A robot laser detection method, device and related product

Abstract

The application relates to a robot laser detection method and device and related products, wherein the device adopts a circular ring with a gap for the robot to enter, a plurality of holes are formed on the circular ring to form a grating plate; the grating plate comprises first holes with glass arranged at intervals, second holes for identifying the start and end of robot laser detection, reflective strips for detecting light intensity, and glass embedded in the first holes for detecting laser light transmission. When the laser of the robot is detected, the robot enters and faces the grating plate, the collected laser point cloud is matched with a pre-stored laser point cloud profile, and according to the matching result, the laser quality detection before the robot is shipped and the robot stability detection can be realized.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot laser detection method, device, and related products. Background Art

[0002] Lasers are already widely used in robot navigation, and their application is increasing. Under normal circumstances, the lasers on robots can see a whiteboard up to 20 meters away and black velvet within 5 meters. However, existing robots generally do not undergo laser quality inspection before leaving the factory. This can lead to inaccurate positioning during operation, impacting robot operation and even causing safety accidents. Summary of the Invention

[0003] Based on this, it is necessary to provide a robot laser detection method, device and related products that can detect the robot laser of the entire machine and improve the detection efficiency in response to the above technical problems.

[0004] A first aspect of the present invention provides a robot laser detection device, which includes a circular ring with a gap for the robot to enter, and a plurality of holes are opened on the circular ring to form a grating plate; the grating plate includes first holes with glass arranged at intervals, reflective strips for detecting laser light intensity, and glass for detecting laser transmittance and embedded in the first holes at intervals.

[0005] The robot laser detection device further includes a second hole for marking the start and / or end of the robot laser detection.

[0006] A set of reflective strips is respectively provided at both ends of the ring and at the middle position where no hole is opened. A plurality of first holes are provided between the two sets of reflective strips, and a first hole with glass is provided between every two first holes.

[0007] The second holes are located at both ends of the ring, and are used to mark the start and end of the robot laser detection area; the length of the second hole is longer than that of the first hole, and the width of the second hole is shorter than that of the first hole.

[0008] In one embodiment, the device further includes a laser angle test point and a laser stability test point; the laser angle test point is the center of the ring; the laser stability test point is located on the radius along the direction from the center to the middle position of the ring.

[0009] In one embodiment, the arc of the ring is 260 degrees to 280 degrees.

[0010] In one of the embodiments, the first holes and the second holes are square holes, the first holes include 67 holes, and the second holes include 2 holes, and each of the reflective strips includes 3 reflective strip codes.

[0011] In one of the embodiments, the first holes and the second holes are square holes, the first holes include 67 holes, and the second holes include 2 holes, and each of the reflective strips includes 3 reflective strip codes.

[0012] The second aspect of the present application provides a robot laser detection method, which is applied to the laser calibration or detection of a robot, the robot is provided with a laser, and the laser is irradiated on the robot laser detection device according to any one of the first aspect of the present application during the detection or calibration, and the method comprises the following steps:

[0013] Obtaining a first laser point cloud profile returned after the laser of the robot is projected to the grating plate;

[0014] Matching the first laser point cloud profile with a preset first standard laser point cloud profile to obtain a matching result;

[0015] Determining whether the laser meets a laser unusable condition according to the matching result, if yes, determining that the laser is unusable, and if no, determining that the laser can be normally used.

[0016] In one of the embodiments, the preset first standard laser point cloud profile is obtained in advance according to the laser point cloud profile obtained after the standard laser is projected to the grating plate, and it is considered that the matching is passed when the first laser point cloud profile matches the preset first standard laser point cloud profile within a preset threshold.

[0017] In one of the embodiments, the method further comprises: rotating the robot at a preset speed, detecting the laser intensity when the reflective strip is identified, obtaining the laser intensity returned by the reflective strip, and determining whether the laser intensity is within a preset laser intensity range.

[0018] In one of the embodiments, the laser unusable condition is that the laser angle exceeds the detection range of the first hole of the grating plate or one or more of the glass of the grating plate does not reflect.

[0019] In one of the embodiments, the method further comprises: presetting a laser angle test point and a laser stability test point, the laser angle test point is the center of the ring, and the laser stability test point is located in the radial direction along the center to the middle position of the ring; testing whether the angle of the robot laser at the laser angle test point is normal; and testing the light intensity and the light transmittance of the robot laser at the laser stability test point.

[0020] The third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the robot laser detection method described in the second aspect of the present invention are implemented.

[0021] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the robot laser detection method described in the second aspect of the present invention.

[0022] The robot laser detection method, device and related products provided by the present invention can detect the laser carried by the robot through the robot laser detection device. The device includes a first hole with glass arranged at intervals on the grating plate, a second hole for marking the start and end of the robot laser detection, a reflective strip for detecting the laser light intensity, and glass for detecting the laser transmittance and embedded in the first hole at intervals. When the laser is irradiated to the grating plate, the contour and transmittance of the laser point cloud formed are different. Therefore, it can be judged whether the currently detected laser angle has deviation based on the degree of matching between the returned laser point cloud and the preset standard laser point cloud, thereby determining whether the currently detected laser can be used. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] Figure 1 This is a diagram showing an application scenario of a robot laser detection method in one embodiment;

[0025] Figure 2 Schematic diagram of a robot laser detection device in one embodiment;

[0026] Figure 3 A schematic diagram of a grating of a robot laser detection device in one embodiment;

[0027] Figure 4 Schematic diagram of a flow chart of a robot laser detection method in one embodiment;

[0028] Figure 5 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings, and the described embodiments should not be regarded as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0030] In the following description, the description of "one specific implementation" or "one embodiment" and the like refers to a subset of all possible implementations, but it can be understood that "one specific implementation" or "one embodiment" can be the same subset or different subsets of all possible implementations, and can be combined with each other without conflict. In the following description, the term "plurality" refers to at least two. The "and / or" in the following embodiments refers to both or one of them.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0032] For the convenience of understanding and description, before the embodiments of the present application are further described in detail, the prior application will be briefly described by taking a mobile robot as an example.

[0033] The robot laser detection method provided by the present application can be applied to the application environment as shown in Figure 1 The robot laser detection method is applied to a robot laser detection system, which includes a robot laser detection device 102 and a robot 104. The robot is provided with a laser 106. The laser 106 of the robot 104 emits a laser beam at a predetermined frequency, adjusts the position of the robot relative to the robot laser detection device 102, determines the target collection position of the laser 106, and obtains the first laser point cloud profile returned after the laser beam emitted by the laser 106 at the target collection position is projected to the grating plate. By comparing the coincidence degree of the preset first standard laser point cloud profile and the first laser point cloud profile, and then determining whether the laser meets the laser non-use condition according to the coincidence degree matching result of the first laser point cloud profile, that is, the laser angle deviation exceeds the specified value, to determine whether the laser can be used.

[0034] In one embodiment, as Figure 2The figure shows a schematic diagram of a robot laser detection device. As shown in the figure, the device includes a circular ring 201 with a gap for robot entry. A plurality of first and second holes are formed in the circular ring 201 to form a grating plate 202. The grating plate 202 includes first holes 301 with glass arranged at intervals, reflective strips 303 for detecting laser light intensity, and reflective strips 304 for detecting laser light transmittance, which are embedded in the first holes at intervals.

[0035] In a specific embodiment, a set of reflective strips 303 are respectively provided at both ends of the ring 201 and at the middle position where no hole is opened. A plurality of first holes 301 are provided between the two sets of reflective strips. A first hole 301 with glass is provided between every two first holes 301. The second hole 302 is located at one end or both ends of the ring 201. Figure 3 .

[0036] As an embodiment, the robot laser detection device also includes a second hole 302 for marking the start and / or end of the robot laser detection; when the robot laser detection device does not have the second hole 302, it can determine whether to start by irradiating the contour collected by the first hole with laser. At this time, the laser contour corresponding to the start command is pre-stored, and the end mark of the laser detection is similarly designed. Compared with this method, starting or ending the detection directly through the second hole 302 can improve the detection efficiency.

[0037] Of course, when the second hole 302 is used to mark the starting position of laser detection, only one second hole 302 can be arranged at one end. When the second hole 302 is identified for the second time, it is considered to be the end. The second hole 302 can also be arranged at both ends, or set at other positions as needed, as long as it can serve to mark the start or end of the detection.

[0038] As an embodiment, the reflective strip can also be directly covered on part of the surface of the first hole. In this case, in addition to the second hole, the grating plate is evenly provided with first holes. When arranging the reflective strip, it can be directly pasted on the grating plate to cover part of the first hole. When the detection conditions change, the pasting position can be changed.

[0039] As an embodiment, the positions of the second hole and the reflective strip in the present application can be arranged as needed, as long as the laser can recognize the corresponding information when irradiated.

[0040] In an optional embodiment, the length of the second hole 302 is longer than that of the first hole 301 , and the width of the second hole 302 is shorter than that of the first hole 301 .

[0041] Of course, the switch and size of the second hole can be different according to the preset information. For example, the second hole can be square, as long as the laser point cloud data returned after irradiation is consistent with the preset start and / or end laser contour information.

[0042] As an embodiment, the first hole and / or the second hole can be a square hole. The specific number of the first hole and / or the second hole can be set according to demand. This application does not limit the number and shape of the holes.

[0043] In a specific embodiment, the ring 201 can be formed by bending into a 270-degree arc with a radius of 2m, and 67 square holes can be provided on the ring 201 to form the grating plate 202. The length and width of each square hole can be the same, for example, the length and width are both 4cm, or the length and width can be different, and the length can be longer than the width. There is a spacing distance between two adjacent square holes, and preferably, the spacing distance can be 4cm. A group of reflective strips are respectively pasted at the two ends and the middle unperforated position of the ring 201, that is, the leftmost end, the rightmost end and the middle unperforated position of the ring 201, wherein a group of reflective strips 303 includes two or more reflective bar codes, for example, a group of reflective strips 303 includes three reflective bar codes.

[0044] To better detect the angle of the laser, glass 304 is also provided on the grating plate. A glass-enclosed first hole is positioned between every two first holes 301. Since the laser beam shines on the glass-enclosed first hole, the glass will project the received laser beam through it without reflecting it. Therefore, the spacing of several glass-enclosed first holes allows for better detection of the laser's proper function. The grating plate 202 also includes second holes 302, located at either end of the ring 201, near the reflective strip. Preferably, the second holes 302 are narrow rectangular holes with a length of 10 cm and a width of 1 cm. These holes are used to mark the beginning and end of the robot's laser detection area. Of course, other shapes, such as triangles, are also possible.

[0045] As an optional embodiment, the outer periphery of the ring 201 is made of stainless steel with a thickness of 2 cm, a length of 5.5 m and a width of 40 cm. The back of the ring 201 is wrapped with a 90-degree right-angle wall corner, which is 1 m away from the ring.

[0046] In one embodiment, the plurality of square holes opened on the ring 201 may be evenly arranged. The square holes are first holes and are pre-installed with glass as required.

[0047] In one embodiment, the reflective strips in each group of reflective strips may be evenly arranged.

[0048] In one embodiment, a group of reflective strips 303 at the leftmost end of the ring 201 includes reflective barcode 1 3031 , reflective barcode 2 3032 , and reflective barcode 3 3033 , and the second hole 302 at the left end of the ring 201 is disposed on the left side of reflective barcode 1 3031 .

[0049] In one embodiment, a group of reflective strips 303 at the rightmost end of the ring 201 includes reflective barcode four 3034 , reflective barcode five 3035 , and reflective barcode six 3036 , and the second hole 302 at the right end of the ring 201 is set to the right of reflective barcode six 3036 .

[0050] In one embodiment, the apparatus further includes a laser angle test point 401 and a laser stability test point 402. Laser angle test point 401 is the center of ring 201. Laser stability test point 402 is located on a radius extending from the center toward the middle of ring 201. In some embodiments, laser stability test point 402 may be located 50 cm to 150 cm from laser angle test point 401.

[0051] In one embodiment, the arc angle of the ring 201 is 260 degrees to 280 degrees.

[0052] In one embodiment, there are 67 first holes in total, 2 second holes in total, and each group of reflective strips includes 3 reflective barcodes.

[0053] As an embodiment of the present application, the size of the first hole and / or the second hole may be no less than 2 cm. In actual use, the configuration is based on whether a usable laser point cloud contour can be obtained.

[0054] In this embodiment, a robot laser detection device is set up, which includes a circular ring with a gap for the robot to enter, and a plurality of holes are opened on the circular ring to form a grating plate; the grating plate includes a first hole with glass arranged at intervals, a second hole for marking the start and end of the robot laser detection, a reflective strip for detecting the laser light intensity, and a glass for detecting the laser transmittance and embedded in the first hole at intervals. The light returned by the laser beam irradiated on the first hole, the glass and the unopened area is different. Therefore, it is possible to judge whether the currently detected laser angle has a deviation based on the degree of matching between the returned laser point cloud and the preset standard laser point cloud, thereby determining whether the currently detected laser can be used.

[0055] In one embodiment, Figure 4 As shown, a robot laser detection method is provided, which is applied to Figure 1 The robot in the example is used to illustrate the following steps:

[0056] Step S202: The robot laser emits a laser beam at a preset frequency.

[0057] The robot receives a power-on command and sends a laser beam emission instruction to the laser, instructing the laser to emit the laser beam at a preset frequency. The preset frequency can be pre-set based on historical data.

[0058] Step S204: adjust its position relative to the robot laser detection device to determine the target acquisition position of the laser.

[0059] The target collection position refers to the point where the robot detects that the leftmost end of the laser coincides with the reflective strip at the leftmost end of the ring, or the rightmost end of the laser coincides with the reflective strip at the rightmost end of the ring, that is, the laser enters the detection area of ​​the reflective strip.

[0060] Of course, as an embodiment, the target acquisition position can determine whether to start detection based on the recognized laser profile.

[0061] In one embodiment, adjusting the position of the robot relative to the robot laser detection device to determine the target acquisition position of the laser includes: the robot moves to the robot laser detection device and stops moving at the laser angle test point; at this time, the robot faces the middle of the robot laser detection device; the robot rotates at a preset speed or angle with the center of the robot laser detection device facing the robot as the front; receiving the laser point cloud returned after the laser beam is projected onto the grating plate, and determining the target acquisition position of the laser based on the laser point cloud.

[0062] As an example, the robot moves to the robot laser detection device along a preset path, where the preset path is determined based on the position of the grating plate 202 and the robot's initial position. As shown in Figure 2 , the preset path is to enter the ring from the gap and move toward the center of the grating plate 202 in the direction shown, until reaching the center of the ring 201, i.e., the laser angle test point, and stopping.

[0063] In a specific embodiment, the preset speed can be a robot rotation speed set in advance based on historical data and experience. The preset angle is set based on the angle of the ring gap. When the ring arc angle is 270 degrees, the preset angle can be 50 degrees. With the robot facing the center of the robot's laser detection device as the front, the robot rotates left at a preset speed and a preset angle. The main purpose is to ensure that the laser edge exceeds the leftmost end of the robot's laser detection device.

[0064] In one embodiment, receiving a laser point cloud returned after the laser beam is projected onto the grating plate 202, and determining a target acquisition position of the laser based on the laser point cloud includes: obtaining a laser point cloud returned after the laser beam is projected onto the grating plate, and determining a position of the laser relative to a laser detection device of the robot based on the laser point cloud; when it is detected that the edge of the laser exceeds the leftmost end of the robot laser detection device, stopping rotation to the left and starting rotation to the right at a preset speed; when a reflective strip located in the middle of the ring and at the rightmost end of the ring is detected, or when a reflective strip located at the leftmost end of the ring is detected, stopping rotation and using the position of the laser as the target acquisition position.

[0065] Specifically, when the reflective strips located in the middle of the circle and the right end of the circle are detected or when the reflective strip located at the left end of the circle 201 is detected, the robot stops rotating as long as the robot first detects the reflective strips located in the middle of the circle and the right end of the circle or the reflective strip located at the left end of the circle according to the laser point cloud. In this way, it is ensured that the laser enters the reflective strip detection area.

[0066] In step S206, the first laser point cloud profile returned after the laser emitted by the robot at the target acquisition position is projected onto the grating plate is acquired.

[0067] In one embodiment, the first laser point cloud profile returned after the laser emitted by the robot is projected onto the grating plate is acquired.

[0068] In step S208, the first laser point cloud profile is matched with a preset first standard laser point cloud profile to obtain a matching result.

[0069] The first standard laser point cloud profile can be a laser point cloud profile formed by a standard laser provided on the robot and emitting a laser beam to irradiate on the grating plate, or a preconfigured corrected laser point cloud profile.

[0070] The first laser point cloud profile acquired after the robot to be detected is moved to the grating plate according to a preset path and adjusted to a target acquisition position is matched with the standard first laser point cloud profile in terms of coincidence degree, so as to calculate a matching degree.

[0071] In one embodiment, the preset first standard laser point cloud profile is preconfigured according to the laser point cloud profile acquired after the standard laser is projected onto the grating plate. When the first laser point cloud profile is matched with the preset first standard laser point cloud profile within a preset threshold, it is considered that the matching is passed.

[0072] In step S210, it is determined whether the laser meets a laser unusable condition according to the matching result. If yes, it is determined that the laser is unusable. If no, it is determined that the laser is normally usable.

[0073] Further, it is determined whether the laser angle is within a preset deviation range according to the matching degree, i.e., whether the matching result meets the laser unusable condition, so as to determine whether the laser is normally usable.

[0074] In one embodiment, the laser unusable condition is that the laser angle exceeds the detection range of the first hole of the grating plate and one or more of the glass of the grating plate does not reflect.

[0075] In this embodiment, a robot laser detection device is set up, which includes a circular ring with a notch, and a plurality of square holes are opened on the circular ring to form a grating plate. A group of reflective strips are respectively set at both ends of the circular ring and the middle unopened position, which are used to determine the starting point of the first laser point cloud contour and verify the laser light intensity of the laser; a plurality of first holes are set between the two groups, and a first hole with glass is set between every two first holes. The laser beam irradiated on the first hole, the glass and the unopened part will return different light. Therefore, it is possible to judge whether the currently detected laser angle has deviation based on the degree of matching between the returned laser point cloud and the preset standard laser point cloud, thereby determining whether the currently detected laser can be used.

[0076] As an embodiment, the robot laser detection method further includes: the robot rotates at a preset speed, and when a reflective strip is identified, the laser light intensity is detected;

[0077] The intensity of the laser light returned by the reflective strip is obtained, and it is determined whether the laser light intensity is within a preset laser light intensity range.

[0078] In one embodiment, the preset first standard laser point cloud profile is a laser point cloud profile obtained in advance after projecting the grating plate based on a standard laser. When the first laser point cloud profile matches the preset first standard laser point cloud profile within a preset threshold, it is considered that the match is passed.

[0079] As an embodiment, in order to facilitate the acquisition of the laser point cloud contour, the robot laser detection method may further include: pre-setting a laser angle test point and a laser stability test point, wherein the laser angle test point is the center of the circular ring, and the laser stability test point is located in a radial direction from the center to the middle position of the circular ring;

[0080] Test whether the angle of the robot laser is normal at the laser angle test point;

[0081] The light intensity and light transmittance of the robot laser are tested at the laser stabilization test point.

[0082] By marking the test points, the robot can rotate at the specified points to detect the quality of the laser.

[0083] As an embodiment, the laser angle test point and the laser stability test point may also be the same point.

[0084] In one embodiment, the robot laser detection method further includes: adjusting its own position relative to the grating plate 202 to determine the target distance range of the laser; obtaining a second laser point cloud profile returned after the laser beam emitted by the laser within the target distance area and projecting it onto the grating plate; matching the second laser point cloud profile with a preset second standard laser point cloud profile for coincidence to obtain a matching result; determining whether the robot meets the robot unusable condition based on the matching result, and if so, determining that the robot is unstable during operation and cannot be used; if not, determining that the robot is stable during operation and can be used normally; wherein, the robot unusable condition is that the laser exceeds the detection range of the first hole of the grating plate.

[0085] In one embodiment, adjusting the position of the robot relative to the grating plate to determine the target distance range of the laser includes: adjusting the robot's own angle so that the front of the robot is facing the center of the robot's laser detection device; moving toward the laser stable test point at a preset moving rate, and using the distance range between the laser angle test point and the laser stable test point as the target distance range.

[0086] Specifically, the target distance interval refers to the distance range from the laser angle test point within the preset distance area with the center of the robot facing the robot laser detection device as the front, that is, the target distance interval refers to the distance interval formed by the end laser stable test point and the starting laser stable test point. When the target laser stable test point is located at 150cm from the laser angle test point, and the starting laser stable test point is located at 50cm from the laser detection test point, the target distance interval is 50cm to 150cm. The laser stable test point is located on the radius along the center toward the middle position of the ring. For example, if the radius of the ring is 2m, the range of values ​​that the laser stable test point can take is selected between 1m and 3m from the laser angle test point.

[0087] In this embodiment, a robot laser detection device is set up, which includes a circular ring with a notch, and a plurality of square holes are opened on the circular ring to form a grating plate. A group of reflective strips are respectively set at both ends of the circular ring and the middle position without a hole, for determining the starting point of the first laser point cloud contour and verifying the light intensity of the laser; a plurality of first holes are set between the two groups, and a first hole with glass is set between every two first holes. The light returned by the laser beam irradiated on the first hole, the glass and the unopened part is different. In the process of moving the robot from the laser angle test point to the laser stability test point, the overlap degree of the laser point cloud contour obtained in real time is matched with the preset standard laser point cloud contour. If it is detected that the laser exceeds the detection range of the first hole of the grating plate, it is determined that the robot is not stable during operation and the robot cannot be used. Otherwise, it is determined that the robot can be used.

[0088] It should be understood that although Figure 4The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0089] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the robot laser detection method in any of the above embodiments is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0090] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0091] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the robot laser detection method described in any of the above embodiments when executing the computer program.

[0092] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the robot laser detection method described in any of the above embodiments are implemented.

[0093] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0094] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A robot laser detection device, characterized in that: The device includes a circular ring with a gap for the robot to enter, and a plurality of holes are opened on the circular ring to form a grating plate; the grating plate includes first holes with glass arranged at intervals, reflective strips for detecting laser light intensity, and glass for detecting laser light transmittance and embedded in the first holes at intervals; a group of reflective strips are respectively arranged at both ends of the circular ring and at an unopened position in the middle, and a plurality of first holes are provided between the two groups of reflective strips, and a first hole with glass is provided between every two first holes; the first holes are arranged at a preset distance from each other and from the edge of the grating plate.

2. The robot laser detection device according to claim 1, characterized in that: The grating plate also includes a second hole for marking the start and / or end of the robot laser inspection.

3. The robot laser detection device according to claim 1, characterized in that: The arc of the ring is 260 degrees to 280 degrees.

4. A robot laser detection method, applied to robot laser calibration or detection, characterized in that: During calibration or detection, the robot irradiates a laser on the robot laser detection device according to any one of claims 1 to 3, and the method includes: Acquire a first laser point cloud profile returned after the robot's laser is projected onto a grating plate; Performing overlap matching on the first laser point cloud profile and a preset first standard laser point cloud profile to obtain a matching result; It is determined whether the laser meets the laser unusable condition according to the matching result. If so, it is determined that the laser cannot be used; if not, it is determined that the laser can be used normally.

5. The robot laser detection method according to claim 4, characterized in that: The preset first standard laser point cloud profile is a laser point cloud profile obtained by projecting a standard laser onto the grating plate. When the first laser point cloud profile matches the preset first standard laser point cloud profile within a preset threshold, it is considered that the match is successful.

6. The robot laser detection method according to claim 4, characterized in that: The method also includes: the robot rotates at a preset speed, and when the reflective strip is identified, the laser light intensity is detected; the laser light intensity returned by the reflective strip is obtained, and it is determined whether the laser light intensity is within a preset laser light intensity range.

7. The robot laser detection method according to any one of claims 4 to 6, characterized in that: The condition that the laser cannot be used is that the angle of the laser exceeds the detection range of the first hole of the grating plate or one or more of the glasses of the grating plate have no reflection.

8. A robot comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the robot laser detection method according to any one of claims 4 to 7 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the robot laser detection method according to any one of claims 4 to 7 are implemented.

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