Robotic motion correction device, method and system

Abstract

The application discloses a robot motion correction device, method and system, and relates to the technical field of robots. The robot motion correction device comprises a support frame, which is used for fixedly mounting on the upper end of a room to be measured; a camera device, which is arranged on the support frame and is used for acquiring real-time motion state parameters of a robot in the room to be measured; a movable support frame, which is movably arranged at the lower end of the support frame, one end of the movable support frame is rotatably mounted at the lower end of the support frame, and the other end is movably arranged along the edge of the room to be measured; and a code table, which is arranged at the other end of the movable support frame, and the upper end surface of the code table is provided with a first calibration code, which is used for the camera device to determine standard motion state parameters. The real-time motion state and the standard motion state of the robot are acquired by the camera device, and the preset motion parameters of the robot are adjusted according to the comparison between the real-time motion state and the standard motion state, so that the preset motion parameters are corrected, and the motion state of the robot is scientifically and systematically optimized.

Description

Technical Field

[0001] This invention relates to the field of smart home device technology, specifically to a robot motion correction device, method, and system. Background Technology

[0002] As the mobile robot market matures, consumers are placing higher demands on them, particularly regarding performance metrics such as coverage, straight-line dust removal rate, and corner dust removal rate within a room. Currently, these metrics are collected in laboratories using specialized instruments. The large size of these instruments, coupled with difficulties in debugging and mobility, presents challenges for developers.

[0003] Therefore, developers currently rely primarily on experience to judge the quality of edge distance, making it difficult to accurately and scientifically evaluate indicators such as the accuracy, stability, and speed of response of mobile robots during edge movement. Summary of the Invention

[0004] The main objective of this invention is to provide a robot motion correction device, method, and system, which aims to solve the technical problem that existing developers are unable to accurately adjust the robot's edge motion state.

[0005] To achieve the above objectives, the present invention proposes a robot motion correction device, which is installed in the room to be tested and used to detect motion state parameters of a robot moving along the edge of the room. The robot motion correction device includes:

[0006] A support frame, used for fixed installation at the upper part of the room to be tested;

[0007] A camera device, mounted on the support frame, is used to acquire real-time motion state parameters of the robot in the room to be tested.

[0008] A movable support bracket is movably mounted at the lower end of the support frame, with one end rotatably mounted at the lower end of the support frame and the other end movably mounted along the edge of the room to be measured; and...

[0009] A calibration platform is located at the other end of the movable support. The upper surface of the calibration platform is provided with a first calibration code, which is used by the camera device to determine standard motion state parameters.

[0010] Optionally, the movable support includes:

[0011] A rotating bracket, one end of which is rotatably mounted on the support frame about an axis in the vertical direction, and the other end extends in the horizontal direction;

[0012] A movable support includes a horizontal portion extending in a horizontal direction and a vertical portion extending in a vertical direction. The horizontal portion is fitted over a rotating support and is slidably disposed along the extending direction of the rotating support. The upper end of the vertical portion is connected to the horizontal portion.

[0013] A rotating rod extends in the vertical direction and is rotatably mounted on the lower end of the vertical part along the vertical axis. The code platform is fixedly mounted on the rotating rod.

[0014] The casters are located at the lower end of the swivel rod.

[0015] Optionally, the upper end of the camera device is connected to the lower end of the support frame via a connecting rod extending in the vertical direction, and one end of the rotating bracket is sleeved on the connecting rod and rotatably mounted around the connecting rod.

[0016] Optionally, the support frame includes:

[0017] Support rod, used to traverse the room to be measured horizontally;

[0018] Multiple fasteners are fixedly installed at both ends of the support rod, and each fastener is provided with a mating part.

[0019] Multiple abutment platforms are movably installed on the mating part via connectors, and the multiple abutment platforms are used to abut against two opposite inner walls of the room to be tested.

[0020] The present invention also proposes a robot motion correction method, which is applied to a robot motion correction system. The robot motion correction system includes a robot motion correction device, which is set in the room to be tested to obtain standard motion state parameters and real-time motion state parameters of the robot in the room to be tested.

[0021] The robot motion correction method includes:

[0022] The robot is controlled to move along the edge of the room to be tested according to preset motion parameters in order to obtain the real-time motion state parameters of the robot.

[0023] Based on the real-time motion state parameters and the standard motion state parameters, the preset motion parameters are adjusted to obtain the corrected preset motion parameters;

[0024] The robot's movement is controlled according to the preset correction motion parameters.

[0025] Optionally, the controlled robot moves along the edge of the room to be tested according to preset motion parameters to obtain the robot's real-time motion state parameters, including:

[0026] The robot is controlled to circle the edge of the room to be tested once according to the preset motion parameters corresponding to the nth circle, where n is a positive integer;

[0027] Obtain the real-time motion state parameters of the robot corresponding to the nth lap.

[0028] Optionally, adjusting the preset motion parameters based on the real-time motion state parameters and the standard motion state parameters to obtain the corrected preset motion parameters includes:

[0029] When n=1, the corrective preset motion parameters corresponding to the second lap are determined based on the real-time motion state parameters and the standard motion state parameters corresponding to the first lap.

[0030] When n≥2, the real-time motion state parameters and historical motion state parameters corresponding to the nth lap are compared with the standard motion state parameters to obtain the corresponding similarity.

[0031] Adjustments are made based on the motion state parameters with the highest similarity and the standard motion state parameters to obtain the corrective preset motion parameters for the (n+1)th lap.

[0032] Optionally, the robot motion correction device includes a camera device for acquiring motion state parameters of the robot;

[0033] The robot motion correction method also includes:

[0034] Determine whether the camera device contains preset internal graphic parameters;

[0035] When the camera device has the preset internal graphic parameters, the camera device is controlled to acquire the robot's current motion state parameters;

[0036] When the preset internal graphic parameters are not available in the camera device, the camera device is controlled to calibrate the internal graphic parameters in a checkerboard pattern in order to obtain the preset internal graphic parameters.

[0037] The camera device is controlled to acquire the robot's current motion state parameters.

[0038] Optionally, the robot motion correction device includes a code platform that can be movably set along the edge of the room to be tested, the code platform is provided with a first calibration code, and the camera device can identify the setting of the first calibration code;

[0039] The robot motion correction method also includes:

[0040] Obtain the motion trajectory of the first calibration code;

[0041] Standard motion state parameters are obtained based on the motion trajectory of the first calibration code.

[0042] Optionally, both the standard motion state parameters and the real-time motion state parameters include one or more combinations of stability parameters, accuracy parameters, and speed parameters;

[0043] The accuracy parameters include the trajectory error value when the robot performs edge-movement in the same environment;

[0044] The stability parameters include the trajectory error values ​​of the robot when it performs edge-movement in different environments;

[0045] The speed parameter includes the speed at which the robot recovers to its normal trajectory after encountering interference while performing edge-movement.

[0046] The present invention also proposes a robot motion correction system, the robot motion correction system comprising:

[0047] A robot, which can be moved and set up in the room to be tested, wherein the upper surface of the robot is provided with a second calibration code;

[0048] A robot motion correction device, comprising any of the robot motion correction devices described above, wherein the camera device is used to identify the first calibration code and the second calibration code to obtain the standard motion state parameters and the real-time motion state parameters; and,

[0049] A control device is communicatively connected to the camera device and the robot, respectively. The control device includes a memory, a processor, and a control program for the robot motion correction system stored in the memory. When the processor executes the control program for the robot motion correction system, it implements the steps of the robot motion correction method as described in any one of claims 5 to 10.

[0050] The control device may be located in one of the robot and the robot motion correction device, or the control device may be located independently of the robot and the robot motion correction device.

[0051] In the technical solution of this invention, a robot motion correction device is installed in a room to be tested and is used to detect the motion state parameters of the robot when it moves along the edge of the room. The robot motion correction device includes a support frame, a camera device, a movable bracket, and a code platform. The support frame is fixedly installed at the upper end of the room to be tested. The camera device is installed on the support frame and is used to acquire the real-time motion state parameters of the robot in the room to be tested. The movable bracket is movably installed at the lower end of the support frame, with one end rotatably installed at the lower end of the support frame and the other end movably installed along the edge of the room to be tested. The code platform is installed at the other end of the movable bracket, and a first calibration code is provided on the upper surface of the code platform. The first calibration code is used by the camera device to determine standard motion state parameters. By moving the platform along the edge of the room to be tested, the camera device can obtain the standard motion state parameters based on the platform's movement trajectory. The camera device can also obtain the robot's real-time motion state parameters while it is moving along the edge. By comparing the real-time motion state parameters with the standard motion state parameters, the robot's preset motion parameters can be corrected, thereby achieving scientific and systematic optimization of the robot's edge-movement state. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0053] Figure 1 A schematic diagram of a structure of an embodiment of the robot motion correction device and system provided by the present invention;

[0054] Figure 2 for Figure 1 A top-view structural diagram;

[0055] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure at point AA;

[0056] Figure 4 for Figure 3 Enlarged structural diagram at point B;

[0057] Figure 5 A schematic diagram of the structure of an embodiment of the control device provided by the present invention;

[0058] Figure 6 A flowchart illustrating the steps of an embodiment of the robot motion correction method provided by the present invention;

[0059] Figure 7 This is a schematic diagram of the robot's real-time motion state and standard motion state trajectory.

[0060] Explanation of icon numbers:

[0061] 100 Robotic motion correction device 31 Rotating support 1 support frame 32 Mobile stand 11 support rod 33 Rotary lever 12 Fixture 331 swivel wheels 13 Reaching the top platform 4 code station 14 Screw connectors 200 Room to be tested 2 camera device 300 robot 3 movable support

[0062] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0063] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0064] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0065] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0066] As the robot market matures, consumers are placing higher demands on robots, particularly regarding performance metrics such as coverage, straight-line dust removal rate, and corner dust removal rate within a room. Currently, these user-driven metrics are collected in laboratory settings using specialized instruments. These instruments are space-consuming, inconvenient for debugging, and lack mobility. Furthermore, developers primarily rely on experience to judge the quality of edge distances during development.

[0067] In view of this, the present invention proposes a robot motion correction device 100, please refer to [link to relevant documentation]. Figures 1 to 4 This is an embodiment of a robot motion correction device 100 proposed in this invention.

[0068] In this embodiment, the robot motion correction device 100 is disposed in the room 200 to be tested and is used to detect the motion state parameters of the robot 300 when it moves along the edge of the room 200. The robot motion correction device 100 includes a support frame 1, a camera device 2, a movable bracket 3, and a code platform 4. The support frame 1 is fixedly installed in the room 200 to be tested and is spaced apart from the floor of the room 200. The camera device 2 is disposed on the support frame 1 and is used to acquire the real-time motion state parameters of the robot 300 in the room 200 to be tested. The movable bracket 3 is movably disposed at the lower end of the support frame 1. One end of the movable bracket 3 is rotatably mounted at the lower end of the support frame 1, and the other end is movably disposed along the edge of the room 200 to be tested. The code platform 4 is disposed at the other end of the movable bracket 3. The upper surface of the code platform 4 is provided with a first calibration code, which is used by the camera device 2 to determine the standard motion state parameters.

[0069] It should be noted that the first calibration code is a calibration code that can be recognized by the camera device 2, and the first calibration code can also have a direction indication function. When the camera device 2 recognizes the first calibration code, it can not only obtain the motion trajectory of the first calibration code, but also obtain the motion direction and motion posture of the first calibration code. In this embodiment, the first calibration code can be an ArUco identifier. An ArUco identifier is a composite square identifier consisting of a wide black border and an internal binary matrix that determines its identifier (id).

[0070] The camera device 2 is fixed above the room 200 under test by the support frame 1, so that the camera device 2 can shoot downwards. At the same time, the movable bracket 3 drives the code platform 4 to move along the edge of the room 200 under test. Based on the movement trajectory of the first calibration code on the code platform 4 acquired by the camera device 2, the standard motion state parameters of the robot 300 are calculated. The standard motion state parameters refer to the motion state parameters that the robot 300 possesses under the condition that its motion performance in all aspects is optimal during the movement along the edge. The camera device 2 can also capture the movement trajectory of the robot 300 when it automatically walks in the room 200 under test according to preset motion parameters, so as to obtain the real-time motion state parameters of the robot 300. The real-time motion state parameters are the motion parameters detected by the robot 300 during the actual movement process. Then, the parameter settings of the robot 300 can be adjusted by a greedy algorithm based on the real-time motion state parameters and the standard motion state parameters. The greedy algorithm can be a particle swarm optimization algorithm, an ant swarm optimization algorithm, or a Monte Carlo algorithm, etc. The present invention can accurately obtain the real-time motion state parameters and the standard motion state parameters of the robot 300 by setting the camera device 2, so as to scientifically and accurately evaluate the motion state of the robot 300 and correct the preset motion state parameters.

[0071] Further, the movable support 3 includes a rotating support 31, a movable support 32, and a rotating rod 33. One end of the rotating support 31 is rotatably mounted on the support frame 1 along the vertical axis, and the other end extends horizontally. The movable support 32 includes a horizontal part extending horizontally and a vertical part extending vertically. The horizontal part is sleeved on the rotating support 31 and is slidably arranged along the extension direction of the rotating support 31. The upper end of the vertical part is fixedly connected to the horizontal part. The rotating rod 33 extends vertically and is rotatably mounted on the lower end of the vertical part along the vertical axis. The code platform 4 is fixedly mounted on the rotating rod 33. The vertical part of the movable support 32 is moved along the edge of the room 200 to be tested by the rotating bracket 31, which in turn moves the rotating rod 33 and the code platform 4 along the perimeter of the room 200. The horizontal part slides relative to the rotating bracket 31, so that the vertical part can always move along the side wall of the room 200 to be tested. It should be noted that the first calibration code on the code platform 4 can be an Aruco code. The Aruco code can be recognized by the camera device 2 and has directional attributes. By rotating the rotating rod 33, the code platform 4 changes direction, realizing the change of simulated forward direction. When the vertical part moves to the corner position of the room 200 to be tested, the forward direction of the Aruco code can be changed by rotating the rotating rod 33, so that the "forward direction" of the Aruco code is always facing the moving direction of the vertical part. The universal wheels 331 are provided to facilitate the movement of the vertical part.

[0072] In this embodiment, the lower end of the rotating rod 33 may be provided with a caster wheel 331. The caster wheel 331 can be rolled on the floor of the room to be tested 200. The code platform 4 is located on the upper side of the caster wheel 331. The caster wheel is provided so that the rotating rod 33 can drive the code platform 4 to move.

[0073] It should be noted that when driving the code platform 4 to move, an automated drive component can be installed on the movable support 3, and its automatic movement can be controlled by a control device. Alternatively, to save costs, the rotating rod 33 can be moved manually. The camera device 2 only needs to capture the movement trajectory of the first calibration code. After obtaining the movement trajectory of the first calibration code, the trajectory parameters, speed parameters, stability parameters, accuracy parameters, and speed parameters of the robot 300 can be simulated and calculated by a computer program, so as to facilitate the subsequent adjustment of the corresponding parameters of the robot 300.

[0074] In one embodiment of the present invention, the upper end of the camera device 2 is connected to the lower end of the support frame 1 via a connecting rod extending in the vertical direction. One end of the rotating bracket 31 is sleeved on the connecting rod and is rotatably mounted around the connecting rod as an axis. In this embodiment, the rotating bracket 31 rotates around the connecting rod as an axis, while the camera device 2 is fixedly mounted on the lower end of the connecting rod. This ensures that when the rotating bracket 31 drives the code platform 4 to rotate and move, the camera device 2 is the center of motion, facilitating data acquisition and processing.

[0075] In one embodiment of the present invention, the support frame 1 includes a support rod 11, a plurality of fasteners 12, and a plurality of abutment platforms 13. The support rod 11 is used to traverse the room to be tested 200 in a horizontal direction to be fixedly connected to the room to be tested 200. The plurality of fasteners 12 are respectively fixedly installed at both ends of the support rod 11, and each of the two fasteners 12 is provided with a mating part. The plurality of abutment platforms 13 are respectively movably installed on the mating parts through connectors, and the plurality of abutment platforms 13 are respectively used to abut against two opposite inner walls of the room to be tested 200.

[0076] The mating part can be a threaded connection structure or a snap-fit ​​structure. The connecting member can be a threaded connector that mates with the threaded connection structure, or it can be a snap-fit ​​connector that mates with the snap-fit ​​structure; there is no limitation on this. Multiple fixing devices 12 refer to having two or more fixing devices 12. When there are two or more fixing devices 12, the multiple fixing devices 12 can be evenly distributed at both ends of the support rod 11, and the multiple fixing devices 12 located at the same end of the support rod 11 are distributed circumferentially along the support rod 11. Multiple abutment platforms 13 can be correspondingly arranged with multiple fixing devices 12, and each abutment platform 13 can be movably installed on the mating part through the connecting member. By setting multiple fixing devices 12 and multiple abutment platforms 13 to improve the structural strength of the support, it can be understood that the number of fixing devices 12 and abutment platforms 13 is not limited.

[0077] In this embodiment, the fixture 12 and the abutment 13 are provided in twos, the mating part can be a threaded hole extending along the extension direction of the support rod 11, and the connector can be a screw-in connector 14 passing through the threaded hole.

[0078] The connecting rod is mounted on the support rod 11. The connecting rod is fixed by the abutment 13 against the inner wall of the room to be tested 200 through the two screw connectors 14. The installation is simple and easy to disassemble. If it is necessary to test in multiple different rooms to be tested 200, the abutment of the two abutment 13 against the inner wall of the room to be tested 200 can be released by rotating the screw connectors 14, and the entire robot motion correction device 100 can be disassembled and moved away directly.

[0079] In the technical solution of the present invention, the robot motion correction device 100 has a simple structure and is easy to disassemble, and can adapt to various testing environments. It can effectively simulate and calculate the standard motion state of the robot 300, and can also detect the actual motion state of the robot 300 in real time through the camera device 2, so as to correct the preset motion parameters of the robot 300 and realize the scientific and systematic adjustment of the motion state of the robot 300.

[0080] This invention also proposes a robot motion correction system for installation in a test room 200. The robot motion correction system includes a robot 300, a robot motion correction device 100, and a control device. The robot 300 is movably installed within the test room 200, and its upper surface is provided with a second calibration code. The robot motion correction device 100 includes the aforementioned robot motion correction device 100. The camera device 2 is used to identify the first calibration code and the second calibration code to obtain standard motion state parameters and real-time motion state parameters of the robot 300. The control device is communicatively connected to both the camera device 2 and the robot 300. The control device includes a memory, a processor, and a control program for the robot motion correction system stored in the memory. When the processor executes the control program for the robot motion correction system, it implements the steps of the robot motion correction method provided by this invention.

[0081] In this embodiment of the invention, the control device may be located in one of the robot and the robot motion correction device. Alternatively, the control device may be set independently of the robot and the robot motion correction device; for example, the control device may be a desktop computer, a laptop computer, or a mobile terminal such as a smartphone.

[0082] like Figure 5As shown, the control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (nVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0083] like Figure 2 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program for a robot motion correction system.

[0084] In the control device, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in this invention can be set in the control device. The control device calls the control program of the robot motion correction system stored in the memory 1005 through the processor 1001 and executes the robot motion correction method provided in the embodiment of this invention.

[0085] Figure 6 For an embodiment of the robot motion correction method provided by the present invention, please refer to [link / reference]. Figure 6 The robot motion correction method includes:

[0086] Step S30: Control the robot 300 to move along the edge of the room 200 to be tested according to preset motion parameters to obtain the real-time motion status parameters of the robot 300. The preset motion parameters are set in the processor of the robot 300 to guide the robot 300 to move automatically. By controlling the robot 300 to move along the edge of the room 200 to be tested according to the preset motion parameters, the real-time motion status parameters of the robot 300 can be obtained through the camera device 2.

[0087] Step S50: Adjust the preset motion state parameters according to the real-time motion state parameters and the standard motion state parameters to obtain the corrective preset motion parameters: The standard motion state parameters are calculated using the robot motion correction device 100 as described above based on the motion trajectory of the first calibration code. By comparing the real-time motion state parameters and the standard motion state parameters, the deficiencies of the robot 300 during automatic operation can be calculated, and then the corrective preset motion parameters are obtained by adjusting the preset motion parameters to improve the motion state of the robot 300.

[0088] Step S70: Control the robot's movement according to the preset correction motion parameters.

[0089] Further, step S30 includes:

[0090] Step S31: Control the robot 300 to circle the edge of the room 200 to be tested once according to the preset motion parameters corresponding to the nth circle, where n is a positive integer;

[0091] Step S32: Obtain the real-time motion state parameters of robot 300 corresponding to the nth lap;

[0092] It should be noted that simply adjusting the preset motion parameters once is insufficient to achieve the optimal adjustment effect. Therefore, it is necessary to control the robot 300 to circle the edge of the room 200 under test multiple times, adjusting the preset motion parameters once for each circle, and continuously optimizing the preset motion parameters. Consequently, the camera device 2 needs to acquire the real-time motion state parameters of the robot 300 for each circle.

[0093] Further, step S50 includes:

[0094] Step S51: When n=1, determine the corrective preset motion parameters corresponding to the second circle based on the real-time motion state parameters and the standard motion state parameters corresponding to the first circle. Before circling the first circle, the real-time motion state parameters are not statistically analyzed. After circling the first circle, the preset motion parameters are adjusted based on the comparison between the real-time motion state parameters and the standard motion state parameters of the first circle, and the adjusted corrective preset motion parameters are set within the robot 300, and the second circle's activity is performed accordingly. In the technical solution of this invention, the calculation method uses a greedy algorithm, which can specifically be a particle swarm optimization algorithm, an ant colony optimization algorithm, or a Monte Carlo algorithm, etc.

[0095] Step S52: When n≥2, compare the real-time motion state parameters and historical motion state parameters corresponding to the nth lap with the standard motion state parameters respectively to obtain the corresponding similarity.

[0096] Step S53: Adjust the motion state parameters based on the motion state parameters with the highest similarity and the standard motion state parameters to obtain the corrected preset motion parameters for the (n+1)th lap.

[0097] The motion state parameters of robot 300 include multiple sub-parameters. Each adjustment requires adjustments to each sub-parameter separately. However, the algorithm of robot 300 during automatic movement is complex, meaning that each adjustment of the preset motion parameters will not necessarily result in better real-time motion state parameters than the previous one. To optimize the real-time motion state parameters, adjustments are made based on the optimal values ​​of each parameter within each real-time motion state parameter. Therefore, when n≥2, the real-time motion state parameters corresponding to the nth lap need to be compared with all previous real-time motion state parameters, i.e., the historical motion state parameters, to obtain the similarity between each real-time motion state parameter and the standard motion state parameters.

[0098] Then, the real-time motion state parameters with the highest similarity are adjusted with the standard motion state parameters to obtain the corrective preset motion parameters corresponding to the (n+1)th lap.

[0099] It should be noted that while Robot 300 will continuously approach its optimal state during the adjustment process, it is difficult to completely reach the optimal state. Therefore, n is preset with a maximum value. When it is determined that n has reached the maximum threshold, the test stops. It is understandable that the maximum threshold for n is not limited here, but determined based on specific experimental data and experience.

[0100] It should be noted that, during the comparison, the various parameters included in the real-time motion state parameters are compared individually, and the better parameter among them is selected as the calculation sample.

[0101] In one embodiment of the present invention, the robot motion correction device 100 includes a camera device 2, which has preset internal graphic parameters and is used to acquire motion state parameters of the robot 300.

[0102] Prior to step S30, the robot motion correction method also includes:

[0103] Step S10: Determine whether the camera device 2 has preset internal graphic parameters;

[0104] Step S11: When the camera device has the preset internal graphic parameters, control the camera device 2 to acquire the current motion state parameters of the robot 300;

[0105] Step S12: When the preset internal graphic parameters are not present in the camera device, control the camera device 2 to calibrate the internal graphic parameters in a checkerboard pattern to obtain the preset internal graphic parameters, and then control the camera device 2 to obtain the current motion state parameters of the robot 300.

[0106] In this embodiment, the internal parameters of the camera device 2 need to be calibrated using a checkerboard pattern to form preset internal graphic parameters, so as to facilitate the acquisition and calculation of the motion state parameters of the robot 300. When the device is used in the room 200 to be tested, it is necessary to first determine whether the camera device 2 has completed the internal parameter calibration. If it is a new room 200 to be tested, the internal graphic parameters generally need to be calibrated; if it has already been calibrated, the test can start directly.

[0107] In one embodiment of the present invention, the robot motion correction device 100 further includes a code platform 4 that is movably disposed along the edge of the room to be tested 200, the code platform 4 being provided with a first calibration code, and the camera device 2 being able to identify the setting of the first calibration code;

[0108] Before step S30, the robot motion correction method further includes:

[0109] Step S21: Obtain the motion trajectory of the first calibration code;

[0110] Step S22: Obtain the standard motion state parameters of robot 300 based on the motion trajectory of the first calibration code.

[0111] When driving the code station 4 to move, an automated drive component can be installed on the movable support 3, and its automatic movement can be controlled by a control device. Alternatively, to save costs, the rotating rod 33 can be moved manually. The camera device 2 only needs to capture the movement trajectory of the first calibration code. After obtaining the movement trajectory of the first calibration code, the trajectory parameters, speed parameters, stability parameters, accuracy parameters, and speed parameters of the robot 300 can be simulated and calculated by a computer program, so as to facilitate the subsequent adjustment of the corresponding parameters of the robot 300.

[0112] In this embodiment of the invention, the detailed parameters included in the standard motion state parameters and the real-time motion state parameters are one or more combinations of stability parameters, accuracy parameters, and speed parameters.

[0113] The accuracy parameter includes the trajectory error value of the robot 300 when it moves along the edge in the same environment; the stability parameter includes the trajectory error value of the robot 300 when it moves along the edge in different environments; and the speed parameter includes the speed value of the robot 300 when it recovers to the normal motion trajectory after encountering interference while moving along the edge.

[0114] like Figure 7 As shown, the W line represents the wall, the R line represents the standard motion state parameters simulated based on the running trajectory of the code station 4, and the P line represents the real-time motion state parameters of the actual robot 300.

[0115] Specifically, the accuracy parameter refers to whether the robot 300 can accurately travel along the calculated trajectory during its movement. The criterion for judging the accuracy parameter is: calculating the average of the data of the robot 300 when it moves along the edge, and comparing it with the standard average data to judge the magnitude of the error. The formula for the accuracy parameter is as follows:

[0116]

[0117] Where Acc represents the average value of the actual route traveled by robot 300, i represents the index of a single point, P(i) represents the actual line value of robot 300, which is the value of the actual route traveled as expressed in the preset internal graphic parameters, and N represents the total number of points.

[0118] The stability parameter refers to the robot 300's ability to recover its normal movement trajectory when the external environment changes or it is disturbed, given different kickboard distances and colors. The criteria for judging the stability parameter are: it cannot collide with a wall and its path cannot sway when it has traveled a sufficient distance. The formula for the stability parameter is as follows:

[0119] A = max(p(i)) ≤ w

[0120] w represents the maximum distance between robot 300 and the wall, meaning the actual line value cannot exceed the maximum distance between the robot and the wall.

[0121]

[0122] ε represents a sufficiently small number, meaning that when robot 300 travels a sufficiently far distance, the actual running path of robot 300 cannot produce significant shaking.

[0123] The speed parameter refers to the degree to which the robot 300 dynamically adjusts itself after being affected by external factors or after internal changes in response to environmental changes. The criterion for determining the speed parameter is: calculating the square integral of the robot 300's original position trajectory and actual position trajectory over time. The formula for the speed parameter is as follows:

[0124]

[0125] o(i) represents the trajectory of robot 300 under the standard motion state parameters, and p(i) represents the actual route taken by robot 300.

[0126] In some embodiments of this application, robot 300 may be a cleaning robot, etc.

[0127] According to the robot motion correction method provided in the embodiments of this application, by acquiring the standard motion state parameters and the real-time motion state parameters of the robot 300, adjusting the preset motion parameters of the robot based on the comparison between the real-time motion state parameters and the standard motion state parameters, and determining the preset correction motion parameters through scientific calculation methods, the testing and correction of the motion state of the robot 300 is more accurate, and the robot 300 can be scientifically and systematically optimized based on the test results.

[0128] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robot motion correction device, characterized in that, The robot motion correction device is installed in the room to be tested and is used to detect the motion state parameters of the robot when it moves along the edge of the room. The robot motion correction device includes: A support frame, used for fixed installation at the upper part of the room to be tested; A camera device, mounted on the support frame, is used to acquire real-time motion state parameters of the robot in the room to be tested. A movable support bracket is movably mounted at the lower end of the support frame, with one end rotatably mounted at the lower end of the support frame and the other end movably mounted along the edge of the room to be measured; and... A calibration platform is provided at the other end of the movable support. The upper surface of the calibration platform is provided with a first calibration code, which is used by the camera device to determine standard motion state parameters. The standard motion state parameters and the real-time motion state parameters include one or more of the following detailed parameters: stability parameters, accuracy parameters, and speed parameters. The accuracy parameter includes the trajectory error value of the robot when it performs edge-movement in the same environment; the stability parameter includes the trajectory error value of the robot when it performs edge-movement in different environments; and the speed parameter includes the speed value of the robot when it recovers to the normal motion trajectory after encountering interference while performing edge-movement. The formula for the accuracy parameter is as follows: Where Acc represents the average value of the actual route traveled by the robot, i represents the index of a single point, P(i) represents the actual line value of the robot, which is the value of the actual route traveled in the preset internal graphic parameters, and N represents the total number of points. The formula for the stability parameter is as follows: w represents the maximum distance between the robot and the wall, meaning the actual line value cannot exceed the maximum distance between the robot and the wall. This represents a sufficiently small number, meaning that when the robot travels a sufficiently far distance, the robot's actual running path cannot produce significant swaying. The formula for the speed parameter is as follows: o(i) represents the trajectory path taken by the robot under the standard motion state parameters, and p(i) represents the actual path taken by the robot.

2. The robot motion correction device as described in claim 1, characterized in that, The movable support includes: A rotating bracket, one end of which is rotatably mounted on the support frame about an axis in the vertical direction, and the other end extends in the horizontal direction; A movable support includes a horizontal portion extending in a horizontal direction and a vertical portion extending in a vertical direction. The horizontal portion is fitted over a rotating support and is slidably disposed along the extending direction of the rotating support. The upper end of the vertical portion is connected to the horizontal portion. A rotating rod extends in the vertical direction and is rotatably mounted on the lower end of the vertical part along the vertical axis. The code platform is fixedly mounted on the rotating rod. The casters are located at the lower end of the swivel rod.

3. The robot motion correction device as described in claim 2, characterized in that, The upper end of the camera device is connected to the lower end of the support frame via a connecting rod extending in the vertical direction. One end of the rotating bracket is sleeved on the connecting rod and is rotatably mounted around the connecting rod as an axis.

4. The robot motion correction device as described in claim 1, characterized in that, The support frame includes: Support rod, used to traverse the room to be measured horizontally; Multiple fasteners are fixedly installed at both ends of the support rod, and each fastener is provided with a mating part. Multiple abutment platforms are movably installed on the mating part via connectors, and the multiple abutment platforms are used to abut against two opposite inner walls of the room to be tested.

5. A robot motion correction method, applied to a robot motion correction system, characterized in that, The robot motion correction system includes a robot motion correction device, which is installed in the room to be tested to obtain standard motion state parameters and real-time motion state parameters of the robot in the room to be tested. The robot motion correction method includes: The robot is controlled to move along the edge of the room to be tested according to preset motion parameters in order to obtain the real-time motion state parameters of the robot. Based on the real-time motion state parameters and the standard motion state parameters, the preset motion parameters are adjusted to obtain the corrected preset motion parameters; The robot's movement is controlled according to the aforementioned corrective preset motion parameters; The standard motion state parameters and the real-time motion state parameters include one or more of the following detailed parameters: stability parameters, accuracy parameters, and speed parameters. The accuracy parameter includes the trajectory error value of the robot when it performs edge-movement in the same environment; the stability parameter includes the trajectory error value of the robot when it performs edge-movement in different environments; and the speed parameter includes the speed value of the robot when it recovers to the normal motion trajectory after encountering interference while performing edge-movement. The formula for the accuracy parameter is as follows: Where Acc represents the average value of the actual route traveled by the robot, i represents the index of a single point, P(i) represents the actual line value of the robot, which is the value of the actual route traveled in the preset internal graphic parameters, and N represents the total number of points. The formula for the stability parameter is as follows: w represents the maximum distance between the robot and the wall, meaning the actual line value cannot exceed the maximum distance between the robot and the wall. This represents a sufficiently small number, meaning that when the robot travels a sufficiently far distance, the robot's actual running path cannot produce significant swaying. The formula for the speed parameter is as follows: o(i) represents the trajectory path taken by the robot under the standard motion state parameters, and p(i) represents the actual path taken by the robot.

6. The robot motion correction method as described in claim 5, characterized in that, The controlled robot moves along the edge of the room to be tested according to preset motion parameters to obtain the robot's real-time motion state parameters, including: The robot is controlled to circle the edge of the room to be tested once according to the preset motion parameters corresponding to the nth circle, where n is a positive integer; Obtain the real-time motion state parameters of the robot corresponding to the nth lap.

7. The robot motion correction method as described in claim 6, characterized in that, The step of adjusting the preset motion parameters based on the real-time motion state parameters and the standard motion state parameters to obtain the corrected preset motion parameters includes: When n=1, the corrective preset motion parameters corresponding to the second lap are determined based on the real-time motion state parameters and the standard motion state parameters corresponding to the first lap. When n≥2, the real-time motion state parameters and historical motion state parameters corresponding to the nth lap are compared with the standard motion state parameters to obtain the corresponding similarity. Adjustments are made based on the motion state parameters with the highest similarity and the standard motion state parameters to obtain the corrective preset motion parameters for the (n+1)th lap.

8. The robot motion correction method as described in claim 5, characterized in that, The robot motion correction device includes a camera device, which is used to acquire the robot's motion state parameters; The robot motion correction method also includes: Determine whether the camera device contains preset internal graphic parameters; When the camera device has the preset internal graphic parameters, the camera device is controlled to acquire the robot's current motion state parameters; When the preset internal graphic parameters are not available in the camera device, the camera device is controlled to calibrate the internal graphic parameters in a checkerboard pattern in order to obtain the preset internal graphic parameters. The camera device is controlled to acquire the robot's current motion state parameters.

9. The robot motion correction method as described in claim 5, characterized in that, The robot motion correction device includes a code platform that can be movably set along the edge of the room to be tested. A first calibration code is provided on the code platform. The robot motion correction device includes a camera device that can recognize the setting of the first calibration code. The robot motion correction method also includes: Obtain the motion trajectory of the first calibration code; Standard motion state parameters are obtained based on the motion trajectory of the first calibration code.

10. A robot motion correction system, characterized in that, The robot motion correction system includes: A robot, which can be moved and set up in the room to be tested, wherein the upper surface of the robot is provided with a second calibration code; A robot motion correction device, comprising the robot motion correction device as described in any one of claims 1 to 4, wherein the camera device is used to identify the first calibration code and the second calibration code to obtain the standard motion state parameters and the real-time motion state parameters; and, A control device is communicatively connected to the camera device and the robot, respectively. The control device includes a memory, a processor, and a control program for the robot motion correction system stored in the memory. When the processor executes the control program for the robot motion correction system, it implements the steps of the robot motion correction method as described in any one of claims 5 to 9. The control device may be located in one of the robot and the robot motion correction device, or the control device may be located independently of the robot and the robot motion correction device.

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