WO2023098839A1

WO2023098839A1 - Front-end tool pose synchronization method, electronic device and storage medium

Info

Publication number: WO2023098839A1
Application number: PCT/CN2022/136031
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: 2021-12-01
Filing date: 2022-12-01
Publication date: 2023-06-08
Also published as: CN114211484A; CN114211484B

Abstract

The present application provides a front-end tool pose synchronization method, an electronic device and a storage medium. The method comprises: acquiring a transformation matrix between a robotic arm base coordinate system and a robotic arm flange coordinate system, and acquiring a reference posture of a front-end tool in the robotic arm base coordinate system, and a registration matrix, wherein the registration matrix represents a transformation relationship between a front-end tool coordinate system and the robotic arm base coordinate system, and the front-end tool is fixed to a flange of a robotic arm; and performing transformation processing on the reference posture according to the transformation matrix and the registration matrix, so as to obtain a three-dimensional pose of the front-end tool in the robotic arm base coordinate system. Therefore, the problem in the relevant art of synchronizing the spatial position and posture of a front-end tool into a robot base coordinate system in real time when no NDI performs tracking is solved.

Description

Front-end tool pose synchronization method, electronic device and storage medium

Cross References to Related Applications

This application claims the priority of the Chinese patent application with application number 202111452679.4 and titled “Front-end Tool Pose Synchronization Method, Electronic Equipment and Storage Medium” filed on December 1, 2021, which is incorporated herein by reference in its entirety.

technical field

The present application relates to the technical field of robot control, and in particular to a front-end tool pose synchronization method, electronic equipment and a storage medium.

Background technique

At present, robot technology has been widely used in the industrial and medical fields, and various surgical or industrial tasks can be completed by installing different execution tools on the front end of the robot. The spatial position of the front-end tool and the accuracy index of the coordinate system corresponding to its attitude directly affect the operation accuracy.

In order to solve the problem of accurately tracking the spatial position and posture of the front-end tool, in related technologies, the NDI visual tracking system is usually used to track the front-end tool, and then the spatial position and posture of the front-end tool are synchronized with the robot base frame in real time. However, in some scenarios when NDI cannot be used, it is also necessary to track the spatial position and posture of the front-end tool in real time.

Aiming at the problem of synchronizing the spatial position and attitude of the front-end tool in the frame of the robot base in real time without NDI tracking in the related technology, no effective solution has been proposed yet.

Contents of the invention

For this reason, the present application provides a front-end tool position and posture synchronization method, electronic equipment and storage media to solve the problem of the efficiency and accuracy of the real-time synchronization of the spatial position and attitude of the front-end tool in the robot base coordinate system in the prior art. Low, technical issues with fewer industrial options.

In order to achieve the above object, the application provides the following technical solutions:

According to the first aspect of the present application, a front-end tool pose synchronization method is provided, comprising the following steps:

Obtain the transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, and obtain the reference posture and registration matrix of the front-end tool in the coordinate system of the manipulator base, wherein the registration matrix represents is the conversion relationship between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on the flange of the mechanical arm;

During the process of controlling the movement of the manipulator, the reference pose is transformed according to the transformation matrix and the registration matrix, so as to obtain the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base.

Optionally, obtaining the reference posture of the front-end tool in the coordinate system of the manipulator base includes:

Rigidly bind the front-end tool and the NDI calibration frame fixed on the flange of the manipulator, and calibrate the flange of the manipulator according to the first transformation matrix between the NDI coordinate system and the coordinate system of the front-end tool The position coordinates of the physical origin in the NDI coordinate system;

Control the NDI calibration frame to move with the manipulator to register to obtain the second transformation matrix between the manipulator flange coordinate system and the NDI coordinate system;

Transform the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the manipulator flange, and obtain the position of the front-end tool in the The reference pose in the base coordinate system of the manipulator described above.

Optionally, obtain the registration matrix, including:

Converting the calibrated position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

Registering the registration pose with the reference pose to obtain a registration matrix.

Optionally, the marked position coordinates include multiple and the multiple marked position coordinates are not included in the same plane.

Optionally, controlling the NDI calibration frame to move with the manipulator to register to obtain the second transformation matrix between the manipulator flange coordinate system and the NDI coordinate system, including:

controlling the movement of the manipulator, and recording multiple position coordinates of the physical origin of the manipulator flange in the NDI coordinate system and the manipulator flange coordinate system;

Registering the position coordinates of the physical origin of the manipulator flange in the NDI coordinate system and the manipulator flange coordinate system respectively, to obtain a distance between the NDI coordinate system and the manipulator flange coordinate system The second transformation matrix of .

Optionally, the controlling the movement of the mechanical arm includes:

Controlling the running trajectory of the physical origin of the flange of the mechanical arm on the mechanical arm, so that the running trajectory of the physical origin of the flange of the mechanical arm is not in the same plane.

According to the second aspect of the present application, there is provided a front-end tool attitude synchronization device, the device comprising:

The obtaining module is used to obtain the transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, and obtain the reference posture and the registration matrix of the front-end tool in the coordinate system of the manipulator base, wherein the The registration matrix is expressed as a conversion relationship between the front-end tool coordinate system and the base coordinate system of the manipulator, and the front-end tool is fixed on the flange of the manipulator;

A pose determination module, configured to convert the reference pose according to the transformation matrix and the registration matrix during the process of controlling the movement of the manipulator, to obtain the coordinates of the front-end tool on the base of the manipulator 3D pose in the system.

Optionally, also include:

The calibration module is used to rigidly bind the front-end tool fixed on the flange of the manipulator to the NDI calibration frame, and calibrate the manipulator method according to the first transformation matrix between the NDI coordinate system and the front-end tool coordinate system. The position coordinates of the blue physical origin in the NDI coordinate system;

The first registration module is used to control the NDI calibration frame to move with the mechanical arm to register to obtain the second transformation matrix between the mechanical arm flange coordinate system and the NDI coordinate system;

The first conversion module is configured to convert the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, obtaining the reference posture of the front-end tool in the coordinate system of the manipulator base;

The second conversion module is used to convert the calibration position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

The second registration module is configured to register the registration pose with the reference pose to obtain a registration matrix.

According to a third aspect of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program Steps for implementing the method for synchronizing the pose of a front-end tool according to the first aspect of the present application.

According to the fourth aspect of the present application, there is also provided a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the pose of the front-end tool according to the first aspect of the present application is realized. The steps of the synchronization method.

The present application has the following beneficial effects: the present application obtains the transformation matrix between the coordinate system of the manipulator base and the flange coordinate system of the manipulator, and obtains the reference posture and registration of the front-end tool in the coordinate system of the manipulator base matrix, wherein the registration matrix is expressed as the conversion relationship between the front-end tool coordinate system and the base coordinate system of the manipulator, and the front-end tool is fixed on the flange of the manipulator; The pose and the registration matrix are transformed to obtain the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base. In this way, since the front-end tool is fixed on the flange of the manipulator, the front-end tool moves with the flange of the manipulator. During the movement of the flange of the manipulator, the transformation relationship between the coordinate system of the manipulator flange and the coordinate system of the base of the manipulator will be Then there is a change, through a transformation matrix between the manipulator base coordinate system and the manipulator flange coordinate system that can be obtained in real time, based on this transformation matrix, the fixed front-end tool is in the coordinate system of the manipulator base By transforming the reference pose and registration matrix in the manipulator system, the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base can be obtained, thereby realizing the spatial position and pose of the front-end tool without NDI tracking. Real-time synchronization of objects in the frame of the robot base.

Description of drawings

In order to more clearly illustrate the implementation of the application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the implementation or the prior art. The structures and proportions shown in this specification , size, etc., are only used to cooperate with the content disclosed in the manual, so that people familiar with this technology can understand and read. Any modification of the structure, change of the ratio matrix or adjustment of the size will not affect the efficacy of this application. and the goals that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

Fig. 1 is a flow chart of a front-end tool pose synchronization method provided by an embodiment of the present application;

Fig. 2 is a flow chart of another front-end tool pose synchronization method provided by the embodiment of the present application;

Fig. 3 is a flow chart of another front-end tool pose synchronization method provided by the embodiment of the present application;

Fig. 4 is a schematic diagram of an initial coordinate system of a front-end tool rigid body STL provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a point set when calibrating the origin of the flange of the robotic arm in a front-end tool pose synchronization method provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a reference posture of a front-end tool in a front-end tool pose synchronization method provided by an embodiment of the present application;

FIG. 7 is a three-dimensional pose diagram of the front-end tool obtained through a transformation matrix in a front-end tool pose synchronization method provided by an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a front-end tool posture synchronization device provided by an embodiment of the present application;

Fig. 9 is a schematic structural diagram of another front-end tool posture synchronization device provided by the embodiment of the present application;

FIG. 10 is a schematic diagram of a physical structure of an electronic device provided by an embodiment of the present application.

Detailed ways

Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and in no way serves as any limitation of the application, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters denote like items in the following figures, therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

In related technologies, the NDI visual tracking system is usually used to track the front-end tools, and then synchronize the spatial position and attitude of the front-end tools with the robot base coordinate system in real time. However, in some scenarios when NDI cannot be used, it is also necessary to track the front-end tools in real time. The spatial position of the tool and its attitude.

To this end, the present application provides a front-end tool pose synchronization method, and FIG. 1 is a flow chart of a front-end tool pose synchronization method provided in an embodiment of the present application. As shown in FIG. 1 , the method includes the following steps 100 and Step 200:

S100. Obtain the transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, and obtain the reference posture and registration matrix of the front-end tool in the coordinate system of the manipulator base, wherein the registration The matrix is expressed as the conversion relationship between the coordinate system of the front-end tool and the coordinate system of the base of the manipulator, and the front-end tool is fixed on the flange of the manipulator.

Among them, the transformation matrix between the coordinate system of the manipulator flange and the coordinate system of the manipulator base can be read directly. When the manipulator moves, the corresponding control system of the manipulator can obtain the translation of the manipulator flange in real time. parameters and rotation parameters, and then calculate the transformation matrix between the manipulator flange coordinate system and the manipulator base coordinate system according to the translation parameters and rotation parameters. The front-end tool is fixed on the flange of the mechanical arm. Therefore, according to the fixed relationship between the front-end tool and the flange of the mechanical arm, the transformation relationship between the front-end tool coordinate system and the mechanical arm flange coordinate system can be obtained, The conversion relationship between the manipulator flange coordinate system and the manipulator base coordinate system can be read directly. In this way, an initial posture of the front-end tool in the manipulator base coordinate system and the front-end tool coordinate system The conversion relationship with the base coordinate system of the manipulator can be measured or calculated.

S200. During the process of controlling the motion of the manipulator, transform the reference pose according to the transformation matrix and the registration matrix to obtain the three-dimensional position of the front-end tool in the coordinate system of the manipulator base posture.

Specifically, since the front-end tool is fixed on the flange of the manipulator, the front-end tool moves with the flange of the manipulator. During the movement of the manipulator flange, the transformation relationship between the coordinate system of the manipulator flange and the coordinate system of the manipulator base It will change accordingly, through a transformation matrix between the coordinate system of the manipulator base and the flange coordinate system of the manipulator that can be obtained in real time, based on the transformation matrix, the fixed front-end tool is on the base of the manipulator By transforming the reference pose in the coordinate system and the registration matrix, the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base can be obtained, as shown in Figure 7, so that without NDI tracking, The purpose of synchronizing the space position and attitude of the front-end tool in the robot base coordinate system in real time. In summary, the conversion formula of the 3D pose of the front-end tool can be:

The 3D pose of the front-end tool = transformation matrix * registration matrix * reference pose.

Optionally, FIG. 2 is a flow chart of another front-end tool pose synchronization method provided in the embodiment of the present application. As shown in FIG. 2 , the reference pose of the front-end tool in the coordinate system of the manipulator base is acquired, including Step 010 to Step 030 as follows:

S010. Rigidly bind the front-end tool fixed on the flange of the manipulator to the NDI calibration frame, and calibrate the manipulator according to the first transformation matrix between the NDI coordinate system and the front-end tool coordinate system. The position coordinates of the physical origin of the flange in the NDI coordinate system;

Wherein, the NDI calibration frame can be any regular or irregular polygonal rigid body support obtained or made in advance, and the NDI calibration frame has a connection point and a connecting rod for rigid body binding connection with the front end tool of the mechanical arm. In this embodiment, the NDI calibration frame preferably adopts a trapezoidal steel body bracket, which includes four endpoints, as shown in Figure 4, and has been measured and set in advance in the process of hardware design in advance The relative positional relationship between each endpoint and the calibration reference point is determined, that is, each of the endpoints has a preset relative positional relationship with the calibration reference point. And the NDI coordinate system is established in advance according to the position coordinates of the four endpoints, and the establishment of the NDI coordinate system conforms to the right-hand rule.

Rigidly bind the front-end tool of the manipulator to the NDI calibration frame to obtain a rigid binding body, or in other words, to enable the two to maintain complete synchronous motion, and to coordinate the front-end tool coordinate system according to the rigid binding body (It can also be called the rigid STL coordinate system) The corresponding rigid binding model determines the coordinate transformation relationship between the NDI coordinate system and the pre-established front-end tool coordinate system, that is, the first transformation matrix. It can also be understood that the front-end tool of the manipulator and the NDI calibration frame are integral components that can be assembled and disassembled repeatedly, and the STL rigid binding model in the STL coordinate system where the two are assembled together has been obtained in advance. In this way, as long as After obtaining the spatial position of the NDI calibration frame in the NDI coordinate system, the specific spatial position of the front-end tool can be deduced inversely, which essentially applies the coordinate transformation relationship between the NDI coordinate system and the front-end tool coordinate system .

Control the rigid binding body to automatically rotate with the physical origin of the flange of the manipulator as the origin, and obtain a calibration reference point set including several position coordinates of the calibration reference point in the NDI coordinate system during the rotation process, as shown in Figure 5 According to several position coordinates of the calibration reference points in the calibration reference point set, determine the position coordinates of the physical origin of the flange of the manipulator in the NDI coordinate system. Based on the coordinate transformation relationship, the position coordinates of the physical origin of the flange of the manipulator in the front-end tool coordinate system and the NDI coordinate system are obtained.

S020. Control the NDI calibration frame to move with the robot arm to register to obtain a second transformation matrix between the robot arm flange coordinate system and the NDI coordinate system.

Specifically, since the NDI calibration frame is fixed on the front-end tool, and the front-end tool is fixed on the flange of the mechanical arm, when the mechanical arm moves, the NDI calibration frame moves with the mechanical arm. The position coordinates on the coordinate system and the NDI coordinate system can be registered to obtain a second transformation matrix between the manipulator flange coordinate system and the NDI coordinate system.

S030, converting the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the manipulator base coordinate system and the manipulator flange coordinate system, to obtain the front-end tool The reference pose in the base coordinate system of the manipulator.

Wherein, the calibration position of the front-end tool may be some endpoints or selected points set on the front-end tool and the NDI calibration frame.

Specifically, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator can be directly read by the control system of the manipulator, and the calibrated position coordinates of the front-end tool in the NDI coordinate system can be It is directly obtained by the NDI system, so that the calibration position coordinates of the front-end tool in the NDI coordinate system can be converted by the second transformation matrix and the inverse transformation matrix in turn, and the reference of the front-end tool in the coordinate system of the manipulator base can be obtained Posture, as shown in Fig. 6, wherein there are several coordinates of the calibration position of the front-end tool, which is convenient for expressing the posture of the front-end tool. Whenever we know the transformation matrix between the coordinate system of the base of the manipulator and the coordinate system of the flange of the manipulator, we can synchronize the transformation of the transformation matrix with the reference pose of the front-end tool to the flange of the manipulator where it is located position.

Optionally, FIG. 3 is a flow chart of another front-end tool pose synchronization method provided in the embodiment of the present application. As shown in FIG. 3, obtaining a registration matrix includes the following steps 040 and 050:

S040, converting the calibrated position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix, to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

S050. Register the registration pose with the reference pose to obtain a registration matrix.

Specifically, the calibrated position coordinates of the front-end tool in the NDI coordinate system can be projected into the front-end tool coordinate system through the first transformation matrix, and then the registration posture of the front-end tool in the front-end tool coordinate system can be obtained, and the registration The posture is registered with the reference posture to obtain a registration matrix. Specifically, by registering several coordinates of the same calibration position in the front-end tool coordinate system and the coordinates in the manipulator base coordinate system, the registration matrix can be obtained. quasi-matrix.

Optionally, in step 020, the control of the NDI calibration frame to move with the manipulator to register to obtain the second transformation matrix between the manipulator flange coordinate system and the NDI coordinate system specifically includes:

Specifically, after controlling the movement of the manipulator, the coordinates of the physical origin of the manipulator flange in the NDI coordinate system can be obtained through the NDI system, and the coordinates of the physical origin of the manipulator flange in the manipulator flange coordinates can be obtained through the control system of the manipulator. system, and then register the position coordinates of the physical origin of the flange of the manipulator in the NDI coordinate system and the flange coordinate system of the manipulator, respectively, to obtain a second transformation matrix.

Wherein, in order to prevent the problem that registration cannot be completed when the trajectory of the physical origin of the flange of the manipulator is in the same plane, the control of the movement of the manipulator includes:

Wherein, the controlling the movement of the mechanical arm can be performed by operating the mechanical arm to draw a cube.

In the front-end tool pose synchronization method provided in this application, through step 100, the transformation matrix between the coordinate system of the manipulator base and the flange coordinate system of the manipulator is obtained, and the coordinate system of the front-end tool in the base coordinate system of the manipulator is obtained. The reference pose and the registration matrix in, wherein, the registration matrix is expressed as the transformation relationship between the front-end tool coordinate system and the manipulator base coordinate system, and the front-end tool is fixed on the flange of the manipulator; Step 200 , transforming the reference pose and the registration matrix according to the transformation matrix to obtain the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base. In this way, since the front-end tool is fixed on the flange of the manipulator, the front-end tool moves with the flange of the manipulator. During the movement of the flange of the manipulator, the transformation relationship between the coordinate system of the manipulator flange and the coordinate system of the base of the manipulator will be Then there is a change, through a transformation matrix between the manipulator base coordinate system and the manipulator flange coordinate system that can be obtained in real time, based on this transformation matrix, the fixed front-end tool is in the coordinate system of the manipulator base By transforming the reference pose and registration matrix in the manipulator system, the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base can be obtained, thereby realizing the spatial position and pose of the front-end tool without NDI tracking. Real-time synchronization of objects in the frame of the robot base.

Based on the same technical concept, the present application also provides a front-end tool attitude synchronization device. Figure 8 is a schematic structural diagram of a front-end tool attitude synchronization device provided by an embodiment of the present application. As shown in Figure 8, the device includes:

The obtaining module 10 is used to obtain the transformation matrix between the coordinate system of the base of the manipulator and the coordinate system of the flange of the manipulator, and obtain the reference posture and the registration matrix of the front-end tool in the coordinate system of the base of the manipulator, wherein, The registration matrix is expressed as a conversion relationship between the coordinate system of the front-end tool and the coordinate system of the base of the manipulator, and the front-end tool is fixed on the flange of the manipulator;

The pose determining module 20 is configured to convert the reference pose according to the transformation matrix and the registration matrix during the process of controlling the movement of the manipulator, so as to obtain the position of the front-end tool on the base of the manipulator. 3D pose in a coordinate system.

Optionally, FIG. 9 is a schematic structural diagram of another front-end tool posture synchronization device provided in the embodiment of the present application. As shown in FIG. 9, the device also includes:

The calibration module 30 is used to rigidly bind the front-end tool fixed on the flange of the manipulator and the NDI calibration frame, and calibrate the manipulator according to the first transformation matrix between the NDI coordinate system and the front-end tool coordinate system The position coordinates of the physical origin of the flange in the NDI coordinate system;

The first registration module 40 is used to control the movement of the NDI calibration frame with the mechanical arm to register to obtain the second transformation matrix between the mechanical arm flange coordinate system and the NDI coordinate system;

The first conversion module 50 is configured to convert the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator , to obtain the reference posture of the front-end tool in the coordinate system of the manipulator base;

The second conversion module 60 is configured to convert the calibration position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

The second registration module 70 is configured to register the registration pose with the reference pose to obtain a registration matrix.

Optionally, the first registration module 40 is specifically used for:

Optionally, the first registration module 40 is configured to:

FIG. 10 is a schematic diagram of the physical structure of an electronic device according to an embodiment. As shown in FIG. 10 , the electronic device 11 includes: a processor (processor) 101, a memory (memory) 102, and a bus 103;

Wherein, the processor 101 and the memory 102 complete mutual communication through the bus 103;

The processor 101 is used to call the program instructions in the memory 102 to execute the real-time synchronization method of front-end tool space and attitude provided by the above method embodiments.

Based on the same technical concept, the present application also provides a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the pose of the front-end tool according to the first aspect of the present application is realized. The steps of the synchronization method.

Those of ordinary skill in the art can understand that all or part of the steps to realize the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the It includes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other various media that can store program codes.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

A front-end tool pose synchronization method, the method comprising:

Obtain the transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, and obtain the reference posture and registration matrix of the front-end tool in the coordinate system of the manipulator base, wherein the registration matrix represents is the conversion relationship between the front-end tool coordinate system and the mechanical arm base coordinate system, and the front-end tool is fixed on the flange of the mechanical arm;

During the process of controlling the movement of the manipulator, the reference pose is transformed according to the transformation matrix and the registration matrix, so as to obtain the three-dimensional pose of the front-end tool in the coordinate system of the manipulator base.
The pose synchronization method of the front-end tool according to claim 1, wherein obtaining the reference pose of the front-end tool in the coordinate system of the manipulator base comprises:

Rigidly bind the front-end tool and the NDI calibration frame fixed on the flange of the manipulator, and calibrate the flange of the manipulator according to the first transformation matrix between the NDI coordinate system and the coordinate system of the front-end tool The position coordinates of the physical origin in the NDI coordinate system;

Control the NDI calibration frame to move with the manipulator to register to obtain the second transformation matrix between the manipulator flange coordinate system and the NDI coordinate system;

Transform the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the manipulator flange, and obtain the position of the front-end tool in the The reference pose in the base coordinate system of the manipulator described above.
The front-end tool pose synchronization method according to claim 2, wherein obtaining the registration matrix includes:

Converting the calibrated position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

Registering the registration pose with the reference pose to obtain a registration matrix.
The pose synchronization method of the front-end tool according to claim 3, wherein the calibration position coordinates include a plurality of calibration position coordinates and the plurality of calibration position coordinates are not included in the same plane.
The pose synchronization method of the front-end tool according to claim 2, wherein the control of the NDI calibration frame to move with the mechanical arm to register to obtain the second transformation matrix between the mechanical arm flange coordinate system and the NDI coordinate system includes:

controlling the movement of the manipulator, and recording multiple position coordinates of the physical origin of the manipulator flange in the NDI coordinate system and the manipulator flange coordinate system;

Registering the position coordinates of the physical origin of the manipulator flange in the NDI coordinate system and the manipulator flange coordinate system respectively, to obtain a distance between the NDI coordinate system and the manipulator flange coordinate system The second transformation matrix of .
The front-end tool pose synchronization method according to claim 4, wherein said controlling the movement of said mechanical arm comprises:

Controlling the running trajectory of the physical origin of the flange of the mechanical arm on the mechanical arm, so that the running trajectory of the physical origin of the flange of the mechanical arm is not in the same plane.
A front-end tool pose synchronization device, the device comprising:

The obtaining module is used to obtain the real-time transformation matrix between the coordinate system of the base of the manipulator and the coordinate system of the flange of the manipulator, and obtain the reference posture and the registration matrix of the front-end tool in the coordinate system of the base of the manipulator, wherein, The registration matrix is expressed as a conversion relationship between the coordinate system of the front-end tool and the coordinate system of the base of the manipulator, and the front-end tool is fixed on the flange of the manipulator;

A pose determination module, configured to convert the reference pose according to the transformation matrix and the registration matrix during the process of controlling the movement of the manipulator, so as to obtain the coordinates of the front-end tool on the base of the manipulator 3D pose in the system.
The front-end tool pose synchronization device according to claim 7, further comprising:

The calibration module is used to rigidly bind the front-end tool fixed on the flange of the manipulator to the NDI calibration frame, and calibrate the manipulator method according to the first transformation matrix between the NDI coordinate system and the front-end tool coordinate system. The position coordinates of the blue physical origin in the NDI coordinate system;

The first registration module is used to control the movement of the NDI calibration frame with the mechanical arm to register to obtain the second transformation matrix between the mechanical arm flange coordinate system and the NDI coordinate system;

The first conversion module is configured to convert the calibrated position coordinates of the front-end tool in the NDI coordinate system through the second transformation matrix, the inverse transformation matrix between the coordinate system of the manipulator base and the coordinate system of the flange of the manipulator, obtaining the reference posture of the front-end tool in the coordinate system of the manipulator base;

The second conversion module is used to convert the calibration position coordinates of the front-end tool in the NDI coordinate system through the first transformation matrix to obtain the registration posture of the front-end tool in the front-end tool coordinate system;

The second registration module is configured to register the registration pose with the reference pose to obtain a registration matrix.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, any one of claims 1 to 6 is realized Steps of the front-end tool pose synchronization method.
A non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed, the steps of the front-end tool pose synchronization method according to any one of claims 1 to 6 are realized.