In-position error compensation method, mobile robot, and mobile robot system

Abstract

This invention provides a method for compensating for positioning errors in a mobile robot, a mobile robot, and a mobile robot system, relating to the field of robotics. The method for compensating for positioning errors in a mobile robot is applied to compensate for the position of the robot as it moves between workstations. The mobile robot includes a robot body and a first camera and a second camera mounted on the robot body. The method includes: when the mobile robot enters the next workstation, using the first camera to acquire first position information of a first preset point at the workstation corresponding to the first camera, and using the second camera to acquire second position information of a second preset point at the workstation corresponding to the second camera; obtaining the actual position information of the mobile robot based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information; and compensating the mobile robot based on the actual position information.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method for compensating for positioning errors in a mobile robot, a mobile robot, and a mobile robot system. Background Technology

[0002] To save on investment costs, a single robot is often used to move between several workstations to complete different preset processes (offline programming programs set according to the processing purpose) to achieve different processing requirements.

[0003] However, as the robot moves between different workstations, different positional deviations occur during insertion, resulting in errors that fail to meet requirements and even rendering offline programming unusable. This necessitates reprogramming the machining process each time the robot enters a different workstation, leading to increased costs and inconvenience in use. Summary of the Invention

[0004] The objectives of this invention include, for example, providing a mobile robot positioning error compensation method, a mobile robot, and a mobile robot system, which can compensate the mobile robot based on the actual position information of the movement and the person, thereby eliminating the need to reprogram the processing procedure when repositioning, thus reducing costs and improving ease of use.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a method for compensating for positioning errors of a mobile robot, applied to perform position compensation when the mobile robot moves between workstations, wherein the mobile robot includes:

[0007] The robot itself is capable of performing actions according to a preset process.

[0008] The first and second cameras are mounted on the robot body;

[0009] The method includes:

[0010] When the mobile robot enters the next workstation, the first camera is used to acquire first position information of a first preset point set at the workstation corresponding to the first camera, and the second camera is used to acquire second position information of a second preset point set at the workstation corresponding to the second camera; wherein, the first preset point and the second preset point are reference positions determined when setting the preset process of the mobile robot at the workstation, and they correspond to the workstation and the preset process corresponding to the workstation;

[0011] The actual position information of the mobile robot is obtained based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information.

[0012] The mobile robot is compensated based on the actual location information.

[0013] In an optional implementation, the method further includes: determining first setting position information of the first camera on the robot body and second setting position information of the second camera on the robot body;

[0014] The step of obtaining the actual position information of the mobile robot based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information includes:

[0015] Based on the first preset position information, the first position information is converted into first target position information, and based on the second preset position information, the second position information is converted into second target position information; wherein, the first target position information represents the actual relative position information between the first preset point and the mobile robot, and the second target position information represents the actual relative position information between the second preset point and the mobile robot;

[0016] The actual location information is obtained based on the first preset location information, the second preset location information, the first target location information, and the second target location information.

[0017] In an optional implementation, the mobile robot further includes a third camera disposed at a defined location on the mobile robot body;

[0018] The step of determining the first mounting position of the first camera on the robot body and the second mounting position of the second camera on the robot body includes:

[0019] The first calibration position information of the first calibration unit is obtained using the first camera, the second calibration position information of the second calibration unit is obtained using the second camera, and the third calibration position information of the third calibration unit is obtained using the third camera; wherein, the first calibration unit, the second calibration unit, and the third calibration unit are arranged within the visible range of the first camera, the second camera, and the third camera, and the relative positional relationship of the three is known;

[0020] The first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body are obtained based on the first calibration position information, the second calibration position information and the third calibration position information;

[0021] In an optional implementation, the step of obtaining the first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body based on the first calibration position information, the second calibration position information and the third calibration position information includes:

[0022] The first calibration position information is converted into first coordinate information in the first camera coordinate system, the second calibration position information is converted into second coordinate information in the second camera coordinate system, and the third calibration position information is converted into third coordinate information in the mobile robot coordinate system.

[0023] Based on the third coordinate information and the positional relationship between the first calibration unit, the second calibration unit, and the third calibration unit, the third coordinate information of the first setting position in the mobile robot coordinate system and the fourth coordinate information of the second setting position in the mobile robot coordinate system are obtained.

[0024] In an optional implementation, the step of obtaining the third coordinate information of the first setting position in the mobile robot coordinate system and the fourth coordinate information of the second setting position in the mobile robot coordinate system based on the third coordinate information and the positional relationship between the first calibration unit, the second calibration unit, and the third calibration unit includes:

[0025] Based on the correspondence between the third coordinate information and the third calibration unit, the fifth coordinate information of the first calibration unit in the mobile robot coordinate system and the sixth coordinate information of the second calibration unit in the mobile robot coordinate system are calculated.

[0026] The coordinates of the first setting position in the mobile robot coordinate system are obtained based on the fifth coordinate information and the third coordinate information, and the coordinates of the second setting position in the mobile robot coordinate system are obtained based on the sixth coordinate information and the fourth coordinate information.

[0027] In an optional implementation, the step of acquiring first position information of a first preset point corresponding to the first camera at the workstation using the first camera, and acquiring second position information of a second preset point corresponding to the second camera at the workstation using the second camera when the mobile robot enters the next workstation, includes:

[0028] When the mobile robot enters the next work station, the first camera is used to obtain the seventh coordinate information of the first preset point in the first camera coordinate system, and the second camera is used to obtain the eighth coordinate information of the second preset point in the second camera coordinate system.

[0029] The actual position information is obtained based on the seventh coordinate information, the eighth coordinate information, the coordinate information of the first set position in the mobile robot coordinate system, and the coordinate information of the second set position in the mobile robot coordinate system.

[0030] In an optional implementation,

[0031] The step of compensating the mobile robot based on the actual location information includes:

[0032] The preset process of the mobile robot's work at the workstation is compensated based on the actual location information, so that it performs actions according to the preset path.

[0033] In an optional implementation,

[0034] The step of compensating the mobile robot based on the actual location information includes:

[0035] The preset process of the mobile robot is compensated based on the actual location information so that it performs actions according to the preset path;

[0036] The step of compensating the mobile robot's preset process based on the actual location information, so that it performs actions according to a preset path, includes:

[0037] Based on the coordinate information of the first set position in the mobile robot coordinate system and the seventh coordinate information, a first compensation matrix is ​​obtained through a transformation matrix.

[0038] Based on the coordinate information of the second set position in the coordinate system of the mobile robot and the eighth coordinate information, the second compensation matrix is ​​obtained by transformation matrix;

[0039] The preset process of the mobile robot is compensated based on the first compensation matrix and the second compensation matrix.

[0040] In a second aspect, the present invention provides a mobile robot, comprising:

[0041] The robot itself is capable of performing actions according to a preset process.

[0042] A first camera and a second camera are installed on the robot body. The first camera is used to acquire first position information of a first preset point corresponding to the first camera at the workstation when the mobile robot enters the next workstation. The second camera is used to acquire first position information of a second preset point corresponding to the second camera at the workstation when the mobile robot enters the next workstation. The first preset point and the second preset point are reference positions determined by the mobile robot when setting the preset process at the workstation, and they correspond to the workstation and the preset process corresponding to the workstation.

[0043] Memory;

[0044] The processor is communicatively connected to the robot body, the first camera, and the second camera; and,

[0045] A mobile robot positioning error compensation device, wherein the mobile robot positioning error compensation device is stored in the memory and includes one or more software function modules executed by the processor, the mobile robot positioning error compensation device comprising:

[0046] The calculation module is used to obtain the actual position information of the mobile robot based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information;

[0047] The compensation module is used to compensate the mobile robot based on the actual position.

[0048] Thirdly, the present invention provides a mobile robot system, including the mobile robot and calibration fixture described in the foregoing embodiments;

[0049] The mobile robot also includes a third camera, which is located at the end effector of the mobile robot.

[0050] The calibration fixture is provided with a first calibration part, a second calibration part, and a third calibration part whose positional relationship is known;

[0051] The mobile robot can obtain the placement positions of the first camera and the second camera on the mobile robot body through the placement position information of the first calibration unit, the second calibration unit, the third calibration unit, and the third camera on the robot body.

[0052] The beneficial effects of the mobile robot positioning error compensation method, mobile robot, and mobile robot system provided in this embodiment of the invention include, for example:

[0053] This application involves setting a first camera and a second camera on the mobile robot body. When the mobile robot moves from one workstation to the next, the first camera acquires first position information of a first preset point corresponding to the first camera at the workstation, and the second camera acquires second position information of a second preset point corresponding to the second camera at the workstation. Based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information, the actual position information of the mobile robot is obtained. The mobile robot is compensated based on the actual position information, thereby eliminating the need to rewrite the processing program when repeatedly entering a new position, reducing costs, improving ease of use, and ensuring processing accuracy. Attached Figure Description

[0054] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a schematic diagram of the structure of a mobile robot system provided in an embodiment of the present invention;

[0056] Figure 2 This is the intention of the mobile robot provided in the embodiments of the present invention to operate at the workstation;

[0057] Figure 3 This is a schematic diagram of the calibration fixture for a mobile robot system provided in an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram of the mobile machine error compensation method provided in an embodiment of the present invention;

[0059] Figure 5 This is a flowchart illustrating the sub-steps of step S000 provided in an embodiment of the present invention.

[0060] Figure 6 A flowchart illustrating the sub-steps of step S03 provided in this embodiment of the invention;

[0061] Figure 7 A flowchart illustrating step S033 provided in this embodiment of the invention;

[0062] Figure 8 This is a flowchart illustrating the sub-steps of step S100 provided in an embodiment of the present invention.

[0063] Figure 9A schematic diagram illustrating the connection relationship between the processor and memory of a mobile robot is provided for embodiments of the present invention;

[0064] Figure 10 A schematic diagram of a mobile robot positioning error compensation device for a mobile robot's memory provided in an embodiment of the present invention.

[0065] Icons: 100-Mobile robot; 110-Robot body; 130-First camera; 150-Second camera; 160-Processor; 170-Memory; 171-Mobile robot positioning error compensation device; 1711-Acquisition module; 1713-Determination module; 1715-Calculation module; 1717-Compensation module; 190-Third camera; 300-Mobile robot system; 310-Calibration fixture; 311-First calibration unit; 313-Second calibration unit; 315-Third calibration unit; 500-Workstation; 510-First preset point; 530-Second preset point. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0067] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0068] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0069] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product is usually placed during use, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0070] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0071] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0072] Example

[0073] Please refer to Figures 1-3 This embodiment provides a mobile robot system 300, which includes a mobile robot 100. The mobile robot 100 can move between different workstations 500 to meet different processing needs.

[0074] In this embodiment, the workstation 500 where the mobile robot 100 can operate is equipped with a track, allowing the mobile robot 100 to move along the track. This ensures that the vertical error of the mobile robot 100 is within a reasonable error range. Generally, when the mobile robot 100 moves from one workstation 500 to another, due to the high precision required for processing errors (typically below the micrometer level), poor control of movement precision in the horizontal plane causes it to fail to accurately stop at the initial position set in the preset process when repeatedly entering a new position. This results in an error between the actual position and the preset position of the mobile robot in the horizontal plane.

[0075] It should be noted that the preset process refers to the operating program that the mobile robot 100 is programmed at each workstation 500 according to different processing requirements and specific conditions of the relative positional relationship between the robot and the workpiece, in order to control the robot's actions and complete specific processing tasks.

[0076] Generally, each workstation 500 is equipped with specific tooling, which can fix the parts to be processed in a specific position of workstation 500, thereby locking the error to the error caused by the movement of the mobile robot 100.

[0077] Please refer to Figures 1-3 In this embodiment, the mobile robot 100 includes a robot body 110, which can mount a first camera 130 and a second camera 150 on the robot body 110 according to a preset process action.

[0078] Each workstation 500 of the mobile robot 100 is equipped with a first preset point 510 within the field of view of the first camera 130 and a second preset point 530 within the field of view of the second camera 150. Generally, the first preset point 510 and the second preset point 530 are two QR codes affixed to the floor of the workstation 500. The QR codes record the workstation number, the preset process (offline programming program) corresponding to the workstation 500, and, when editing the preset process, the first preset position information of the first preset point 510 relative to the mobile robot 100 in the coordinate system, and the second preset position information of the second preset point 530 relative to the mobile robot 100 in the coordinate system. The first preset position information can be the coordinates of the first preset point 510 relative to the center of the mobile robot 100, and the second preset position information can be the coordinates of the second preset point 530 relative to the center of the mobile robot 100.

[0079] Please refer to Figures 1-3 In this embodiment, the mobile robot 100 further includes a third camera 190. The third camera 190 is positioned at the end effector of the robot body 110. The position of the third camera 190 on the robot has been calibrated, meaning its position on the robot body 110 is known. This can also be understood as the coordinates of the third camera 190 relative to the center of the robot body 110 being known. The position of the third camera 190 on the robot body 110 can be determined using existing technology, such as a specific calibration fixture 310, which can obtain the coordinates of the third camera 190 relative to the center of the robot body 110.

[0080] Please refer to Figure 9 and Figure 10 In this embodiment, the mobile robot 100 further includes a memory 170 and a processor 160. The processor 160 is communicatively connected to the robot body 110, the first camera 130, the second camera 150, and the third camera 190. The memory 170 contains a mobile robot positioning error compensation device 171. The mobile robot positioning error compensation device includes one or more software function modules executed by the processor 160 to achieve positioning error compensation for the mobile robot 100.

[0081] Please refer to Figure 1 and Figure 3In this embodiment, the mobile robot system 300 further includes a calibration fixture 310, on which a first calibration part 311, a second calibration part 313, and a third calibration part with known positional relationships are provided. The first calibration part 311, the second calibration part 313, and the third calibration part 315 can be three holes of different sizes or markings provided on the calibration fixture 310. Known positional relationships mean that if the positional information of one of the first calibration part 311, the second calibration part 313, and the third calibration part 315 can be obtained through the shape of the calibration fixture 310 and the arrangement relationship of the first calibration part 311, the second calibration part 313, and the third calibration part 315, the positional relationship of the other two can be obtained, thereby determining the first setting position and the second setting position of the first camera 130 and the second camera 150 on the robot body 110.

[0082] It should be noted that the calibration fixture 310 is generally required when determining the setting position of the first camera 130 and the second camera 150 on the robot body 110 after the first camera 130 and the second camera 150 are installed. Once the position is determined, the calibration fixture 310 is not required as long as the relative position of the first camera 130 and the second camera 150 with the robot body 110 remains unchanged.

[0083] Please refer to Figure 4 This application also provides a method for compensating for the positioning error of a mobile robot, which can compensate for errors when the mobile robot 100 moves from one station 500 to another station 500, thereby improving the processing accuracy and avoiding the problem that offline programming cannot be used.

[0084] The methods include:

[0085] S100, when the mobile robot 100 enters the next workstation 500, the first camera 130 is used to obtain the first position information of the first preset point 510 corresponding to the first camera 130 set in the workstation 500, and the second camera 150 is used to obtain the second position information corresponding to the second preset point 530 corresponding to the second camera 150 set in the workstation 500.

[0086] It should be noted that the first preset point 510 and the second preset point 530 are reference positions determined when setting the preset process of the mobile robot 100 at the workstation 500, and they correspond to the workstation 500 and the preset process corresponding to the workstation 500.

[0087] S300, the actual position information of the mobile robot 100 is obtained based on the first preset position information of the first preset point 510, the second preset position information of the second preset point 530, the first position information, and the second position information.

[0088] S500 compensates the mobile robot 100 based on the actual location information.

[0089] This embodiment sets a first camera 130 and a second camera 150 on the mobile robot 100 body. When the mobile robot 100 moves from one workstation 500 to the next workstation 500, the first camera 130 acquires the first position information of the first preset point 510 corresponding to the first camera 130 set at the workstation 500, and the second camera 150 acquires the second position information of the second preset point 530 corresponding to the second camera 150 set at the workstation 500. Based on the first preset position information of the first preset point 510, the second preset position information of the second preset point 530, the first position information, and the second position information, the actual position information of the mobile robot 100 is obtained. The mobile robot 100 is compensated based on the actual position information, so that the processing program does not need to be rewritten when entering the workstation repeatedly, which can reduce costs, improve the convenience of use, and ensure the processing error.

[0090] Please refer to Figure 4 Furthermore, there is a step S000 before step S100.

[0091] Step S000: Determine the first setting position information of the first camera 130 on the robot body 110 and the second setting position information of the second camera 150 on the robot body.

[0092] Please refer to Figure 5 Step S000 includes the following sub-steps:

[0093] S010, the first calibration position information of the first calibration unit 311 is obtained by the first camera 130, the second calibration position information of the second calibration unit 313 is obtained by the second camera 150, and the third calibration position information of the third calibration unit 315 is obtained by the third camera 190.

[0094] It should be noted that the first calibration unit 311, the second calibration unit 313 and the third calibration unit are markers whose relative positional relationship is known and set on the calibration fixture 310, and the calibration fixture 310 is placed within the field of view of the first camera 130, the second camera 150 and the third camera 190, so that the first camera 130, the second camera 150 and the third camera 190 can acquire images.

[0095] S030, based on the first calibration position information, the second calibration position information and the third calibration position information, the first camera 130 position information of the first camera 130 at the first setting position on the robot body 110 and the second setting position information of the second camera 150 at the second setting position on the robot body are obtained.

[0096] Please refer to Figure 6 Step S030 includes the following sub-steps:

[0097] Step S031: Convert the first calibration position information into first coordinate information in the coordinate system of the first camera 130, convert the second calibration position information into second coordinate information in the coordinate system of the second camera 150, and convert the third calibration position information into third coordinate information in the coordinate system of the mobile robot 100.

[0098] Step S033: Based on the third coordinate information and the positional relationship between the first calibration unit 311, the second calibration unit 313 and the third calibration unit 315, obtain the third coordinate information of the first setting position in the coordinate system of the mobile robot 100 and the fourth coordinate information of the second setting position in the coordinate system of the mobile robot 100.

[0099] Please refer to Figure 7 Step S033 includes the following sub-steps:

[0100] In step S0331, based on the correspondence between the third coordinate information and the third calibration unit 315, the fifth coordinate information of the first calibration unit 311 in the coordinate system of the mobile robot 100 and the sixth coordinate information of the second calibration unit 313 in the coordinate system of the mobile robot 100 are calculated.

[0101] Step S0333: Obtain the coordinate information of the first set position in the coordinate system of the mobile robot 100 based on the fifth coordinate information and the third coordinate information, and obtain the coordinate information of the second set position in the coordinate system of the mobile robot 100 based on the sixth coordinate information and the fourth coordinate information.

[0102] Since the third camera 190 is pre-calibrated and its coordinates in the robot body 110 coordinate system are known, the coordinates of the third calibration unit 315 in the robot coordinate system can be calculated by capturing the posture of the third coordinate unit from the robot body. Since the positional relationship between the first calibration unit 311, the second calibration unit 313, and the third calibration unit 315 is known, the coordinates of the first calibration unit 311 and the second coordinate unit in the robot body 110 coordinate system can be calculated. Furthermore, by converting the first calibration position information into first coordinate information in the first camera 130 coordinate system and the second calibration position information into second coordinate information in the second camera 150 coordinate system, the coordinates of the first and second setting positions in the robot body 110 coordinate system can be obtained through coordinate system transformation.

[0103] For example, the calibration fixture 310 is placed on the ground, and the first calibration part 311, the second calibration part 313, and the third calibration part 315 are M, N, and L respectively. Since the mobile robot 100 translates along the track, the height direction is not considered. Therefore, the coordinate system of the robot body 110 is an XOY coordinate system with the center of the bottom of the robot body 110 as the origin; the coordinate system of the first camera 130 is an XAY coordinate system with the center of the bottom surface of the first camera 130 as the origin; and the coordinate system of the second camera 150 is an XBY coordinate system with the center of the bottom surface of the second camera 150 as the origin.

[0104] The third calibration unit 315 is photographed using the third camera 190, and its coordinates L(X, Y) in the XOY coordinate system are calculated. Since the relationship between M, N, and L is known, the coordinates M(X, Y) and N(X, Y) of points M and N in the XOY coordinate system can be calculated.

[0105] By capturing images of the first calibration unit 311 using the first camera 130, the coordinates M1(X1, Y1) of the first calibration unit 311 in the XAY coordinate system can be obtained. By capturing images of the second calibration unit 313 using the second camera 150, the coordinates N1(X1, Y1) of the second calibration unit 313 in the XBY coordinate system can be obtained.

[0106] Set the origin of the XAY coordinate system of the first camera 130 to the XOY position of the robot body in the coordinate system 110 as A. O Then, A can be obtained through coordinate system transformation. O (X2,Y2)=M(X,Y)-M1(X1,Y1).

[0107] Set the origin of the second camera's XBY coordinate system (150) to the position of B in the robot's XOY coordinate system (110). O Then, B can be obtained through coordinate system transformation. O (X2,Y2)=N(X,Y)-N1(X1,Y1).

[0108] The coordinates of the first camera 130 and the second camera 150 in the coordinate system of the robot body 110 can be easily obtained through the coordinate transformation calculation described above.

[0109] When editing the preset process actions, the first preset point 510 is captured by the first camera 130 and the second preset point 530 is captured by the second camera 150. Then, the coordinates of the first preset point 510 and the first preset point 530 in the coordinate system of the robot body 110 are obtained by coordinate transformation. Then, the preset process actions are edited, that is, the offline programming processing program.

[0110] Please refer to Figure 8In this embodiment, step S100 includes the following sub-steps:

[0111] S110, when the mobile robot 100 enters the next workstation 500, the first camera 130 is used to obtain the seventh coordinate information A1'(X,Y) of the first preset point 510 in the coordinate system of the first camera 130, and the second camera 150 is used to obtain the eighth coordinate information B1'(X,Y) of the second preset point 530 in the coordinate system of the second camera 150.

[0112] S130, based on the seventh coordinate information, the eighth coordinate information, the coordinate information of the first set position in the coordinate system of the mobile robot 100, and the coordinate information of the second set position in the coordinate system of the mobile robot 100, the actual position information A'(X,Y) and B'(X,Y) of the first preset point 510 are obtained.

[0113] A'(X,Y)=A1'(X,Y)+A O (X2,Y2)

[0114] B'(X,Y)=B1'(X,Y)+B O (X2,Y2)

[0115] In this embodiment, step S500 includes the following sub-steps:

[0116] S510 compensates for the preset process of the mobile robot 100 working at workstation 500 based on the actual location information, so that it performs actions according to the preset path.

[0117] In existing technologies, compensation is typically achieved by having the mobile robot 100 continue moving to a predetermined position. However, due to the high positional accuracy requirements of the robot, it is difficult to move it to the intended position. This embodiment, however, compensates and modifies the offline programming program running on the mobile robot 100 at workstation 500 using actual position information, thereby achieving better compensation.

[0118] In this embodiment, step S510 includes the following sub-steps:

[0119] S511, based on the coordinate information of the first set position in the coordinate system of the mobile robot 100 and the seventh coordinate information, the first compensation matrix is ​​obtained by transformation matrix;

[0120]

[0121] S513, based on the coordinate information of the second set position in the coordinate system of the mobile robot 100 and the eighth coordinate information, the second compensation matrix is ​​obtained by transformation matrix;

[0122]

[0123] S515, the preset process of the mobile robot 100 is compensated according to the first compensation matrix and the second compensation matrix.

[0124] The mobile robot positioning error compensation device 171 in this embodiment includes a determination module 1713, a calculation module 1715, and a compensation module 1717.

[0125] The module 1711 is used to execute steps S100 and S000, and their sub-steps.

[0126] The determination module 1713 is used to execute the above steps S000 and their sub-steps to determine the positions of the first camera 130 and the second camera 150.

[0127] The calculation module 1715 is used to execute the above step S300 and the sub-steps of S300.

[0128] The compensation module 1717 is used to perform the above step S500 and its sub-steps.

[0129] In summary, the mobile robot error compensation method, mobile robot 100, and mobile robot system 300 provided in this embodiment of the invention, by setting a first camera 130 and a second camera 150 on the mobile robot 100 body, and when the mobile robot 100 moves from one workstation 500 to the next workstation 500, the first camera 130 is used to acquire the first position information of the first preset point 510 corresponding to the first camera 130 set at the workstation 500, and the second camera 150 is used to acquire the second position information of the second preset point 530 corresponding to the second camera 150 set at the workstation 500, and the actual position information of the mobile robot 100 is obtained based on the first preset position information of the first preset point 510, the second preset position information of the second preset point 530, the first position information, and the second position information, and the mobile robot 100 is compensated based on the actual position information, so that the processing program does not need to be rewritten when entering the workstation repeatedly, which can reduce costs and improve the convenience of use, and can guarantee the processing error.

[0130] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for compensating for positioning errors of a mobile robot, applied to position compensation when a mobile robot moves between workstations, characterized in that: The mobile robot includes: The robot itself is capable of performing actions according to a preset process. The first and second cameras are mounted on the robot body; The method includes: When the mobile robot enters the next workstation, the first camera is used to acquire first position information of a first preset point set at the workstation corresponding to the first camera, and the second camera is used to acquire second position information of a second preset point set at the workstation corresponding to the second camera; wherein, the first preset point and the second preset point are reference positions determined when setting the preset process of the mobile robot at the workstation, and they correspond to the workstation and the preset process corresponding to the workstation; The actual position information of the mobile robot is obtained based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information. The mobile robot is compensated based on the actual location information. The step of compensating the mobile robot based on the actual location information includes: The preset process of the mobile robot's work at the workstation is compensated based on the actual location information, so that it moves according to the preset path.

2. The mobile robot positioning error compensation method according to claim 1, characterized in that, The method further includes: determining a first setting position information of the first camera on the robot body and a second setting position information of the second camera on the robot body; The step of obtaining the actual position information of the mobile robot based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information includes: Based on the first preset position information, the first position information is converted into first target position information, and based on the second preset position information, the second position information is converted into second target position information; wherein, the first target position information represents the actual relative position information between the first preset point and the mobile robot, and the second target position information represents the actual relative position information between the second preset point and the mobile robot; The actual location information is obtained based on the first preset location information, the second preset location information, the first target location information, and the second target location information.

3. The mobile robot positioning error compensation method according to claim 2, characterized in that, The mobile robot also includes a third camera positioned at a defined location on the robot body; The step of determining the first mounting position of the first camera on the robot body and the second mounting position of the second camera on the robot body includes: The first calibration position information of the first calibration unit is obtained using the first camera, the second calibration position information of the second calibration unit is obtained using the second camera, and the third calibration position information of the third calibration unit is obtained using the third camera; wherein, the first calibration unit, the second calibration unit, and the third calibration unit are located within the visible range of the first camera, the second camera, and the third camera, and the relative positional relationship of the three is known; The first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body are obtained based on the first calibration position information, the second calibration position information and the third calibration position information.

4. The mobile robot positioning error compensation method according to claim 3, characterized in that, The steps of obtaining the first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body based on the first calibration position information, the second calibration position information and the third calibration position information include: The first calibration position information is converted into first coordinate information in the first camera coordinate system, the second calibration position information is converted into second coordinate information in the second camera coordinate system, and the third calibration position information is converted into third coordinate information in the mobile robot coordinate system. Based on the third coordinate information and the positional relationship between the first calibration unit, the second calibration unit, and the third calibration unit, the third coordinate information of the first setting position in the mobile robot coordinate system and the fourth coordinate information of the second setting position in the mobile robot coordinate system are obtained.

5. The mobile robot positioning error compensation method according to claim 4, characterized in that, The step of obtaining the third coordinate information of the first setting position in the mobile robot coordinate system and the fourth coordinate information of the second setting position in the mobile robot coordinate system based on the third coordinate information and the positional relationship between the first calibration unit, the second calibration unit and the third calibration unit includes: Based on the correspondence between the third coordinate information and the third calibration unit, the fifth coordinate information of the first calibration unit in the mobile robot coordinate system and the sixth coordinate information of the second calibration unit in the mobile robot coordinate system are calculated. The coordinates of the first setting position in the mobile robot coordinate system are obtained based on the fifth coordinate information and the third coordinate information, and the coordinates of the second setting position in the mobile robot coordinate system are obtained based on the sixth coordinate information and the fourth coordinate information.

6. The mobile robot positioning error compensation method according to claim 5, characterized in that, The step of acquiring first position information of a first preset point corresponding to the first camera at the workstation when the mobile robot enters the next workstation, and acquiring second position information of a second preset point corresponding to the second camera at the workstation using the second camera, includes: When the mobile robot enters the next work station, the first camera is used to obtain the seventh coordinate information of the first preset point in the first camera coordinate system, and the second camera is used to obtain the eighth coordinate information of the second preset point in the second camera coordinate system. The actual position information is obtained based on the seventh coordinate information, the eighth coordinate information, the coordinate information of the first set position in the mobile robot coordinate system, and the coordinate information of the second set position in the mobile robot coordinate system.

7. The mobile robot positioning error compensation method according to claim 6, characterized in that, The step of compensating the mobile robot based on the actual location information includes: The preset process of the mobile robot is compensated based on the actual location information, so that it moves according to the preset path; The step of compensating the mobile robot's preset process based on the actual location information, so that it performs actions according to a preset path, includes: Based on the coordinate information of the first set position in the mobile robot coordinate system and the seventh coordinate information, a first compensation matrix is ​​obtained through a transformation matrix. Based on the coordinate information of the second set position in the coordinate system of the mobile robot and the eighth coordinate information, the second compensation matrix is ​​obtained by transformation matrix; The preset process of the mobile robot is compensated based on the first compensation matrix and the second compensation matrix.

8. A mobile robot, characterized in that, include: The robot itself is capable of performing actions according to a preset process. A first camera and a second camera are installed on the robot body. The first camera is used to acquire first position information of a first preset point corresponding to the first camera at the workstation when the mobile robot enters the next workstation. The second camera is used to acquire first position information of a second preset point corresponding to the second camera at the workstation when the mobile robot enters the next workstation. The first preset point and the second preset point are reference positions determined by the mobile robot when setting the preset process at the workstation, and they correspond to the workstation and the preset process corresponding to the workstation. Memory; The processor is communicatively connected to the robot body, the first camera, and the second camera; and, A mobile robot positioning error compensation device, wherein the mobile robot positioning error compensation device is stored in the memory and includes one or more software function modules executed by the processor, the mobile robot positioning error compensation device comprising: The acquisition module is used to acquire first position information of a first preset point set at the workstation corresponding to the first camera using the first camera when the mobile robot enters the next workstation, and to acquire second position information of a second preset point set at the workstation corresponding to the second camera using the second camera. The calculation module is used to obtain the actual position information of the mobile robot based on the first preset position information of the first preset point, the second preset position information of the second preset point, the first position information, and the second position information; The compensation module is used to compensate the preset process of the mobile robot's work at the workstation based on the actual location information, so that it can move according to the preset path.

9. A mobile robot system, characterized in that, Includes the mobile robot and calibration fixture as described in claim 8; The mobile robot also includes a third camera, which is located at the end effector of the mobile robot. The calibration fixture is provided with a first calibration part, a second calibration part, and a third calibration part whose positional relationship is known; The mobile robot can obtain the placement positions of the first camera and the second camera on the robot body through the placement information of the first calibration unit, the second calibration unit, the third calibration unit, and the third camera on the robot body.

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