Robot movement path adjustment method based on robot learning and related device

Abstract

Embodiments of the present application provide a robot moving path adjustment method based on robot learning and related devices, which are applied to a robot in an intelligent warehousing system, the intelligent warehousing system comprising the robot and a scheduling device; the method comprises: obtaining moving information sent by the scheduling device, the moving information comprising a first physical space position navigation coordinate in a warehouse space for indicating; moving in the warehouse space according to the moving information; when moving to a second physical space position according to the moving information, determining whether there is historical deviation information corresponding to the navigation coordinate; if there is historical deviation information, performing position adjustment processing according to the historical deviation information to correct the first deviation value; if there is no historical deviation information, obtaining position information of a current position to perform position adjustment processing. In this way, the deviation between the expected position and the actual position is reduced, and the walking accuracy of the robot is improved.

Description

Technical Field

[0001] This application belongs to the field of robot intelligent control technology, specifically relating to a robot movement path adjustment method and related device based on robot learning. Background Technology

[0002] Currently, the mobile control method for handling robots involves the platform issuing control commands. The robot itself acquires its position information through Simultaneous Localization and Mapping (SLAM) laser and barcode camera recognition in two dimensions, and uses an inertial measurement unit (IMU) for inertial navigation. Each movement of the handling robot is controlled independently. In this case, when encountering recurring problems such as slippage or uneven ground, the robot will deviate to some extent each time it passes over these obstacles, thus affecting its movement accuracy and stability. Summary of the Invention

[0003] This application provides a robot movement path adjustment method and related apparatus based on robot learning, aiming to reduce the deviation between the desired position and the actual position and improve the robot's walking accuracy.

[0004] In a first aspect, embodiments of this application provide a robot movement path adjustment method based on robot learning, applied to a robot in an intelligent warehousing system. The intelligent warehousing system includes the robot and a scheduling device, the scheduling device being communicatively connected to the robot. The method includes:

[0005] Obtain movement information sent by the scheduling device, the movement information including navigation coordinates, the navigation coordinates being used to indicate a first physical spatial location in the storage space;

[0006] Move within the storage space according to the movement information;

[0007] When the robot moves to the second physical space position according to the movement information, it is determined whether historical deviation information corresponding to the navigation coordinates is stored. The second physical space position is the actual physical space position that the robot moves to according to the navigation coordinates. The historical deviation information is used to indicate the first deviation value between the second physical space position and the first physical space position.

[0008] If the historical deviation information exists, position adjustment processing is performed based on the historical deviation information to correct the first deviation value;

[0009] If the historical deviation information does not exist, the current location information is obtained for location adjustment.

[0010] In a second aspect, an embodiment of the present application provides a robot moving path adjustment device based on robot learning, applied to a robot in an intelligent warehousing system, the intelligent warehousing system comprising the robot and a scheduling device, the scheduling device being in communication connection with the robot; the method comprising:

[0011] an acquisition unit configured to acquire moving information sent by the scheduling device, the moving information comprising navigation coordinates, the navigation coordinates being used to indicate a first physical space position in a warehousing space;

[0012] a moving unit configured to move in the warehousing space according to the moving information;

[0013] a determination unit configured to determine whether historical deviation information corresponding to the navigation coordinates is stored when moving to a second physical space position according to the moving information, the second physical space position being an actual physical space position to which the robot moves according to the indication of the navigation coordinates, the historical deviation information being used to indicate a first deviation value between the second physical space position and the first physical space position;

[0014] a first adjustment unit configured to, if the historical deviation information exists, perform position adjustment processing according to the historical deviation information to correct the first deviation value;

[0015] a second adjustment unit configured to, if the historical deviation information does not exist, acquire position information of a current position to perform position adjustment processing.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, the one or more programs being stored in the memory and configured to be executed by the processor, and the program comprising instructions for performing the steps of any one of the first aspect to the second aspect of the embodiments of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in any one of the first aspect to the second aspect of the embodiments of the present application.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the above computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps described in any one of the first aspect to the second aspect of the embodiments of the present application. The computer program product can be a software installation package.

[0019] It can be seen that, in the embodiment of the application, first, the mobile information sent by the scheduling device is acquired, the mobile information including a first physical space position navigation coordinate in the storage space; the storage space is moved according to the mobile information; when moving to a second physical space position according to the mobile information, it is determined whether there is historical deviation information corresponding to the navigation coordinate; if there is historical deviation information, position adjustment processing is performed according to the historical deviation information to correct the first deviation value; if there is no historical deviation information, position information of the current position is acquired to perform position adjustment processing. In this way, the deviation between the expected position and the actual position is reduced, and the walking accuracy of the robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1a is a structural schematic diagram of an intelligent storage system provided by an embodiment of the present application;

[0022] Figure 1b is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0023] Figure 2a is a flow schematic diagram of a robot moving path adjustment method based on robot learning provided by an embodiment of the present application;

[0024] Figure 2b is a schematic diagram of a robot moving in a storage space provided by an embodiment of the present application;

[0025] Figure 3 is a structural schematic diagram of a robot moving path adjustment device based on robot learning provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] The terms "first", "second", and the like in the description and in the claims of the present application and above-described drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, system, product, or device.

[0028] Reference herein to "embodiments" means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] The related terms involved in the present application will be introduced first.

[0030] At present, the mobile control method of the carrying robot is that the platform issues control instructions, the robot itself acquires position information by recognizing two dimensions through SLAM laser and code reading camera, and inertial navigation is performed through an inertial measurement unit (IMU). The robot is independently controlled each time it moves. In this case, when some problems such as slipping and protruding ground repeatedly occur, the robot will deviate to a certain extent each time it passes, thereby affecting the moving accuracy and stability of the carrying robot.

[0031] To solve the above problems, an embodiment of the present application provides a system-on-chip, which includes a microprocessor and a baseband chip. The system-on-chip can be applied to a scenario of generating a sounding reference signal according to scheduling information of a network device. The microprocessor can be used to acquire scheduling information of a first sounding reference signal from the network device; respond to the scheduling information to acquire attribute information of the first sounding reference signal; determine a first acquisition mode according to the attribute information; acquire a first parameter according to the determined first acquisition mode; generate a configuration instruction according to the first parameter, and send the configuration instruction to the baseband chip. The baseband chip can be used to receive the configuration instruction, generate the first sounding reference signal according to the configuration instruction, and send the first sounding reference signal to the network device. The present scheme can be applied to various scenarios, including but not limited to the application scenarios mentioned above.

[0032] The system architecture related to the embodiments of the present application will be introduced below.

[0033] Figure 1a is a structural schematic diagram of an intelligent warehousing system 100 provided by an embodiment of the present application, the intelligent warehousing system 100 comprising a robot 110 and a scheduling device 120, the scheduling device 120 being in communication connection with the robot. The scheduling device 120 can be a server, a mobile terminal, etc., and is not limited to be unique.

[0034] The robot can realize autonomous navigation and can obtain navigation data of the scheduling device to move to a target position by itself. The robot can be a carrying robot or other robot capable of realizing autonomous navigation.

[0035] Specifically, the intelligent warehousing system 100 can comprise a plurality of robots 110, the scheduling device 120 being in wireless communication connection with the plurality of robots 110, and then sending target instructions to the plurality of robots 110 respectively to instruct the plurality of robots 110 to perform storage and retrieval operations.

[0036] Figure 1b is a structural schematic diagram of an electronic device 10 provided by an embodiment of the present application, as shown in the figure, comprising at least one processor 11, a display screen 12, and a memory 13, and can further comprise a communications interface 15 and a bus 14. The processor 11, the display screen 12, the memory 13, and the communications interface 15 can complete communication among each other through the bus 14. The display screen 12 is arranged to display a user guide interface preset in an initial setting mode. The communications interface 15 can transmit information. The processor 11 can call logical instructions in the memory 13 to execute the method in the above embodiment. Figure 1b

[0037] Optionally, the electronic device 10 can be a mobile electronic device, and can also be an electronic device or other device, and is not limited to be unique.

[0038] In addition, the logical instructions in the memory 13 described above can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0039] The memory 13 as a computer readable storage medium can be arranged to store software programs, computer executable programs, such as program instructions or modules corresponding to the method in the embodiment of the present application. The processor 11 executes the functions of the application and data processing by running the software programs, instructions or modules stored in the memory 13, that is, realizes the method in the above embodiment.

[0040] ​The memory 13 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created according to the use of the electronic device 10, etc. In addition, the memory 13 can include a high-speed random access memory, and can also include a non-volatile memory. For example, various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc., can also be a temporary storage medium.

[0041] The specific method will be described in detail below.

[0042] Please refer to Figure 2a The application further provides a robot moving path adjustment method based on robot learning, applied to a robot in an intelligent warehousing system, wherein the intelligent warehousing system includes the robot and a scheduling device, the scheduling device is in communication connection with the robot; and the method includes the following steps.

[0043] Step 201: acquiring moving information sent by the scheduling device.

[0044] The moving information includes navigation coordinates, and the navigation coordinates are used to indicate a first physical space position in a warehousing space. The navigation coordinates can be two-dimensional or three-dimensional.

[0045] In a specific implementation, when the robot is working, the scheduling device sends moving information to the robot, and then the robot receives the moving information and obtains the navigation coordinates from the moving information.

[0046] Step 202: moving in the warehousing space according to the moving information.

[0047] In one possible embodiment, the moving in the warehousing space according to the moving information includes: planning a second path for moving to the navigation coordinates; and moving to the navigation coordinates according to the second path.

[0048] In a specific implementation, the robot takes a position at which the moving information is received as a starting point, and plans a second path to a second physical space position in the warehousing space corresponding to the navigation coordinates. Specifically, a plurality of storage racks are arranged in the warehousing space, and intervals between the storage racks constitute aisles, and the robot plans a second path to move to the navigation coordinates through the aisles and other passages. Then the robot moves to the navigation coordinates according to the second path.

[0049] It can be seen that, in the embodiment, path planning and navigation are achieved by planning a movement path to the second physical space position corresponding to the navigation coordinates.

[0050] In step 203, when moving to the second physical space position according to the movement information, it is determined whether the historical deviation information corresponding to the navigation coordinates is stored.

[0051] The second physical space position is an actual physical space position to which the robot moves according to the indication of the navigation coordinates, and the historical deviation information is used to indicate a first deviation value of the second physical space position from the first physical space position.

[0052] For example, the navigation positioning module includes a camera.

[0053] In a specific implementation, when the robot navigates according to the navigation coordinates last time, the robot first navigates to a third physical space according to the planned second path, and the third physical space is an actual physical space position to which the robot moves according to the indication of the navigation coordinates last time.

[0054] If it is found that the third physical space position is inconsistent with the first physical space coordinates corresponding to the navigation coordinates, the surrounding environment data is obtained by the navigation positioning module, for example, a plurality of storage positions are arranged in the storage rack, each storage position is a coordinate node, and a corresponding node code is arranged on the storage position. The position of the node code and the relative position between the camera and the node code are determined by the camera. Since the relative relationship between the camera and the robot is known, the relative distance between the robot and the node code can be determined. If the relative distance is less than a preset threshold, it is considered that no adjustment is needed. If the relative distance is greater than the preset threshold, the relative distance is taken as the first deviation value of the third physical space position from the first physical space position, and the first deviation value is saved as historical deviation information.

[0055] For example, refer to Figure 2b , Figure 2b is a schematic diagram of a robot moving in a storage space provided by an embodiment of the present application. It is assumed that the third physical space position is point A, and the position coordinates of point A are (10.00, 20.00) units which can be set as meters (m). The robot walks along the positive direction of the Y axis. When the robot moves to a preset position according to the navigation coordinates for the first time, the actual coordinates of point B are (10.00, 19.99), and the first deviation value can be calculated as 0.01 m. When adjusting, the robot needs to walk 0.01 m in the positive direction of the Y axis.

[0056] Further, when the robot moves to the second physical space position according to the navigation coordinates, there are but not limited to the following two ways to determine whether there is historical deviation information: (1) send query information to the scheduling device, after the scheduling device receives the query information, query whether there is historical deviation information corresponding to the navigation coordinates, if there is, send the historical deviation information to the robot; (2) the historical deviation information is stored in the robot, when reaching the second physical space position, the robot directly queries in its own storage unit whether there is historical deviation information corresponding to the navigation coordinates.

[0057] Step 204, if the historical deviation information exists, the position adjustment processing is performed according to the historical deviation information to correct the first deviation value.

[0058] In one possible embodiment, the position adjustment processing according to the historical deviation information to correct the first deviation value includes: determining a set of historical target parameters associated with the historical deviation information; moving to the navigation coordinates according to the set of historical target parameters to correct the first deviation value.

[0059] In a specific implementation, after the robot obtains the historical deviation information, the set of historical target parameters associated with the historical deviation information is obtained according to the historical deviation information, then the position of the robot can be directly adjusted according to the set of historical target parameters, so that the robot corrects the first deviation value and ensures that the relative distance between the robot and the first physical space position is less than a preset threshold.

[0060] Specifically, when the robot currently passes through the A point position, the first deviation value in the last historical deviation information is read as 0.01m, according to the first deviation value and the current posture of the robot, the algorithm controls the robot target position to compensate 0.01m in the opposite direction of the deviation, so that the deviation between the actual position of the robot and the A point position is reduced.

[0061] It can be understood that the robot can also calculate a corresponding adjustment path according to the historical deviation information again, and adjust the position according to the currently calculated adjustment path.

[0062] As can be seen, in the embodiment, the historical deviation information and the corresponding historical adjustment path are stored, the historical deviation information and the historical adjustment path are associated, and the position is adjusted through the historical adjustment path, so that the robot moves to the accurate first physical space position, reduces the deviation between the expected position and the actual position, and improves the walking accuracy of the robot.

[0063] Step 205, if the historical deviation information does not exist, acquiring the position information of the current position for position adjustment processing.

[0064] The acquiring the position information of the current position for position adjustment processing comprises: acquiring the position information of the current position in the moving process; determining and saving first deviation information of the current position according to the position information and the navigation coordinates; and performing position adjustment processing according to the first deviation information.

[0065] Specifically, the robot comprises a navigation positioning module; the acquiring the position information of the current position in the moving process comprises: acquiring actual coordinates of the current position by the navigation positioning module in the moving process.

[0066] More specifically, the determining and saving first deviation information of the current position according to the position information and the navigation coordinates comprises: comparing the actual coordinates with the navigation coordinates; determining a second deviation value between the actual coordinates and the navigation coordinates to obtain the first deviation information; and storing the first deviation information in a database.

[0067] In a specific implementation, if it is determined that the historical deviation information does not exist, it indicates that no navigation deviation has occurred due to unexpected situations after previous navigation according to the navigation coordinates. In this case, it is necessary to verify whether there is navigation deviation in the current time. Therefore, the position information of the current position (the position information comprises node coordinates corresponding to the first physical space and a relative distance between the current position and the node coordinates) is acquired by the navigation positioning module, and then the second deviation value between the second physical space position and the first physical space position is determined, and the second deviation value is taken as the first deviation information. Then, a corresponding position adjustment path (i.e., a first path) is generated according to the second deviation value, and then the navigation coordinates are accurately reached. Then, the first deviation information is generated as historical deviation information, and the historical deviation information is associated with the position adjustment path.

[0068] In addition, if the second deviation value is 0, it proves that the first physical space position has been accurately reached, and therefore, it is not necessary to continue position adjustment, i.e., the first deviation information is not generated, and the historical deviation information is not generated.

[0069] It can be seen that in the embodiment, when the historical deviation information does not exist, the deviation value is calculated by the navigation positioning module of the robot itself, and then position adjustment is performed when the position deviates.

[0070] In one possible embodiment, the performing position adjustment according to the first deviation information to accurately reach the navigation coordinates comprises:

[0071] detecting whether there is an obstacle between the current position and the navigation coordinate; if there is no obstacle between the current position and the navigation coordinate, controlling the robot to move in the direction of the navigation coordinate by a distance corresponding to the deviation value; if there is an obstacle between the current position and the navigation coordinate, re-planning a first path between the current position and the navigation coordinate; moving to the navigation coordinate according to the first path to correct the second deviation value; and associating a target parameter set of the current navigation with the first deviation information.

[0072] In a specific implementation, when planning a path between the current position of the robot and the first physical space position, the surrounding environment information is first obtained through a camera or other visual device, and then obstacle analysis is performed; if no obstacle is detected, a path to the first physical space position is directly planned according to the first deviation information; if the existence of the obstacle is detected, a first path between the current position and the navigation coordinate is re-planned; the first path is associated with the first deviation information, so that the first path serves as the position adjustment path; and the robot moves to the navigation coordinate according to the first path to accurately reach the navigation coordinate.

[0073] As can be seen, in the embodiment, when an obstacle is detected during the position adjustment, the path is re-planned to accurately adjust the position.

[0074] In one possible embodiment, the target parameter set at least includes one of a moving direction, a moving speed, and a load of the robot; and the associating the target parameter of the first path with the first deviation information includes: recording at least one of the moving direction, the moving speed, and the load of the robot when moving to the navigation coordinate according to the first path in real time to obtain the target parameter set; and associating the target parameter set with the first deviation information.

[0075] In a specific implementation, after the robot plans the first path, at least one of the moving direction, the moving speed, and the current load of the robot is recorded in real time during the position adjustment process according to the first path, and the moving time of each moving direction can also be recorded; after the correction of the second deviation value is completed, a target parameter set is finally obtained; and the target parameter set is associated with the first deviation information, so that the target parameter set can be used as part of the historical deviation information to indicate the robot to perform the position adjustment process next time.

[0076] It can be seen that, in the embodiment, the detailed target parameter set is saved, so that the robot can use the saved target parameter set for position adjustment, thereby improving the positioning accuracy of the robot and reducing the real-time data processing amount of the robot.

[0077] To sum up, in the embodiment of the application, first, the mobile information sent by the scheduling device is acquired, the mobile information including a first physical space position navigation coordinate in the storage space; the storage space is moved according to the mobile information; when moving to a second physical space position according to the mobile information, it is determined whether there is historical deviation information corresponding to the navigation coordinate; if there is historical deviation information, position adjustment processing is performed according to the historical deviation information to correct the first deviation value; if there is no historical deviation information, position information of the current position is acquired for position adjustment processing. In this way, the deviation between the expected position and the actual position is reduced, and the walking accuracy of the robot is improved.

[0078] The above mainly introduces the scheme of the embodiment of the application from the perspective of the execution process of the method. It can be understood that the mobile electronic device includes a hardware structure and / or a software module corresponding to the execution of each function in order to implement the above functions. Those skilled in the art should easily realize that, in combination with the unit and algorithm steps of each example described in the embodiments provided in the present text, the application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0079] The embodiment of the application can divide the functional units of the electronic device according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be implemented in the form of hardware or software functional unit. It should be noted that the division of units in the embodiment of the application is illustrative, and is only a logical functional division. When actually implemented, there can be another division method.

[0080] Please refer to Figure 3 The application also provides a robot mobile path adjustment device 30 based on robot learning, applied to a robot in an intelligent storage system, the intelligent storage system including the robot and a scheduling device, the scheduling device being in communication connection with the robot; the device includes:

[0081] An acquisition unit 31 is configured to acquire mobile information sent by the scheduling device, the mobile information comprising navigation coordinates, the navigation coordinates being used to indicate a first physical space position in the warehouse space;

[0082] A moving unit 32 is configured to move in the warehouse space according to the mobile information.

[0083] A determination unit 33 is configured to determine whether historical deviation information corresponding to the navigation coordinates is stored when moving to a second physical space position according to the mobile information, the second physical space position being an actual physical space position to which the robot moves according to the indication of the navigation coordinates, the historical deviation information being used to indicate a first deviation value between the second physical space position and the first physical space position.

[0084] A first adjustment unit 34 is configured to perform position adjustment processing according to the historical deviation information to correct the first deviation value if the historical deviation information exists.

[0085] A second adjustment unit 35 is configured to acquire position information of a current position to perform position adjustment processing if the historical deviation information does not exist.

[0086] As can be seen, in the embodiments of the present application, the mobile information sent by the scheduling device is first acquired, the mobile information comprising navigation coordinates used to indicate a first physical space position in the warehouse space; the robot moves in the warehouse space according to the mobile information; when moving to a second physical space position according to the mobile information, it is determined whether historical deviation information corresponding to the navigation coordinates is stored; if the historical deviation information exists, position adjustment processing is performed according to the historical deviation information to correct the first deviation value; if the historical deviation information does not exist, position information of a current position is acquired to perform position adjustment processing. In this way, the deviation between the expected position and the actual position is reduced, and the walking accuracy of the robot is improved.

[0087] In one possible embodiment, in the aspect of acquiring the position information of the current position to perform position adjustment processing, the second adjustment unit 35 is specifically configured to acquire the position information of the current position during the movement; determine and save first deviation information of the current position according to the position information and the navigation coordinates; and perform position adjustment processing according to the first deviation information.

[0088] In one possible embodiment, the robot comprises a navigation positioning module; in the aspect of acquiring the position information of the current position during the movement, the second adjustment unit 35 is specifically configured to acquire actual coordinates of the current position by the navigation positioning module during the movement.

[0089] In a possible implementation, in the aspect of determining and storing the first deviation information of the current position according to the position information and the navigation coordinate, the second adjustment unit 35 is specifically configured to: compare the actual coordinate with the navigation coordinate; determine a second deviation value between the actual coordinate and the navigation coordinate, to obtain the first deviation information; and store the first deviation information in a database.

[0090] In a possible implementation, in the aspect of adjusting the position according to the first deviation information to accurately reach the navigation coordinate, the second adjustment unit 35 is specifically configured to: detect whether there is an obstacle between the current position and the navigation coordinate; if there is no obstacle between the current position and the navigation coordinate, control the robot to move a distance corresponding to the deviation value in the direction of the navigation coordinate; if there is an obstacle between the current position and the navigation coordinate, re-plan a first path between the current position and the navigation coordinate; move to the navigation coordinate according to the first path to correct the second deviation value; and associate the first path with the first deviation information.

[0091] In a possible implementation, the target parameter set includes at least a moving direction, a moving speed and a load of the robot, and associating the target parameter of the first path with the first deviation information includes: recording at least one of the moving direction, the moving speed and the load of the robot moving to the navigation coordinate according to the first path in real time, to obtain the target parameter set; and associating the target parameter set with the first deviation information.

[0092] In a possible implementation, in the aspect of adjusting the position according to the historical deviation information to correct the first deviation value, the first adjustment unit 34 is specifically configured to: determine a historical target parameter set associated with the historical deviation information; and move to the navigation coordinate according to the historical target parameter set to correct the first deviation value.

[0093] In a possible implementation, in the aspect of moving in the storage space according to the moving information, the moving unit 32 is specifically configured to: plan a second path to the navigation coordinate; and move to the navigation coordinate according to the second path.

[0094] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired or wireless manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, or the like, which includes one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0095] The embodiments of the present application also provide a computer storage medium, which stores a computer program for electronic data exchange, and the computer program causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer includes an electronic device.

[0096] The embodiments of the present application also provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product can be a software installation package, and the computer includes an electronic device.

[0097] It should be understood that, in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] In several embodiments provided in the present application, it should be understood that the disclosed method, device and system can be implemented in other manners. For example, the described device embodiments are merely illustrative; for example, the division of the units is merely logical function division; and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0099] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0100] In addition, each function unit in the various embodiments of the present application can be integrated in a processing unit, or each unit can be a separate physical unit, or two or more units can be integrated in a unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0101] The integrated unit in the form of software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium, including a plurality of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute part of steps of the method according to various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DRAM). Various media that can store program codes.

[0102] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily conceive variations or substitutions without departing from the spirit and scope of the present application, and various modifications can be made, including combinations of different functions and implementation steps, including software and hardware implementations, which are all within the scope of the present application.

Claims

1. A method for adjusting a robot's movement path based on robot learning, characterized in that, A robot used in an intelligent warehousing system, the intelligent warehousing system including the robot and a scheduling device, the scheduling device being communicatively connected to the robot; the method includes: Obtain movement information sent by the scheduling device, the movement information including navigation coordinates, the navigation coordinates being used to indicate a first physical spatial location in the storage space; Move within the storage space according to the movement information; When the robot moves to the second physical space location according to the movement information, determining whether historical deviation information corresponding to the navigation coordinates is stored includes: sending an inquiry message to the scheduling device, the inquiry message instructing the scheduling device to query whether historical deviation information corresponding to the navigation coordinates exists after receiving the inquiry message; if it exists, the scheduling device sends the historical deviation information to the robot; or, querying its own storage unit to check whether historical deviation information corresponding to the navigation coordinates exists; the second physical space location is the actual physical space location that the robot moves to according to the navigation coordinates, and the historical deviation information is used to indicate a first deviation value between the second physical space location and the first physical space location; If the historical deviation information exists, position adjustment processing is performed based on the historical deviation information to correct the first deviation value; If the historical deviation information does not exist, the current location information is obtained for location adjustment.

2. The method according to claim 1, characterized in that, The process of obtaining the current location information and adjusting the location includes: Obtain the current location information during movement; The first deviation information of the current position is determined and saved based on the location information and the navigation coordinates; Position adjustment is performed based on the first deviation information.

3. The method according to claim 2, characterized in that, The robot includes a navigation and positioning module; The step of obtaining the current location information during movement includes: During the movement, the actual coordinates of the current position are obtained through the navigation and positioning module.

4. The method according to claim 3, characterized in that, The step of determining and saving the first deviation information of the current position based on the position information and the navigation coordinates includes: Compare the actual coordinates with the navigation coordinates; Determine the second deviation value between the actual coordinates and the navigation coordinates to obtain the first deviation information; The first deviation information is stored in the database.

5. The method according to claim 4, characterized in that, The position adjustment process based on the first deviation information includes: Detect whether there are obstacles between the current position and the navigation coordinates; If there are no obstacles between the current position and the navigation coordinates, then control the robot to move a distance corresponding to the deviation value in the direction of the navigation coordinates; If there is an obstacle between the current location and the navigation coordinates, then the first path between the current location and the navigation coordinates is replanned; Move according to the first path to the navigation coordinates to correct the second deviation value; The target parameter set for this navigation is associated with the first deviation information.

6. The method according to claim 5, characterized in that, The target parameter set includes at least the robot's direction of movement, speed of movement, and load capacity; Associating the target parameter set for this navigation with the first deviation information includes: The target parameter set is obtained by recording at least one of the robot's movement direction, movement speed, and load as it moves toward the navigation coordinates according to the first path in real time. The target parameter set is associated with the first deviation information.

7. The method according to claim 1, characterized in that, The step of performing position adjustment processing based on the historical deviation information to correct the first deviation value includes: Determine the set of historical target parameters associated with the historical deviation information; The system moves to the navigation coordinates based on the set of historical target parameters to correct the first deviation value.

8. A robot movement path adjustment device based on robot learning, characterized in that, A robot used in an intelligent warehousing system, the intelligent warehousing system including the robot and a scheduling device, the scheduling device being communicatively connected to the robot; the device includes: The acquisition unit is used to acquire the movement information sent by the scheduling device, the movement information including navigation coordinates, the navigation coordinates being used to indicate a first physical spatial location in the storage space; A moving unit, used to move within the storage space according to the moving information; The determining unit is configured to determine whether historical deviation information corresponding to the navigation coordinates is stored when the robot moves to the second physical space position according to the movement information. This includes: sending an inquiry message to the scheduling device, the inquiry message instructing the scheduling device to query whether historical deviation information corresponding to the navigation coordinates exists after receiving the inquiry message; if it exists, sending the historical deviation information to the robot; or, querying its own storage unit to check whether historical deviation information corresponding to the navigation coordinates exists. The second physical space position is the actual physical space position that the robot moves to according to the navigation coordinates, and the historical deviation information indicates a first deviation value between the second physical space position and the first physical space position. The first adjustment unit is used to perform position adjustment processing based on the historical deviation information if the historical deviation information exists, so as to correct the first deviation value. The second adjustment unit is used to obtain the current position information and perform position adjustment processing if the historical deviation information does not exist.

9. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to execute instructions for the steps of the method as described in any one of claims 1-7.

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