obtained at the same moment (the first moment), so in this step, it is possible to Based on this, the conversion relationship between the position coordinates in the optical positioning and tracking system coordinate system and the position coordinates in the robot arm coordinate system is calculated.

The corresponding calculation formula is:

O _{match_NDI} = O _{match_robot} ×M;

Wherein, O _{match_NDI} represents the position coordinates of the robot arm flange 102 at the first moment in the coordinate system of the optical positioning and tracking system, O _{match_robot} represents the position coordinates of the robot arm flange 102 at the first moment in the robot arm coordinate system, M is a matrix used to represent the conversion relationship between the position coordinates in the optical positioning and tracking system coordinate system and the position coordinates in the robot arm coordinate system.

In the robot registration method provided by the present disclosure, the tracking ball 104 is arranged on the robot arm flange 102 to track and record the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the robot arm flange 102 in the robot arm coordinate system. Then, according to the positional relationship between the robot arm flange 102 and the tracking ball 104, the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system are determined, and finally according to the same moment, the robot arm flange 102 Based on the position coordinates in the robot arm coordinate system and the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system, the distance between the position coordinates in the optical positioning and tracking system coordinate system and the position coordinates in the robot arm coordinate system is calculated. conversion relationship. The above-mentioned registration process does not require the use of third-party equipment such as a laser rangefinder, and has the advantages of simple, practical and flexible operation steps; since only the position coordinate transformation between the robot arm flange 102 and the tracking ball 104 is involved in the registration process, No other components are involved, and the intermediate links of coordinate transformation are reduced, so the method of the present disclosure also has the advantage of high precision.

Based on any of the above embodiments, in this embodiment, at the first moment during the movement of the robot arm flange 102, the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the robot arm flange are recorded. 102 Before the position coordinates in the robot arm coordinate system, the method further includes:

Taking the robot arm flange 102 as the center, rotating the operating instrument with the tracking ball 104 installed in at least two planes, and determining the machine according to the position coordinates of the tracking ball 104 and the position coordinates of the robot arm flange 102 recorded during the rotation process. The positional relationship between the arm flange 102 and the trackball 104 .

In the former embodiment, the positional relationship between the robot arm flange 102 and the tracking ball 104 is predetermined. In this embodiment, the process of determining the positional relationship between the robot arm flange 102 and the tracking ball 104 is further described.

In this embodiment, after the tracking ball 104 is mounted on the surgical instrument 103 and the surgical instrument 103 is mounted on the robotic arm flange 102 as shown in FIG. 1 , with the robotic arm flange 102 as the center, two Draw two semicircles on the plane. Optionally, the two semicircles do not lie in the same plane and can therefore be considered part of a sphere.

During the process of drawing a semicircle by the robot arm flange 102 , the optical positioning and tracking system 101 will collect a plurality of discrete position points of the tracking ball 104 and record the position coordinates of these position points in the optical positioning and tracking system coordinate system. In this embodiment, the number of recorded position points is 20, so the coordinates of these position points can be marked as

Since the robot arm flange 102 draws the semi-circle with the robot arm flange 102 as the center, the ball where the semi-circle is located can be obtained according to the coordinates of the multiple positions of the tracking ball 104 collected by the two semi-circles. ) to fit the center of the sphere, and the position coordinates of the robot arm flange 102 in the coordinate system of the optical positioning and tracking system can be calculated. In this embodiment, the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system can be marked as _ONDI . The setting of the coordinate system of the optical positioning and tracking system is the common knowledge of those skilled in the art, so it will not be further described in this embodiment.

During the registration process, the relative position between the robot arm flange 102 and the tracking ball 104 is fixed. Therefore, the position between the robot arm flange 102 and the tracking ball 104 can be calculated according to the position coordinates collected before. relation. The corresponding calculation formula is:

_ONDI =P×M _OP ;

Among them, O _NDI is the position coordinate of the robot arm flange 102 in the optical positioning and tracking system coordinate system, M _OP is used to indicate the positional relationship between the robot arm flange 102 and the tracking ball 104 ; P indicates that the tracking ball 104 is in the optical positioning The coordinates in the tracking system coordinate system, which can be the set of coordinates of the aforementioned position points

any of the .

The robot registration method provided by the present disclosure uses the robot arm flange 102 as the center and rotates the operating instrument installed with the tracking ball 104 in at least two planes, according to the position coordinates of the tracking ball 104 recorded during the rotation process and the robot arm The position coordinates of the flange 102 determine the positional relationship between the robot arm flange 102 and the tracking ball 104. Using this positional relationship, the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates in the robot arm coordinate system can be further calculated. conversion relationship between. The above-mentioned registration process does not require the use of third-party equipment such as a laser rangefinder, and has the advantages of simple, practical and flexible operation steps; since only the position coordinate transformation between the robot arm flange 102 and the tracking ball 104 is involved in the registration process, No other components are involved, and the intermediate links of coordinate transformation are reduced, so the method of the present disclosure also has the advantage of high precision.

Based on any of the above embodiments, in this embodiment, at the first moment during the movement of the robot arm flange 102, the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the robot arm flange 102 are recorded. Position coordinates in the robot arm coordinate system, including:

During the movement of the robot arm flange 102, the position coordinates of the tracking ball 104 in the optical positioning tracking system coordinate system and the position coordinates of the robot arm flange 102 in the robot arm coordinate system are respectively recorded at multiple times;

According to the least squares method, the position coordinates of the trackball 104 in the optical positioning tracking system coordinate system recorded at multiple times are calculated, and the calculation result is taken as the position of the tracking ball 104 in the optical positioning tracking system coordinate system at the first moment coordinate;

According to the least squares method, the position coordinates of the robot arm flange 102 in the robot arm coordinate system recorded at multiple times are calculated, and the calculation result is taken as the position of the robot arm flange 102 in the robot arm coordinate system at the first moment coordinate.

In the present disclosure, based on the position coordinates of the tracking ball 104 in the coordinate system of the optical positioning and tracking system and the position coordinates of the robot arm flange 102 in the coordinate system of the robot arm, the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates of the robot are finally determined. The conversion relationship between the position coordinates in the arm coordinate system. Therefore, the accuracy of the position coordinates will determine the registration accuracy.

In this embodiment, in order to improve the registration accuracy and correct errors, when collecting the position coordinates of the tracking ball 104 in the optical positioning tracking system coordinate system and the position coordinates of the robot arm flange 102 in the robot arm coordinate system, the The position coordinates are collected multiple times, and the final collection result is determined according to the least squares method and the results of the multiple collections.

The robot registration method provided by the present disclosure collects the position coordinates of the tracking ball 104 in the optical positioning tracking system coordinate system and the position coordinates of the robot arm flange 102 in the robot arm coordinate system multiple times, and obtains the position coordinates according to the least square method and multiple times From the collected results, the position coordinates of the robot arm flange 102 at the first moment in the robot arm coordinate system and the position coordinates of the tracking ball 104 at the first moment under the optical positioning and tracking system coordinate system are determined. Doing so will help correct errors and improve registration accuracy.

The robot registration device provided by the present disclosure is described below, and the robot registration device described below and the robot registration method described above can be referred to each other correspondingly.

FIG. 3 is a schematic diagram of a robot registration device provided by the present disclosure. Referring to FIG. 3 , the robot registration device provided by the present disclosure includes:

The position coordinate recording module 301 is configured to record the position coordinates of the tracking ball 104 under the coordinate system of the optical positioning and tracking system and the position coordinates of the robot arm flange 102 under the coordinate system of the robot arm at the first moment during the movement of the robot arm flange 102 The position coordinates; wherein, the tracking ball 104 is mounted on the operating instrument, and the operating instrument is mounted on the robotic arm flange 102;

The position coordinate conversion module 302 is configured to determine the machine according to the position coordinates of the tracking ball 104 at the first moment, in the coordinate system of the optical positioning tracking system, and the predetermined positional relationship between the robot arm flange 102 and the tracking ball 104 the position coordinates of the arm flange 102 at the first moment in the coordinate system of the optical positioning and tracking system;

The coordinate system conversion relationship determination module 303 is configured to be based on the position coordinates of the robot arm flange 102 at the first moment under the coordinate system of the optical positioning tracking system and the position coordinates of the robot arm flange 102 at the first moment under the robot arm coordinate system to determine the conversion relationship between the position coordinates in the optical positioning tracking system coordinate system and the position coordinates in the robot arm coordinate system.

The robot registration device provided by the present disclosure tracks and records the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the robot arm flange 102 in the robot arm coordinate system by arranging the tracking ball 104 on the robot arm flange 102 Then, according to the positional relationship between the robot arm flange 102 and the tracking ball 104, the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system are determined, and finally according to the same moment, the robot arm flange 102 Based on the position coordinates in the robot arm coordinate system and the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system, the distance between the position coordinates in the optical positioning and tracking system coordinate system and the position coordinates in the robot arm coordinate system is calculated. conversion relationship. The above-mentioned registration process does not require the use of third-party equipment such as a laser rangefinder, and has the advantages of simple, practical and flexible operation steps; since only the position coordinate transformation between the robot arm flange 102 and the tracking ball 104 is involved in the registration process, No other components are involved, and the intermediate links of coordinate transformation are reduced, so the method of the present disclosure also has the advantage of high precision.

Based on any of the foregoing embodiments, in this embodiment, the device further includes:

The module for determining the positional relationship between the robot arm flange 102 and the tracking ball 104 is configured to take the robot arm flange 102 as the center and rotate the operating instrument with the tracking ball 104 installed in at least two planes, according to the tracking recorded during the rotation process. The position coordinates of the ball 104 and the position coordinates of the robot arm flange 102 determine the positional relationship between the robot arm flange 102 and the tracking ball 104 .

FIG. 4 is a schematic structural diagram of an electronic device provided by the present disclosure. Referring to FIG. 4 , the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, wherein, The processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 may invoke logic instructions in the memory 430 to perform a robot registration method, the method comprising:

At the first moment during the movement of the robot arm flange 102, the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange 102 in the robot arm coordinate system are recorded; wherein, the tracking The ball 104 is mounted on the operating instrument, and the operating instrument is mounted on the robotic arm flange 102;

According to the position coordinates of the tracking ball 104 in the optical positioning and tracking system coordinate system at the first moment, and the predetermined positional relationship between the robot arm flange 102 and the tracking ball 104, it is determined that the robot arm flange 102 at the first moment, Position coordinates in the optical positioning and tracking system coordinate system;

According to the position coordinates of the robot arm flange 102 in the optical positioning and tracking system coordinate system at the first moment and the position coordinates of the robot arm flange 102 in the robot arm coordinate system at the first moment, the optical positioning and tracking system coordinate system is determined The conversion relationship between the position coordinates in and the position coordinates in the robot arm coordinate system.

In addition, the above-mentioned logic instructions in the memory 430 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solutions of the present disclosure can be embodied in the form of software products in essence, or the parts that contribute to the related technologies or the parts of the technical solutions. The computer software product is stored in a storage medium, including several The instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

In another aspect, the present disclosure also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer When executed, the computer can execute the robot registration method provided by the above methods, and the method includes:

In another aspect, the present disclosure also provides a non-transitory computer-readable storage medium on which a computer program is stored, the computer program being implemented by a processor to execute the robot registration methods provided above, the method comprising:

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence, or the parts that make contributions to related technologies, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic disks , optical disc, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

A robotic registration method, comprising:

At the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the robot arm coordinate system are recorded; wherein, the tracking ball is installed in the On the operating instrument, the operating instrument is mounted on the flange of the robotic arm;

According to the position coordinates of the tracking ball at the first moment, in the optical positioning and tracking system coordinate system, and the predetermined positional relationship between the robot arm flange and the tracking ball, it is determined that the robot arm flange at the first moment and the position of the optical positioning tracking Position coordinates in the system coordinate system;

According to the position coordinates of the robot arm flange at the first moment under the coordinate system of the optical positioning and tracking system, and the position coordinates of the robot arm flange at the first moment under the coordinate system of the robot arm, determine the position coordinates in the coordinate system of the optical positioning and tracking system. The conversion relationship between the position coordinates and the position coordinates in the robot arm coordinate system.
The robot registration method according to claim 1, at the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the robot arm are recorded. Before the position coordinates in the coordinate system, the method also includes:

Taking the robot arm flange as the center and rotating the operating device with the tracking ball installed in at least two planes, according to the position coordinates of the tracking ball and the position coordinates of the robot arm flange recorded during the rotation process, determine the relationship between the robot arm flange and the robot arm flange. Track the positional relationship between the balls.
The robot registration method according to claim 1, wherein the robot arm flange moves according to the received control command, and the movement includes rotation, horizontal movement and vertical movement;

When the robot arm flange moves, it drives the operating equipment installed on the robot arm flange and the tracking ball installed on the operating equipment to move;

Rotate the manipulator equipped with the tracking ball in at least two planes in a circular manner with the flange of the robot arm as the center;

During the movement of the robot arm flange, the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system are collected and recorded by the optical positioning and tracking system, and the position coordinates of the robot arm flange under the coordinate system of the robot arm are collected and recorded by the robot. location coordinates.
The robot registration method according to claim 1, during the movement of the robot arm flange, the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system and the coordinates of the robot arm flange in the robot arm are collected multiple times at multiple times. The position coordinates under the system;

According to the least squares method and the results of multiple acquisitions, the position coordinates of the robot arm flange at the first moment in the robot arm coordinate system and the position coordinates of the tracking ball at the first moment under the optical positioning and tracking system coordinate system are determined.
The robot registration method according to claim 1 or 2, wherein, at the first moment during the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the robot arm flange are recorded. Position coordinates in the robot arm coordinate system, including:

During the movement of the robot arm flange, the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the robot arm coordinate system are recorded at multiple times;

According to the least squares method, calculate the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system recorded at multiple times, and use the calculation result as the position coordinates of the tracking ball at the first moment under the optical positioning and tracking system coordinate system;

According to the least square method, the position coordinates of the robot arm flange in the robot arm coordinate system recorded at multiple times are calculated, and the calculation result is taken as the position coordinates of the robot arm flange at the first moment under the robot arm coordinate system.
The robot registration method according to claim 2, wherein the operating instrument with the tracking ball installed in at least two planes centered on the robot arm flange is rotated according to the position of the tracking ball recorded during the rotation process. The coordinates and the position coordinates of the robot arm flange determine the positional relationship between the robot arm flange and the tracking ball, including:

Rotate the manipulator equipped with the tracking ball in at least two planes in a circular manner with the flange of the robot arm as the center;

During the rotation, the optical positioning and tracking system collects and records multiple position coordinates of the tracking ball;

According to the multiple position coordinates of the tracking ball, the ball center is fitted, and the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system are obtained according to the coordinates of the ball center;

According to the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system and the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system, the positional relationship between the robot arm flange and the tracking ball is determined.
The robot registration method according to claim 6, wherein the robot arm is determined according to the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system and the position coordinates of the flange of the robot arm under the coordinate system of the optical positioning and tracking system. The formula for calculating the positional relationship between the flange and the tracking ball is:

ONDI =P×M OP ;

Among them, O NDI is the position coordinate of the robot arm flange in the optical positioning and tracking system coordinate system, M OP is used to represent the positional relationship between the robot arm flange and the tracking ball; P represents the tracking ball in the optical positioning and tracking system coordinate system. the coordinates below.
The robot registration method according to claim 1 or 2, wherein the tracking ball is based on the position coordinates of the tracking ball at the first moment, in the coordinate system of the optical positioning tracking system, and the predetermined distance between the robot arm flange and the tracking ball. The positional relationship of the robot arm flange at the first moment in the optical positioning and tracking system coordinate system is determined as follows:

O match_NDI =P match_NDI ×M OP ;

Among them, O match_NDI represents the position coordinates of the robot arm flange in the optical positioning and tracking system coordinate system at the first moment; P match_NDI represents the position coordinates of the tracking ball in the optical positioning and tracking system coordinate system at the first moment; M OP Used to represent the positional relationship between the robot arm flange and the tracking ball.
The robot registration method according to claim 1 or 2, wherein the method is based on the position coordinates of the robot arm flange at the first moment in the optical positioning and tracking system coordinate system and the robot arm flange at the first moment at the first moment. The position coordinates in the coordinate system of the robot arm, and the calculation formula for determining the conversion relationship between the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates in the coordinate system of the robot arm is:

O match_NDI = O match_robot ×M;

Among them, O match_NDI represents the position coordinates of the robot arm flange at the first moment in the optical positioning and tracking system coordinate system, O match_robot represents the position coordinates of the robot arm flange at the first moment in the robot arm coordinate system, and M is A matrix used to represent the conversion relationship between the position coordinates in the optical positioning tracking system coordinate system and the position coordinates in the robot arm coordinate system.
A robot registration device, comprising:

The position coordinate recording module is configured to record the position coordinates of the tracking ball under the coordinate system of the optical positioning and tracking system and the position coordinates of the robot arm flange under the coordinate system of the robot arm at the first moment during the movement of the robot arm flange; Wherein, the tracking ball is mounted on an operating instrument, and the operating instrument is mounted on the robotic arm flange;

The position coordinate conversion module is configured to determine the position of the robot arm flange at the first moment, the position coordinates in the optical positioning tracking system coordinate system, and the predetermined positional relationship between the robot arm flange and the tracking ball. At the first moment, the position coordinates in the coordinate system of the optical positioning and tracking system;

The coordinate system conversion relationship determination module is configured to be based on the position coordinates of the robot arm flange at the first moment under the coordinate system of the optical positioning tracking system and the position coordinates of the robot arm flange at the first moment under the robot arm coordinate system , to determine the conversion relationship between the position coordinates in the coordinate system of the optical positioning and tracking system and the position coordinates in the coordinate system of the robot arm.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the program as claimed in any one of claims 1 to 9 when the processor executes the program Describe the steps of the robot registration method.
A non-transitory computer-readable storage medium on which a computer program is stored, the computer program implementing the steps of the robot registration method according to any one of claims 1 to 9 when the computer program is executed by a processor.