US 12,318,937 B2
Error detection method and robot system based on association identification
Linhui Wang, Shanghai (CN); Bo Yang, Shanghai (CN); Chao Zhang, Shanghai (CN); Zongqin Zhang, Shanghai (CN); Tie Zhou, Shanghai (CN); Hong Xu, Shanghai (CN); Chengwu Xiao, Shanghai (CN); Xiaofeng Wu, Shanghai (CN); and Kai Xu, Beijing (CN)
Assigned to THE FIRST AFFILIATED HOSPITAL OF NAVAL MEDICAL UNIVERSITY, Shanghai (CN); and BEIJING SURGERII ROBOTICS COMPANY LIMITED, Beijing (CN)
Filed by The First Affiliated Hospital of Naval Medical University, Shanghai (CN); and BEIJING SURGERII ROBOTICS COMPANY LIMITED, Beijing (CN)
Filed on Dec. 30, 2022, as Appl. No. 18/091,857.
Claims priority of application No. 202210014974.X (CN), filed on Jan. 7, 2022.
Prior Publication US 2023/0219220 A1, Jul. 13, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/1674 (2013.01); B25J 9/1697 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An error detection method comprising:
determining, in a plurality of error detection cycles, a plurality of pose differences of an end of an operating arm;
accumulating the plurality of the pose differences; and
generating, in response to an accumulated value of the plurality of pose differences meeting an error detection condition, a control signal related to a fault,
wherein the method further comprises: in each error detection cycle,
obtaining a target pose of the end of the operating arm;
acquiring a positioning image;
recognizing, in the positioning image, a plurality of pose identifications located on the end of the operating arm;
recognizing, based on the plurality of pose identifications, an angle identification located on the end of the operating arm, the angle identification having a position association relationship with a first pose identification of the plurality of pose identifications;
determining, based on the angle identification and the plurality of pose identifications, an actual pose of the end of the operating arm; and
determining, based on the target pose and the actual pose, a pose difference of the end of the operating arm,
wherein recognizing the plurality of pose identifications located on the end of the operating arm comprises:
determining a plurality of candidate pose identifications from the positioning image;
recognizing, based on a pose pattern matching template, an initial pose identification from the plurality of candidate pose identifications;
searching for a remaining pose identification in eight searching directions that are associated with the initial pose identification, with an initial pose identification pattern corner of the initial pose identification as a starting point; and
stopping searching for the pose identification, in response to the number of the recognized pose identifications being greater than or equal to a pose identification number threshold, or
redetermining, in response to the number of the recognized pose identifications being less than the pose identification number threshold and a distance of the searching being greater than twice a distance between previous two pose identification pattern corners of the recognized pose identifications, the initial pose identification from the plurality of candidate pose identifications based on the pose pattern matching template,
wherein determining the actual pose of the end of the operating arm comprises:
determining a roll angle of a pose identification coordinate system relative to an end coordinate system of the operating arm based on the angle identification and the plurality of pose identifications;
determining a pose of the pose identification coordinate system relative to a reference coordinate system based on two-dimensional coordinates of the plurality of pose identifications in the positioning image and three-dimensional coordinates of the plurality of pose identifications in the pose identification coordinate system; and
determining a pose of the end coordinate system of the operating arm relative to the reference coordinate system as the actual pose based on the roll angle of the pose identification coordinate system relative to the end coordinate system of the operating arm and the pose of the pose identification coordinate system relative to the reference coordinate system, or
wherein determining the actual pose of the end of the operating arm comprises:
determining a roll angle of a pose identification coordinate system relative to an end coordinate system of the operating arm based on the angle identification and the plurality of pose identifications;
determining three-dimensional coordinates of the plurality of pose identifications in the end coordinate system of the operating arm based on the roll angle of the pose identification coordinate system relative to the end coordinate system of the operating arm and three-dimensional coordinates of the plurality of pose identifications in the pose identification coordinate system; and
determining a pose of the end coordinate system of the operating arm relative to a reference coordinate system as the actual pose based on two-dimensional coordinates of the plurality of pose identifications in the positioning image and three-dimensional coordinates of the plurality of pose identifications in the end coordinate system of the operating arm,
wherein the control signal related to the fault comprises a first alarm signal indicating that the control of the operating arm has failed, and the method further comprises:
receiving status information of at least one drive device for driving the operating arm, in response to the target pose and the actual pose meeting an error detection condition; and
sending out a second alarm signal in response to the status information and drive information of the at least one drive device meeting a fault detection condition, the second alarm signal indicating that a drive device of the operating arm has failed.