A calibration device and calibration method for a handling robot

Abstract

The present invention provides a calibration device and a calibration method for a handling robot, relating to the field of automation technology. The calibration method for the handling robot includes: controlling the visual positioning device of the handling robot to be calibrated to recognize the positioning image (4) on the first component (1) of the handling robot calibration device, and determining the installation deviation of the visual positioning device according to the obtained first data; and controlling the laser positioning device to emit laser light to scan the first baffle (11), the second baffle (12) and the second component (2) of the handling robot calibration device, and determining the angular deviation of the laser positioning device according to the obtained second data. By fixing the handling robot to be calibrated to the handling robot calibration device and calibrating the visual positioning device and the laser positioning device simultaneously, the present invention can quickly and accurately calibrate the installation displacement and the offset of the angle, greatly improving the motion accuracy and obstacle avoidance safety of the handling robot.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular, to a calibration device and a calibration method for a handling robot. Background Art

[0002] Since the 21st century, with the development of industrial automation in China, traditional logistics transportation and production processing are developing towards the direction of intelligence and automation. Intelligent manufacturing production systems and intelligent stereoscopic warehouses have been more and more widely used in production, and high-end logistics equipment, as an important part of industrial automation, has received more and more development. Among them, Automated Guided Vehicle (AGV for short) has been widely favored because of its automation and intelligence in the transportation link. The application of AGV in the manufacturing industry mainly reduces the labor cost and improves the work efficiency. At present, the application level of AGV in China is still relatively low, but many enterprises have begun to pay attention to and use AGV, which has good development prospects. AGV has the advantages of strong flexibility, high intelligence level, and high compatibility with other systems, and the demand for flexible transportation will be greater and greater.

[0003] The positioning and navigation technology of AGV is the key technology to ensure its normal and stable operation. For the existing AGV with differential drive mode, it relies on dead reckoning and the mileage data of the code disk to calculate for local positioning, and relies on the data detected by the laser in real time to judge obstacles, so as to ensure the high-precision operation and safety of AGV. Therefore, the pose estimation accuracy of AGV directly affects the operation accuracy of AGV, and the accuracy of laser obstacle detection directly affects the obstacle avoidance accuracy and safety performance.

[0004] However, in the actual installation process, there may be installation deviations in the code reading sensor, and there will also be various angular deviations in the laser, which affect the pose estimation accuracy of AGV. Therefore, it is necessary to calibrate the positioning device of AGV. However, in the current market, since it is impossible to ensure whether the heading of AGV is completely without deviation when it is stationary, there has been no good calibration scheme. Many manufacturers ignore this error, so it is difficult to obtain better improvement in the operation accuracy. Summary of the Invention

[0005] The present invention aims to solve at least to some extent the technical problems in the related technologies. To achieve the above object, in a first aspect, the present invention provides a calibration device for a handling robot, which includes:

[0006] A first component (1) placed horizontally and a separable second component (2) placed vertically. The first component (1) is provided with a horizontally arranged positioning image (4) and positioning components (3) for calibrating the visual positioning device of a handling robot. Vertically arranged first and second baffles (11, 12) are oppositely arranged in the width direction of the first component. The distances from the first baffle (11) and the second baffle (12) to the central axis in the length direction of the first component (1) are equal. The second component (2) is provided with an adjustable gap for light to pass through in the vertical direction. The first baffle (11), the second baffle (12), and the second component (2) are used to calibrate the laser positioning device of the handling robot.

[0007] Optionally, the first component (1) is provided with a plurality of the positioning components (3) adapted to the handling robot for fixing the handling robot, such that the chassis of the handling robot is parallel to the first component (1), and the central axis of the handling robot coincides with the central axis in the length direction of the first component (1); the positioning image (4) is arranged at a position adapted to the visual positioning device of the handling robot, and is used for the visual positioning device to identify the positioning image (4) after the handling robot is fixed to the first component.

[0008] Optionally, the second component (2) includes a third baffle (21), a fourth baffle (22), and a fixing column (23). The fixing column (23) is used to connect the third baffle (21) and the fourth baffle (22). The height between the third baffle (21) and the fourth baffle (22) is adjustable to form the adjustable gap; the distances from the first baffle (11) and the second baffle (12) to the central axis in the length direction of the first component (1) are greater than a preset value.

[0009] Optionally, the first component (1) is further provided with a horizontally installed laser emission device (5). The laser emission direction of the laser emission device (5) is parallel to the central axis in the length direction of the first component (1). The second component (2) is provided with a positioning hole for positioning according to the laser emitted by the laser emission device (5), such that the second component (2) is located at a preset position for calibrating the handling robot.

[0010] Using the calibration device for the handling robot of the present invention, the handling robot to be calibrated is fixed by the positioning components provided thereon, ensuring that there is no deviation between the heading of the handling robot at rest and the calibration device, thereby improving the accuracy of calibrating the handling robot. The image positioning device of the handling robot is also calibrated by the positioning images provided at corresponding positions. Meanwhile, the corresponding laser angles and distances are obtained through the baffle in front of the laser positioning device to calibrate the laser positioning device, ensuring the calibration accuracy. The calibration device for the handling robot according to the embodiments of the present invention can calibrate the image positioning device and the laser positioning device of the handling robot simultaneously, improving the calibration efficiency and ensuring the calibration accuracy.

[0011] To achieve the above object, in a second aspect, the present invention provides a method for calibrating a handling robot, which includes:

[0012] Controlling the vision positioning device of the handling robot to be calibrated to identify the positioning image (4) on the first component (1) of the calibration device for the handling robot as described above, and determining the installation deviation of the vision positioning device according to the obtained first data. Herein, the handling robot to be calibrated is fixed on the first component (1) of the calibration device for the handling robot, and the second component (2) of the calibration device for the handling robot is placed at a position with a preset length from the laser positioning device of the handling robot to be calibrated, such that the adjustable interval of the second component (2) is directly opposite to the laser positioning device; and

[0013] Controlling the laser positioning device to emit laser light to scan the first baffle (11), the second baffle (12) and the second component (2) of the calibration device for the handling robot, and determining the angular deviation of the laser positioning device according to the obtained second data.

[0014] Optionally, the angular deviation includes the left - right angular deviation

[0015] The second data includes a first included angle and a second included angle. The first included angle is the horizontal included angle between the laser positioning device detecting the end face of the first baffle (11) and the central axis of the first component (1) along the horizontal direction, and the second included angle is the horizontal included angle between the laser positioning device scanning and detecting the end face of the second baffle (12) and the central axis of the first component (1) along the horizontal direction. Determining the angular deviation of the laser positioning device according to the second data includes:

[0016] Determining the deflection direction according to the magnitudes of the first included angle and the second included angle; and determining the left - right angular deviation according to the average value of the first included angle and the second included angle.

[0017] Optionally, the angular deviation includes a pitch angle deviation. The laser positioning device is controlled to emit laser to scan the first baffle (11), the second baffle (12) and the second component (2) of the handling robot calibration device. Determining the angular deviation of the laser positioning device according to the obtained second data includes:

[0018] Obtain signals of a plurality of acquisition points within a preset included angle range on a vertical plane of the central axis along the length direction of the first component (1) of the laser positioning device, and determine whether the second component (2) is detected according to the signals of the plurality of acquisition points;

[0019] When the second component (2) is detected, determine the pitch angle deviation according to the ratio of the installation height of the laser positioning device to the distance at which the second component (2) is detected by the laser; and

[0020] When the second component (2) is not detected, determine the pitch angle deviation according to the ratio of the distance between the laser positioning device and the second component (2) to the distance at which the first baffle (11) or the second baffle (12) is detected by the laser.

[0021] Optionally, when the second component (2) is detected, determining the pitch angle deviation according to the ratio of the installation height of the laser positioning device to the distance at which the second component (2) is detected by the laser includes:

[0022] When the second component (2) is detected, determine that the laser installation angle deviation is a depression angle where l sh represents the installation height of the laser positioning device; l si represents the distance at which the second component (2) is detected by the laser; and n represents the number of the plurality of acquisition points.

[0023] Using the handling robot calibration method of the present invention, by fixing the handling robot to be calibrated to the handling robot calibration device to ensure that the heading is consistent with the calibration device when stationary, calibrate the vision positioning device by identifying the QR code image on the calibration device; at the same time, also detect the vertical baffle and the separable second component on the calibration device by laser, perform regional data division according to the laser angle and distance, determine the error direction and magnitude through mean value calculation, and calibrate the laser deviation angle, so as to quickly and accurately calibrate the installation displacement and angular offset of the code reading sensor and the laser, perform data correction, and thus greatly improve the motion accuracy and obstacle avoidance safety of the handling robot.

[0024] For the above purpose, in a third aspect, the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the calibration method of the handling robot according to the second aspect of the present invention is implemented.

[0025] For the above purpose, in a fourth aspect, the present invention provides a computing device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the calibration method of the handling robot according to the second aspect of the present invention is implemented.

[0026] The non-transitory computer-readable storage medium and the computing device according to the present invention have beneficial effects similar to those of the calibration method of the handling robot according to the second aspect of the present invention, and will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic top view of the structure of the calibration device of the handling robot according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic front view of the structure of the calibration device of the handling robot according to an embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of placing the second component according to an embodiment of the present invention;

[0030] Figure 4 It is a schematic flow chart of the calibration method of the handling robot according to an embodiment of the present invention;

[0031] Figure 5 It is a schematic flow chart of determining the pitch angle deviation according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. When referring to the drawings, unless otherwise indicated, the same reference numerals in different drawings represent the same or similar elements. It should be noted that the embodiments described in the following exemplary embodiments do not represent all embodiments of the present invention. They are merely examples of devices and methods that are consistent with some aspects of the present invention disclosed in the claims in detail, and the scope of the present invention is not limited thereto. On the premise of no contradiction, the features in various embodiments of the present invention can be combined with each other.

[0033] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0034] With the development of intelligent technologies such as the Internet of Things, artificial intelligence, and big data, the demand for using these intelligent technologies to transform and upgrade the traditional logistics industry has become even stronger, and intelligent logistics (Intelligent Logistics System) has become a research hotspot in the logistics field. Intelligent logistics utilizes artificial intelligence, big data, and various Internet of Things devices and technologies such as information sensors, radio frequency identification technology, and global positioning system (GPS), and is widely applied to basic activity links such as the transportation, warehousing, distribution, packaging, loading and unloading, and information services of materials, realizing intelligent analysis and decision-making, automated operation, and high-efficiency optimized management in the process of material management. Internet of Things technology includes sensing devices, RFID technology, laser infrared scanning, infrared induction identification, etc. The Internet of Things can effectively connect the materials in logistics with the network, can monitor the materials in real time, and can also sense environmental data such as the humidity and temperature of the warehouse to ensure the storage environment of the materials. Through big data technology, all data in logistics can be sensed, collected, uploaded to the data layer of the information platform, and operations such as filtering, mining, and analyzing the data are performed, and finally accurate data support is provided for business processes (such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, distribution, etc.). The application directions of artificial intelligence in logistics can be roughly divided into two types: 1) replacing some manual labor with intelligent devices empowered by AI technology, such as driverless trucks, AGVs, AMRs, forklifts, shuttle cars, stacker cranes, driverless delivery vehicles, drones, service robots, robotic arms, intelligent terminals, etc.; 2) improving labor efficiency through software systems driven by technologies or algorithms such as computer vision, machine learning, and operations research optimization, such as transportation equipment management systems, warehouse management, equipment scheduling systems, order allocation systems, etc. With the research and progress of intelligent logistics, this technology has been applied in many fields, such as retail and e-commerce, electronics, tobacco, medicine, industrial manufacturing, footwear, textile, food, etc.

[0035] In recent years, the modern logistics industry has shown a trend of digitalization and intelligence. Warehouse management is an indispensable part of modern logistics. Among them, handling robots such as AGVs are the main equipment for cargo handling in intelligent warehouses. They have the characteristics of safety, high efficiency, and labor saving, and are an important part of modern logistics and industrial automation. However, during the operation of handling robots, there is a problem of poor positioning accuracy, which has always restricted their application in many industrial environments.

[0036] For handling robots based on QR code navigation, the accuracy of the QR code information is an important factor affecting the accuracy of posture estimation. The QR code information is obtained through identification by the code reading sensor. Therefore, the installation accuracy of the code reading sensor plays a decisive role in the accuracy of the obtained QR code information. When the installation angle of the code reading sensor on the handling robot deviates, the QR code information obtained by the handling robot's main control will be inaccurate. However, during the actual installation process, it is impossible to accurately ensure that the code reading sensor is parallel to the chassis of the handling robot, so it is necessary to calibrate the external parameters of the code reading sensor. In the current market, there is no better calibration solution because it is impossible to ensure that the heading of the handling robot is completely free of deviation when it is stationary. Many manufacturers ignore this error, so it is difficult to improve the operating accuracy.

[0037] The installation error of the laser will directly affect the deviation between the distance of the obstacle obtained by the handling robot and the actual distance of the obstacle. Therefore, the installation angle of the laser also needs to have a calibration process, and then correct the laser detection data to obtain data closer to the actual obstacle, thereby improving the accuracy and safety of the laser obstacle avoidance. The laser is generally installed at the front (rear) of the handling robot. The deviation of the laser installation angle includes the error of the pitch angle or the left and right offset angle. However, it is also difficult to calibrate the installation angle error of the laser with higher accuracy because it is difficult to ensure that the heading of the handling robot is positive first. Therefore, for the calibration of the obstacle avoidance laser of the handling robot on the market, most of them are a range calibration, and there is no actual accurate angle deviation calibration. In addition, in the prior art, the code reading sensor and the laser are generally calibrated separately, resulting in cumbersome calibration steps and low efficiency.

[0038] The present invention uses the designed handling robot calibration device to fix the handling robot to be calibrated on the calibration device to ensure that the heading is positive, and calibrates the code reading sensor according to the two-dimensional code placed at a preset position. At the same time, the laser angle deviation is calibrated according to the baffle and detachable components set on the calibration device, which improves the efficiency of calibration and ensures the accuracy of calibration.

[0039] Figure 1 The figure shows a schematic top view of the structure of a handling robot calibration device according to an embodiment of the present invention, comprising a horizontally placed first component 1 and a vertically placed detachable second component 2, the first component 1 having a horizontally placed positioning image 4 and a positioning component 3, and a visual positioning device for calibrating an AGV, the first component having a vertical first baffle (11) and a second baffle 12 arranged opposite to each other in the width direction, the first baffle 11 and the second baffle 12 being equidistant from the central axis of the length direction of the first component 1, and the second component 2 having an adjustable gap (11) for light to pass through in the vertical direction. Figure 1(not shown), the first baffle 11, the second baffle 12 and the second component 2 are used to calibrate the laser positioning device of the handling robot. In the embodiment of the present invention, the first component 1 can be made of a steel plate that is not easily deformed to form a calibration platform, and the second component 2 can be made of a steel column that is not easily deformed to form a calibration fitting. It can be understood that other materials that are not easily deformed can also be used to manufacture the calibration device of the handling robot for calibrating the handling robot trolley, and the present invention is not limited thereto.

[0040] Figure 2 The figure shows a front structural schematic view of a handling robot calibration device according to an embodiment of the present invention, which will be described in conjunction with Figure 1 In the embodiment of the present invention, the width w of the first component 1 g is the same as that of the handling robot to be calibrated, and it can be slightly larger or slightly smaller, without strict limitation. The length l of the first component 1 g is at least 50 cm longer than the handling robot to be calibrated, so as to facilitate the calibration of the handling robot.

[0041] Optionally, the first component 1 is provided with a plurality of positioning components 3 adapted to the handling robot, which are used to fix the handling robot, so that the chassis of the handling robot is parallel to the first component 1, and the central axis of the handling robot coincides with the central axis of the length direction of the first component 1. In the embodiment of the present invention, 4 or more mounting holes can be provided on the first component 1 to fit the mounting holes of the handling robot chassis. When the handling robot to be calibrated is installed through a plurality of designed reserved mounting holes, due to high-precision processing, the structure can ensure that the chassis of the handling robot is parallel to the first component 1, and ensure that the central axis of the handling robot and the central axis on the first component 1 are in a vertical plane. Thus, by fixedly installing the handling robot on the first component 1, it is ensured that there is no deviation in the heading of the handling robot when it is stationary, and the accuracy of calibrating the visual positioning device and the laser positioning device of the handling robot subsequently is improved.

[0042] Optionally, the positioning image 4 is set at a position of the visual positioning device adapted to the handling robot, and is used to be recognized by the visual positioning device after the handling robot is fixed to the first component. In the embodiment of the present invention, according to the installation position of the visual positioning device of the handling robot to be calibrated, such as a code reading sensor (DSP) or other detection cameras, a groove with the size of a two-dimensional code is set correspondingly, and a two-dimensional code is pasted as the positioning image 4 for calibrating the visual positioning device of the handling robot.

[0043] Optionally, the difference between the length of the first component and the length of the body of the handling robot is greater than a preset threshold, and the first baffle 11 and the second baffle 12 are located between the laser positioning device of the handling robot and the second component 2. In the embodiments of the present invention, assuming that the laser positioning device of the handling robot is located at the head position, then on the first component 1, at a distance l from the head a away, two baffles are provided, namely the first baffle 11 and the second baffle 12 (the thickness can be 2 mm). The first baffle 11 and the second baffle 12 are perpendicular to the horizontal plane of the first component 1 and are evenly distributed on both sides of the horizontal plane of the first component 1. The first baffle 11 and the second baffle 12 have the same height, and this height can be greater than twice the installation height of the laser positioning device. In the embodiments of the present invention, the distances between the first baffle 11 and the second baffle 12 and the central axis in the length direction of the first component 1 are greater than a preset value. As Figure 2 shown, the distances of the first baffle 11 and the second baffle 12 from the center line of the first component 1 are the same, and l aw > 10 cm (a gap is left in the middle to allow the laser to pass through the baffle to scan the second component 2 behind), and the widths l sw of the first baffle 11 and the second baffle 12 are not less than 5 cm. It can be understood that the above values can be adjusted accordingly according to actual needs, and the present invention is not limited thereto.

[0044] Optionally, the second component 2 includes a third baffle 21, a fourth baffle 22 and a fixing column 23. The fixing column 23 is used to connect the third baffle 21 and the fourth baffle 22. The height between the third baffle 21 and the fourth baffle 22 is adjustable to form the adjustable gap so that light can pass through for corresponding detection and calibration. In the embodiments of the present invention, as Figure 1 shown, the second component 2 has a thin fixing column 23 for two small steel plates (i.e., the third baffle 21 and the fourth baffle 22) up and down. The distances between them and the laser installation height line (i.e., the installation height l sh ) of the laser positioning device are l delta equal. The fixing column 23 is used to adjust the heights of the third baffle 21 and the fourth baffle 22 so that a gap with a preset height is formed between the third baffle 21 and the fourth baffle 22 for calibrating the laser positioning device of the handling robot. In the embodiments of the present invention, the widths l sp of the third baffle 21 and the fourth baffle 22 are at least greater than 7 cm, preferably greater than 10 cm. It can be understood that the above values can be adjusted accordingly according to actual needs to better calibrate the laser positioning device of the handling robot, and the present invention is not limited thereto.

[0045] Optionally, the first component 1 is further provided with a horizontally mounted laser emitting device 5, the laser emitting direction of the laser emitting device 5 being parallel to the central axis of the length direction of the first component 1. A positioning hole is provided on the second component 2 for positioning according to the laser emitted by the laser emitting device 5, so that the second component 2 is located at a preset position for calibrating the handling robot. Figure 3 The figure shows a schematic diagram of placing the second component according to an embodiment of the present invention. An installation hole is further provided on the first component 1 for installing a laser emitting device 5. Correspondingly, a positioning hole is provided on the second component 2 or on the bracket for placing the second component 2. When the laser emitted by the laser emitting device 5 can pass through the positioning hole, it can be ensured that the first component 1 and the second component 2 are in the same plane, thereby ensuring the accuracy and reliability of calibrating the handling robot. It can be understood that the height of the bracket for placing the second component 2 is adjustable so that the interval formed between the third baffle 21 and the fourth baffle 22 faces the laser positioning device of the handling robot, facilitating the calibration of the laser positioning device.

[0046] By using the handling robot calibration device according to the embodiment of the present invention, the handling robot to be calibrated is fixed by the positioning components provided thereon, ensuring that there is no deviation between the heading of the handling robot when it is stationary and the calibration device, and improving the accuracy of calibrating the handling robot. The image positioning device of the handling robot is also calibrated by the positioning images provided at corresponding positions. At the same time, the corresponding laser angle and distance are obtained through the baffle in front of the laser positioning device to calibrate the laser positioning device, ensuring the accuracy of calibration. The handling robot calibration device according to the embodiment of the present invention can calibrate the image positioning device and the laser positioning device of the handling robot simultaneously, improving the calibration efficiency and ensuring the calibration accuracy. Moreover, the separable second component ensures that the first component can be of a smaller size while ensuring a sufficient distance from the laser positioning device of the handling robot to be calibrated, so as to avoid the influence caused by the deviation of the laser itself and improve the calibration accuracy.

[0047] An embodiment of the second aspect of the present invention further provides a method for calibrating a handling robot. Figure 4 The figure shows a schematic flowchart of the method for calibrating a handling robot according to an embodiment of the present invention, including steps S1 to S2.

[0048] In step S1, control the vision positioning device of the to-be-calibrated handling robot to identify the positioning image 4 on the first component 1 of the handling robot calibration device, and determine the installation deviation of the vision positioning device according to the obtained first data. Herein, fix the to-be-calibrated handling robot on the first component 1 of the handling robot calibration device, and place the second component 2 of the handling robot calibration device at a position with a preset length from the laser positioning device of the to-be-calibrated handling robot, such that the adjustable gap of the second component 2 faces the laser positioning device. In the embodiment of the present invention, first fix the to-be-calibrated handling robot on the first component 1, then place the first component 1 on a horizontal ground or a horizontal bracket, and then place the second component 2 at a position with a distance l d from the front of the handling robot. Emit laser through the laser emitting device 5 horizontally installed on the first component 1. When the laser passes through the positioning hole on the second component 2 or the bracket, make the adjustable gap of the second component 2 face the laser positioning device of the handling robot. It is considered that the second component 2 has been placed at the correct position at this time, and the calibration of the handling robot can be started. It can be understood that after the second component 2 is placed, it should also be ensured that there are no other objects within 4 m in front of the head of the handling robot to avoid affecting the calibration accuracy of the laser positioning device. It can be understood that the placement distance l d of the second component 2 can be more than 1 m and can be adjusted accordingly according to the actual obstacle avoidance requirements. The present invention is not limited thereto.

[0049] In the embodiment of the present invention, the distance between the upper and lower small steel plates (i.e., the third baffle 21 and the fourth baffle 22) of the second component 2 can be adjusted according to the actual allowable pitch angle boundary value of the handling robot. Whether the pitch angle deviation of the handling robot exceeds the threshold can be judged according to whether the laser scans and detects the third baffle 21 and the fourth baffle 22. For example, the distance l delta between the third baffle 21 and the fourth baffle 22 and the installation height of the laser positioning device at the head of the handling robot satisfies atan(l delta / l d ) is less than the pitch angle boundary value.

[0050] When the installation of the handling robot is completed and the second component 2 is placed, the calibration of the handling robot can be started. In the embodiment of the present invention, read the two-dimensional code (positioning image 4) at the corresponding position through the code reading sensor (vision positioning device) of the handling robot, and determine the two-dimensional code information {x off , y off , θ off} fixed on the first component 1 (as the first data), and then the installation deviation of the code reading sensor (after coordinate conversion) can be obtained, that is, the read data {x off , y off , θoff} are the displacement deviation and angular deviation of the code reading sensor with respect to the X-axis and Y-axis of the handling robot chassis plane. Among them, assuming that the central axis of the handling robot along the vehicle head direction is the Y-axis, and the horizontal line perpendicular to the Y-axis is the X-axis, as Figure 2 shown, the deviation position is judged according to the actual coordinates set by the read data. For example, when x off 、y off 、θ off are all greater than 0, it means that the actual installation position of the code reading sensor is offset to the lower right relative to the center point of the handling robot. After calibration, the actual QR code information used can be corrected to {x ′ a = x a - x off ,y a ′ = y a - y off ,θ ′ a = θ a - θ off}, where x a 、y a 、θ a represent the data obtained by the code reading sensor, and x ′ a 、y a ′ 、θ ′ a represent the data after the pose deviation correction of the handling robot.

[0051] In step S2, control the laser positioning device to emit laser to scan the first baffle 11, the second baffle 12 of the handling robot calibration device and the second component 2, and determine the angular deviation of the laser positioning device according to the obtained second data. In the embodiment of the present invention, the angular deviation includes the left-right angular deviation and the pitch angular deviation.

[0052] In the embodiment of the present invention, the second data includes a first included angle and a second included angle. The first included angle is the horizontal included angle between the laser positioning device and the horizontal central axis of the first component (1) when the end face of the first baffle (11) is scanned and detected by the laser positioning device, and the second included angle is the horizontal included angle between the laser positioning device and the horizontal central axis of the first component (1) when the end face of the second baffle (12) is scanned and detected by the laser positioning device. In the embodiment of the present invention, the laser emission angle of the laser positioning device is as Figure 2The positive direction of the X-axis shown is 0°, the negative direction of the X-axis is 180 degrees, and the positive direction of the Y-axis is 90° as an example for illustration. When calibrating the laser positioning device of the handling robot, control the laser positioning device to emit laser and obtain laser data, including angle and distance, where each angle θ i corresponds to a distance l si . When the laser detects the end faces of the first baffle 11 and the second baffle 12 facing each other, they are the two distances closest to the positive direction of the Y-axis (i.e., 90°) . Record the corresponding angles θ1 and θ2 as the first included angle and the second included angle respectively. It can be understood that the judgment threshold for sampling points can be set according to the laser precision performance, for example, not exceeding 5 mm.

[0053] In the embodiment of the present invention, the deflection direction is determined according to the magnitudes of the first included angle and the second included angle, and the left-right angle deviation is determined according to the average value of the first included angle and the second included angle. Optionally, calculate the differences between θ1, θ2 and 90, Δθ1 = 90 - θ1, Δθ2 = 90 - θ2, then the left-right installation angle deviation of the laser positioning device is Δθ = (Δθ1 + Δθ2) / 2. When Δθ > 0, it means the laser installation angle is deviated to the right, and when Δθ < 0, it means the laser installation angle is deviated to the left. Calculate the actual position of the obstacle relative to the center of the front of the AGV as {x = l si *sin(θ i +Δθ), y = l si *cos(θ i +Δθ)}. The installation error of the laser is mainly the angle deviation. Due to the structural design, the displacement deviations of the X-axis and the Y-axis can ensure the installation accuracy, so the installation displacement deviations can be ignored.

[0054] Figure 5 The figure shows a schematic flow chart for determining the pitch angle deviation according to the embodiment of the present invention, including steps S21 to S23.

[0055] In step S21, signals of a plurality of acquisition points within a preset angle range on the vertical plane of the central axis along the length direction of the first component 1 are acquired by the laser positioning device, and it is determined whether the second component 2 is detected according to the signals of the plurality of acquisition points. In an embodiment of the present invention, first, data of several points near 90° are acquired, for example, between 85° and 95°. It can be understood that for high-precision lasers, a relatively accurate angle deviation can be calculated through the distance and angle data of the detected object. However, for lasers with a short scanning distance and insufficient accuracy (for example, the accuracy deviation exceeds 5 mm), a relatively accurate angle error cannot be calibrated through the data. Assuming that the laser can scan a distance of 3 m and the detection accuracy is 5 mm, the actually detected data itself may cause a deviation of more than 3 degrees in the pitch angle. At this time, calibration doesn't make much sense, and generally, the deviation of the installed pitch angle is not too large.

[0056] In step S22, when the second component 2 is detected, the pitch angle deviation is determined according to the ratio of the installation height of the laser positioning device to the distance at which the second component 2 is detected by the laser. In an embodiment of the present invention, as shown in Figure 2 When an object is detected within a specified distance (such as 4 m) during scanning detection, it is determined that the deviation of the laser installation angle is a depression angle where n represents the number of points collected near 90°.

[0057] In step S23, when the second component 2 is not detected, the pitch angle deviation is determined according to the ratio of the distance between the laser positioning device and the second component 2 to the distance at which the first baffle 11 or the second baffle 12 is detected by the laser. In an embodiment of the present invention, as shown in Figure 2 If no object is detected within a specified distance (such as 4 m), it is considered that the deviation of the laser installation angle may be an elevation angle deviation, which is where m represents the number of data points of the baffle of the first component 1 scanned (judged according to the size of l si ).

[0058] It can be understood that in an embodiment of the present invention, when the calibration is completed, each calibration data can be automatically saved inside the handling robot body or uploaded to the server for storage, which is used for correcting the positioning parameters and improving the positioning accuracy of the handling robot.

[0059] By using the calibration method of the handling robot according to the embodiment of the present invention, the handling robot to be calibrated is fixed to the handling robot calibration device to ensure that the heading is consistent with the calibration device when stationary, and the vision positioning device is calibrated by identifying the QR code image on the calibration device; at the same time, the vertical baffle and the separable second component on the calibration device are also detected by laser, and regional data division is performed according to the laser angle and distance. The error direction and magnitude are determined by mean calculation, and the laser deviation angle is calibrated, so as to quickly and accurately calibrate the installation displacement and angle offset of the code reading sensor and the laser, perform data correction, and thus greatly improve the motion accuracy and obstacle avoidance safety of the handling robot.

[0060] An embodiment of the third aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the calibration method of the handling robot according to the second aspect of the present invention is implemented.

[0061] Generally speaking, computer instructions for implementing the method of the present invention can be carried by any combination of one or more computer-readable storage media. A non-transitory computer-readable storage medium can include any computer-readable medium except for the signal itself in transient propagation.

[0062] A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0063] Computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. In particular, the Python language suitable for neural network computing and platform frameworks based on TensorFlow, PyTorch, etc. can be used. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0064] An embodiment of the fourth aspect of the present invention provides a computing device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the calibration method of the handling robot according to the second aspect of the present invention is implemented. It can be understood that the computing device of the present invention can be a server or a terminal device with limited computing power.

[0065] According to the non-transitory computer-readable storage medium and the computing device of the third and fourth aspects of the present invention, they can be implemented with reference to the content specifically described in the embodiments of the second aspect of the present invention and have similar beneficial effects to the calibration method of the handling robot according to the embodiments of the second aspect of the present invention, which will not be elaborated here.

[0066] Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A calibration device for a handling robot, characterized in that, Comprising: A first component (1) placed horizontally and a separable second component (2) placed vertically, wherein the first component (1) is provided with a horizontally arranged positioning image (4) and a positioning component (3) for calibrating the visual positioning device of the handling robot, vertically arranged first baffle (11) and second baffle (12) are oppositely arranged in the width direction of the first component, and the distances from the first baffle (11) and the second baffle (12) to the central axis in the length direction of the first component (1) are equal, the second component (2) is provided with an adjustable gap for light to pass through in the vertical direction, the first baffle (11), the second baffle (12) and the second component (2) are used for calibrating the laser positioning device of the handling robot.

2. The calibration device for a handling robot according to claim 1, characterized in that The first component (1) is provided with a plurality of the positioning components (3) adapted to the handling robot for fixing the handling robot, so that the chassis of the handling robot is parallel to the first component (1), and the central axis of the handling robot coincides with the central axis in the length direction of the first component (1); the positioning image (4) is arranged at the position of the visual positioning device adapted to the handling robot, and is used for being recognized by the visual positioning device after the handling robot is fixed to the first component.

3. The calibration device for a handling robot according to claim 1 or 2, characterized in that, The second component (2) includes a third baffle (21), a fourth baffle (22) and a fixing column (23), the fixing column (23) is used for connecting the third baffle (21) and the fourth baffle (22), and the height between the third baffle (21) and the fourth baffle (22) is adjustable to form the adjustable gap; the distances from the first baffle (11) and the second baffle (12) to the central axis in the length direction of the first component (1) are greater than a preset value.

4. The calibration device for a handling robot according to any one of claims 1-3, characterized in that, The first component (1) is further provided with a horizontally installed laser emitting device (5), the laser emitting direction of the laser emitting device (5) is parallel to the central axis in the length direction of the first component (1), and the second component (2) is provided with a positioning hole for positioning according to the laser emitted by the laser emitting device (5), so that the second component (2) is located at a preset position for calibrating the handling robot.

5. A calibration method for a handling robot, characterized in that, Comprising: Controlling the visual positioning device of the handling robot to be calibrated to recognize the positioning image (4) on the first component (1) of the handling robot calibration device according to any one of claims 1-4, and determining the installation deviation of the visual positioning device according to the obtained first data, wherein the handling robot to be calibrated is fixed to the first component (1) of the handling robot calibration device, and the second component (2) of the handling robot calibration device is placed at a position with a preset length from the laser positioning device of the handling robot to be calibrated, so that the adjustable gap of the second component (2) faces the laser positioning device; and Control the laser positioning device to emit laser to scan the first baffle (11), the second baffle (12) and the second component (2) of the handling robot calibration device, and determine the angular deviation of the laser positioning device according to the obtained second data.

6. The calibration method of the handling robot according to claim 5, characterized in that, The angular deviation includes left-right angular deviation, the second data includes a first included angle and a second included angle. The first included angle is the horizontal included angle between the laser positioning device and the central axis of the first component (1) in the horizontal direction when the end face of the first baffle (11) is scanned and detected by the laser positioning device. The second included angle is the horizontal included angle between the laser positioning device and the central axis of the first component (1) in the horizontal direction when the end face of the second baffle (12) is scanned and detected by the laser positioning device. Determining the angular deviation of the laser positioning device according to the second data includes: Determining the deflection direction according to the magnitudes of the first included angle and the second included angle; and Determining the left-right angular deviation according to the average value of the first included angle and the second included angle.

7. The calibration method of the handling robot according to claim 5 or 6, characterized in that The angular deviation includes pitch angular deviation. Controlling the laser positioning device to emit laser to scan the first baffle (11), the second baffle (12) and the second component (2) of the handling robot calibration device, and determining the angular deviation of the laser positioning device according to the obtained second data includes: Obtaining signals of a plurality of acquisition points within a preset included angle range on the vertical plane of the central axis of the first component (1) in the length direction of the laser positioning device, and judging whether the second component (2) is detected according to the signals of the plurality of acquisition points; When the second component (2) is detected, determining the pitch angular deviation according to the ratio of the installation height of the laser positioning device to the distance at which the second component (2) is detected by the laser; and When the second component (2) is not detected, determining the pitch angular deviation according to the ratio of the distance between the laser positioning device and the second component (2) to the distance at which the first baffle (11) or the second baffle (12) is detected by the laser.

8. The calibration method of the handling robot according to claim 7, characterized in that, When the second component (2) is detected, determining the pitch angular deviation according to the ratio of the installation height of the laser positioning device to the distance at which the second component (2) is detected by the laser includes: When the second component (2) is detected, it is determined that the laser installation angle deviation is a depression angle wherein, l sh represents the installation height of the laser positioning device; l si represents the distance at which the laser detects the second component (2); n represents the number of the plurality of acquisition points.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it realizes the handling robot calibration method according to any one of claims 5-8.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it realizes the handling robot calibration method according to any one of claims 5-8.

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