Position correction method, device, system and computer program product

Abstract

The present application is applicable to the field of robotics technology, and provides a position correction method, device, system and computer program product, which are applied to a robotic arm, wherein a laser sensor component is provided at the end of the robotic arm, and the method comprises: collecting first position information of a shelf after deformation according to the laser sensor component, obtaining second position information of the shelf before deformation, determining the deformation amount of the shelf according to the first position information and the second position information, and using the deformation amount to correct the position of the robotic arm. The present application can solve the problem of inaccurate position correction of the robotic arm.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular, relates to a position correction method, device, system and computer program product. Background Art

[0002] With the development of automation technology, automated robots are widely used in the industrial field, greatly improving production efficiency. For example, by planning the path of the robotic arm (or manipulator), automatic assembly and automatic picking and placing of goods can be achieved. However, the shelf itself will be deformed after long-term use or affected by ambient temperature, which may cause collisions when the robotic arm (or manipulator) picks and places goods.

[0003] At present, the position correction of the robot arm is mainly carried out through visual recognition methods, including: using a visual camera to obtain the characteristic points of the shelf, calculating the position offset of the robot arm (or manipulator) through the characteristic points of the shelf, and correcting the position of the robot arm. However, since the visual camera is also easily affected by the ambient temperature (for example, the stability of the visual camera in a low temperature environment is poor), the position correction of the robot arm is not accurate enough. Summary of the invention

[0004] The embodiments of the present application provide a position correction method, device, system and electronic device, which can solve the problem of inaccurate position correction of a robotic arm.

[0005] In a first aspect, an embodiment of the present application provides a position correction method, which is applied to a robotic arm, wherein a laser sensor component is provided at the end of the robotic arm, and the method comprises:

[0006] Collecting first position information of the shelf after deformation according to the laser sensor component;

[0007] Acquire second position information of the shelf before deformation;

[0008] The deformation amount of the shelf is determined according to the first position information and the second position information, and the position of the robot arm is corrected using the deformation amount.

[0009] In a second aspect, an embodiment of the present application provides a position correction device, which is applied to a robotic arm, and a laser sensor component is provided at the end of the robotic arm, including:

[0010] A first position information determining module, used for collecting first position information of the shelf after deformation according to the laser sensor assembly;

[0011] A second position information determining module, used to obtain the second position information of the shelf before deformation;

[0012] A position correction module is used to determine the deformation amount of the shelf according to the first position information and the second position information, and use the deformation amount to perform position correction on the robot arm.

[0013] In a third aspect, an embodiment of the present application provides a position correction system, including a controller, a moving component, and a mechanical arm;

[0014] A laser sensor component is disposed at the end of the mechanical arm, and the laser sensor component is used to collect first position information of the shelf after deformation when the mobile component drives the mechanical arm to move;

[0015] The controller is used to obtain the second position information of the shelf before deformation, determine the deformation amount of the shelf according to the first position information and the second position information, and use the deformation amount to perform position correction on the robot arm.

[0016] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the position correction method described in the first aspect when executing the computer program.

[0017] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the position correction method described in the first aspect are implemented.

[0018] In a sixth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the position correction method described in any one of the first aspects above.

[0019] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0020] The present application determines the deformation amount of the shelf after refrigeration through the first position information and the second position information, and performs position correction on the robot arm according to the above deformation amount, which can solve the problem of inaccurate position correction of the robot arm. Specifically, the above second position is the position information of the shelf before deformation, and the above first position information is the position information of the shelf after deformation collected according to the laser sensor component. Since the laser sensor component has strong stability under different ambient temperatures, more accurate first position information can be collected according to the laser sensor component, so as to accurately determine the deformation amount of the shelf and improve the accuracy of the position correction of the robot arm under different temperature conditions. In addition, when performing position correction through the above laser sensor component, since it does not involve the acquisition and processing of visual images, it can avoid the problem of inaccurate position correction caused by inaccurate visual image acquisition under different ambient temperatures, and further improve the accuracy of the position correction of the robot arm in low temperature environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 is a schematic diagram of the structure of a shelf provided in an embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the structure of the mechanical arm provided in an embodiment of the present application;

[0024] Figure 3 It is a flow chart of a position correction method provided in one embodiment of the present application;

[0025] Figure 4 is a schematic diagram of a process for determining first position information provided by an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of latching position data of a probe 1 provided in an embodiment of the present application;

[0027] Figure 6 is a schematic diagram of a target planning path provided by an embodiment of the present application;

[0028] Figure 7 is a schematic diagram of a new target planning path provided by an embodiment of the present application;

[0029] Figure 8 This is a functional architecture diagram of a position correction system provided by an embodiment of the present application;

[0030] Fig. 9is an interactive schematic diagram of a position correction system provided by an embodiment of the present application;

[0031] Fig.10 It is a schematic diagram of the structure of the position correction device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0033] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0034] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0036] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0037] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0038] Before introducing the position correction method provided in the embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail below. Figure 1 The schematic diagram of the structure of the shelf provided in the embodiment of the present application is shown. Figure 1 As shown, the shelf can be a row shelf, that is, a shelf composed of multiple layers of vertical storage compartments, each layer of storage compartments can be used to store goods. Before using, the robot arm will store the shelf side feature position (xi, zi) of each layer of storage compartments on the shelf, where xi is the horizontal (i.e. Figure 1 The characteristic position coordinates of the shelf side of the i-th layer in the X-axis direction, zi is the vertical (i.e. Figure 1 The characteristic position coordinates of the shelf side edge of the i-th layer in the Z-axis direction. When the shelf is used for a long time or affected by temperature, the characteristic position of the shelf side edge (xi, zi) will be deformed, thus affecting the accuracy of the robot arm. Of course, the shelf can also be a row shelf, that is, a shelf composed of multiple layers of horizontal storage compartments, which will not be repeated here.

[0039] Figure 2 The schematic diagram of the structure of the mechanical arm provided in the embodiment of the present application is shown. Figure 2 As shown, the robot arm may include a support portion and a shovel plate, and a laser sensor assembly may be provided at the end of the shovel plate. The robot arm may realize precise positioning and operation of the robot arm in three-dimensional space by moving in three directions: horizontal (i.e. Figure 2 The X-axis in the direction of Figure 2 The Z axis) direction and the extension (i.e. Figure 2 The X-axis direction is used to control the horizontal movement of the robot arm, the Z-axis direction is used to control the vertical movement of the robot arm, and the Y-axis direction is used to control the extension and retraction of the shovel. For example, the robot arm can be positioned to a storage compartment of the shelf by adjusting the movement position in the X-axis and Z-axis directions, and then the storage compartment can be put or taken out by extending and retracting the Y-axis direction.

[0040] The following is an explanation based on the position correction of the robot arm in a low-temperature environment. In industrial production in a low-temperature environment, the use of the robot arm faces many challenges. For example, in the preservation of biological samples in the medical field, in order to inhibit the growth of microorganisms, delay the degradation of bioactive substances, ensure the integrity, stability and availability of biological samples, and meet the needs of medical research and clinical applications, the shelf position is generally taught before refrigeration, and then the cold storage temperature is reduced to a preset temperature (for example, minus 80°C). After refrigeration, engineers cannot enter the cold storage to adjust the position of the robot arm. Therefore, the deformation of the shelf at low temperature will increase the possibility of collision when the robot arm picks up and places goods.

[0041] At present, the position correction is mainly carried out through visual recognition methods, including: setting a visual camera at the end of the robot arm, taking pictures with the visual camera to obtain the characteristic points of the shelf, and calculating the position offset of the robot arm through the characteristic points. However, this method has the following defects: 1. The stability of the visual camera in a low temperature environment (such as minus 80°C) is poor, which will affect its service life, resulting in the inability of the visual camera to continuously and stably take visual images, thereby affecting the accuracy of the robot arm position correction; 2. Visual image taking is easily affected by the surrounding environment (such as frost, fog, etc.), making it more difficult to take pictures after the shelf is refrigerated, which may lead to inaccurate visual images, thereby affecting the accuracy of the robot arm position correction.

[0042] Therefore, the above method will lead to inaccurate position correction of the robot arm in a low-temperature environment.

[0043] In order to improve the accuracy of position correction of a robotic arm in a low-temperature environment, the present application provides a position correction method, which is applied to a robotic arm with a laser sensor component at the end. In the method, first position information of the shelf after deformation is collected according to the laser sensor component, and second position information of the shelf before deformation is obtained. The deformation amount of the shelf is determined according to the above-mentioned first position information and the above-mentioned second position information, and the position of the robotic arm is corrected using the above-mentioned deformation amount.

[0044] Figure 3 A schematic flow chart of a position correction method provided in an embodiment of the present application is shown. The method is applied to a robotic arm, and a laser sensor component is provided at the end of the robotic arm. The details are as follows:

[0045] S31. Collecting first position information of the shelf after deformation according to the laser sensor assembly.

[0046] Among them, Figure 2 For example, a laser sensor component may be provided at the end of the shovel plate, and the laser sensor component may be a laser sensor, such as a diffuse reflection laser sensor. The first position information may include the horizontal position information of the storage compartments of each layer of the shelf (for example, Figure 1The horizontal shelf side feature position in the middle) or the vertical position information (for example, Figure 1 At least one of the following: a characteristic position of the shelf side in the vertical direction.

[0047] Specifically, after the shelf is refrigerated, the robot arm can move based on a preset motion path. During the movement, the laser sensor component set at the end scans the shelf side features in the horizontal or vertical direction of the shelf, and obtains the first position information of the shelf after deformation through the scanned position data. Since the laser sensor component has good stability in a low-temperature environment, it can accurately collect the first position information of the shelf after low-temperature deformation.

[0048] It should be noted that when determining the first position information by a preset motion path, due to the influence of shelf deformation, it may be difficult to find a path that can simultaneously detect the shelf side features in the horizontal direction and the shelf side features in the vertical direction. In this case, a path for detecting the shelf side features in the horizontal direction can be pre-planned, and then a path for detecting the shelf side features in the vertical direction can be pre-planned, so as to obtain the shelf position information in the horizontal and vertical directions, thereby improving the accuracy of the first position information. Of course, the above-mentioned first position information can also include only one of the shelf position information in the horizontal direction or the shelf position information in the vertical direction.

[0049] S32, obtaining the second position information of the shelf before deformation.

[0050] Specifically, before the shelf is refrigerated, the robot arm can move according to the same preset motion path, and obtain the second position information of the shelf before deformation through the position data scanned by the laser sensor component.

[0051] In the embodiment of the present application, before the shelf is refrigerated, the second position information of the shelf before deformation is determined by the same preset motion trajectory, which can reduce the error caused by path changes and improve the consistency and comparability of the above-mentioned second position information.

[0052] S33. Determine the deformation amount of the shelf according to the first position information and the second position information, and use the deformation amount to perform position correction on the robot arm.

[0053] Specifically, when the first position information and the second position information both include the position information of the shelf in the horizontal direction and the position information of the shelf in the vertical direction, the deformation amounts of the shelf in the horizontal direction and the vertical direction can be determined through the first position information and the second position information, and then the position information of the robot arm corresponding to the horizontal direction and the vertical direction can be compensated and stored through the deformation amounts.

[0054] Optionally, when the first position information and the second position information only include the position information of the shelf in the horizontal direction, the deformation of the shelf in the horizontal direction can be determined first, and the horizontal position information corresponding to the robotic arm can be compensated by the deformation in the horizontal direction, and then a new motion path can be planned to determine the position information of the shelf in the vertical direction after refrigeration, and finally the position of the robotic arm can be corrected by the position information of the shelf in the vertical direction after refrigeration. Of course, when the first position information and the second position information only include the position information of the shelf in the vertical direction, the second position information can be corrected according to a similar method, which will not be repeated here.

[0055] For example, assuming that the first position information and the second position information only include the horizontal position information of the shelf, the horizontal position information of a storage compartment on a certain layer of the shelf before refrigeration stored in the robot arm is xi, the horizontal deformation amount of the storage compartment on this layer is △Xi, and the vertical position information of the storage compartment on this layer after refrigeration is Y * i, then the horizontal position information stored by the robot after position correction is xi+△Xi, and the vertical position information is Y * i.

[0056] The present application determines the deformation amount of the shelf after refrigeration through the first position information and the second position information, and performs position correction on the robot arm according to the above deformation amount, which can solve the problem of inaccurate position correction of the robot arm. Specifically, the above second position is the position information of the shelf before deformation, and the above first position information is the position information of the shelf after deformation collected according to the laser sensor component. Since the laser sensor component has strong stability under different ambient temperatures, more accurate first position information can be collected according to the laser sensor component, so as to accurately determine the deformation amount of the shelf and improve the accuracy of the position correction of the robot arm under different temperature conditions. In addition, when performing position correction through the above laser sensor component, since it does not involve the acquisition and processing of visual images, it can avoid the problem of inaccurate position correction caused by inaccurate visual image acquisition under different ambient temperatures, and further improve the accuracy of the position correction of the robot arm in low temperature environments.

[0057] In some embodiments, reference Figure 4 As shown, the above-mentioned method of collecting the first position information after the shelf is deformed according to the above-mentioned laser sensor component includes the following steps:

[0058] S311, acquiring the position data collected by the laser sensor assembly and latched by the servo driver through the probe latching function; the servo driver and the laser sensor assembly are electrically connected;

[0059] S312. Determine the first position information according to the position data, wherein the first position information at least includes the position coordinates of the shelf in the horizontal direction or the position coordinates in the vertical direction.

[0060] Among them, the above-mentioned probe latch function is a function of recording the current axis or encoder position. When the digital input signal (Digital Input, DI) changes, this function latches the position of the current axis (such as X-axis, Z-axis) by recording the position data corresponding to the rising and falling edges of the probe signal.

[0061] Optionally, the output signal of the laser sensor component and the probe signal of the servo driver can be connected electrically, and then the position data collected by the laser sensor component latched by the servo driver through the probe latching function, that is, the pulse signal fed back by the laser sensor component, is obtained, and then the pulse signal is converted into the first position information, that is, at least one of the position coordinates of the shelf in the horizontal direction or the position coordinates in the vertical direction.

[0062] For example, the output signal of the laser sensor component can be connected to the probe signal in the horizontal direction (X-axis) and the vertical direction (Z-axis) of the servo driver, so that the horizontal direction (X-axis) and the vertical direction (Z-axis) position data latched by the servo driver through the probe latch function can be obtained.

[0063] In the embodiment of the present application, the first position information can be acquired timely and accurately through the probe latching function.

[0064] In some embodiments, the above-mentioned probe latching function can be implemented through the following steps: first set the detection parameters of the probe (such as trigger mode, signal source, limited latching edge, etc.), and then enable the probe window, that is, detect the probe signal within the probe window, and then obtain the probe signal and detect the valid latching edge, and latch the position data by reading the probe status. Figure 5 A schematic diagram showing the latching position data of probe 1 is shown, referring to Figure 5 As shown, first set the probe trigger mode, signal source and limited latch edge, then enable probe 1, determine its corresponding probe window, obtain probe 1 signal and detect the valid latch edge, read the state of probe 1 and latch the corresponding position data.

[0065] In some embodiments, the above-mentioned shelf is a shelf with a multi-layer storage grid structure. The target planning path can be predetermined according to the structure of the shelf or the detection requirements. Assuming that the above-mentioned shelf is a row shelf (refer to Figure 1 As shown), the target planning path is to cut in from the fixed position of each layer of storage grids on the above-mentioned shelf in the vertical direction, and alternately detect the motion path of the position data of each layer of storage grids in the horizontal direction. Figure 6 A schematic diagram of the target planning path is shown, referring to Figure 6 The target planning path will cause the robot arm to cut in from a fixed position (i.e., Zi) in the vertical direction of each layer of storage grid, so that the laser sensor component can obtain the position of the horizontal shelf side features.

[0066] During the movement of the robot arm according to the target planning path, the step of acquiring the position data collected by the laser sensor assembly and latched by the servo driver through the probe latching function comprises the following steps:

[0067] When the laser sensor component detects the side feature of the shelf in the horizontal direction, the position feedback value of the laser sensor component latched in the horizontal direction by the servo driver is obtained to obtain the position data in the horizontal direction.

[0068] Specifically, each time the laser sensor component detects a horizontal shelf side feature, the servo driver records the position feedback values ​​corresponding to the rising and falling edges of the probe signal, thereby obtaining the position data of each layer of storage compartments in the horizontal direction (ie, the X-axis).

[0069] In some embodiments, since the position data is a pulse signal, position coordinate conversion is required for comparison convenience. The above-mentioned determining the first position information according to the position data includes:

[0070] Determine whether the horizontal position data exceeds a preset position feedback value range;

[0071] If the position data in the horizontal direction does not exceed the preset position feedback value range, performing position coordinate conversion on the position data in the horizontal direction to obtain a first horizontal position coordinate;

[0072] If the position information in the first position information exceeds the preset position feedback value range, a conversion period is determined according to the horizontal position data, and the horizontal position data is converted into position coordinates according to the conversion period to obtain the first horizontal position coordinates.

[0073] Specifically, when the position data in the horizontal direction does not exceed the preset position feedback value range, the position coordinate conversion can be directly performed using the preset first position conversion formula; when the position data in the horizontal direction exceeds the preset position feedback value range, it indicates that the position data overflows. At this time, in order to ensure that continuous position information can be obtained, the maximum latch value can be used for conversion first, and then the horizontal position data after all period conversions can be used to determine the conversion period, and then the above conversion period is brought into the preset second position conversion formula, so as to convert the horizontal position data into continuous first horizontal position coordinates. It should also be noted that since the servo driver latches integer data, it should be converted into floating-point data during calculation for the convenience of calculation.

[0074] For example, assuming that the preset position feedback value range of the position data latched by the servo drive is -2147483648 to 2147483648, when the horizontal position data does not exceed the above preset position feedback value range, the position coordinate conversion can be performed using the following preset first position conversion formula: first horizontal coordinate = horizontal position data (integer -> floating point) / (number of motor command pulses / working stroke * electronic gear ratio); when the horizontal position data exceeds the above preset position feedback value range for the first time (that is, exceeds 2147483648), the horizontal position data overflows, that is, the horizontal position data will be less than 0 and fall within the range of -2147483648 to 0, and then continue to increase to the positive range (0 to 2147483648) until it overflows again, and the above process is repeated. First, convert the horizontal position data. When the horizontal position data is greater than 0, the conversion value = the horizontal position data. When the horizontal position data is less than 0, the conversion value = the maximum latch value + the horizontal position data. Then calculate the conversion period: conversion period = period conversion value (positive number->floating point number) / (number of motor command pulses / working stroke*electronic gear ratio). Finally, perform the position coordinate conversion using the following preset second position conversion formula:

[0075] When the position data in the horizontal direction is ≥ 0, the first horizontal coordinate = conversion period * (2 * N) + conversion value / servo gear ratio coefficient;

[0076] When the position data in the horizontal direction is less than 0, the first horizontal coordinate = conversion period * (2 * N-1) + conversion value / servo gear ratio coefficient;

[0077] Where N is the number of cycles, and each time the horizontal position data is less than 0, the number of cycles increases by 1.

[0078] In some embodiments, when the first position information is determined according to the target planning path, the second position information is determined according to the position data collected by the laser sensor assembly during the movement of the robot arm according to the target planning path before the shelf is deformed, and the second position information includes the second horizontal position coordinates before the shelf is deformed. The conversion of the second horizontal position coordinates can refer to the second horizontal position coordinates in the above embodiment, which will not be repeated here. The above method of determining the deformation amount of the shelf according to the first position information and the second position information, and using the deformation amount to correct the position of the robot arm includes:

[0079] Determine the deformation amount of the shelf in the horizontal direction according to the first horizontal position coordinate and the second horizontal position coordinate;

[0080] The horizontal position of the robot arm is corrected according to the deformation amount in the horizontal direction to obtain first position correction information.

[0081] Specifically, since the first horizontal position coordinate and the second horizontal position coordinate are both determined by the target planning path, and each time the target planning path detects the shelf side features in the horizontal direction, it cuts in from the fixed position (Zi) in the vertical direction, which means that the first horizontal position coordinate and the second horizontal position coordinate correspond to the same fixed position (Zi), the first horizontal position coordinate and the second horizontal position coordinate can be directly subtracted to obtain the deformation variable in the horizontal direction, and finally the deformation variable in the horizontal direction is used to correct the horizontal position stored by the robot arm to obtain the first position correction information. Alternatively, the deformation variable of the shelf in the horizontal direction can be calculated according to the first horizontal position coordinate and the second horizontal position coordinate by linear regression.

[0082] For example, the second horizontal position coordinates of the storage compartments on each layer before the shelf is refrigerated are X1, X2, X3, ..., Xn, and the first horizontal position coordinates of the storage compartments on each layer after the shelf is refrigerated are X * 1. X * 2. X * 3. …, X * n, the horizontal deformation of each layer of storage grid calculated by subtracting the first horizontal position coordinate from the second horizontal position coordinate is △X1, △X2, △X3, ..., △Xn, where △X1 = X * 1-X1, △X2=X * 2-X2…, and so on. The position information stored in the above-mentioned robot arm can be (x1, y1), (x2, y2), (x3+, y3), …, (xn, yn), wherein y1, y2, y3, …, yn are the position coordinates in the vertical direction stored in the robot arm, and the above-mentioned deformation variable is used to compensate the position coordinates x1, x2, x3, …, xn of the robot arm in the horizontal direction, and the first position correction information (x1+△X1, y1), (x2+△X2, y2), (x3+△X3, y3), …, (xn+△Xn, yn) can be obtained.

[0083] It should be noted that the horizontal position coordinates x1, x2, x3, ..., xn stored by the robotic arm may be the position coordinates recorded after the engineer completes the shelf teaching, or may be the position coordinates determined by the laser sensor assembly before refrigeration, that is, the horizontal position coordinates x1, x2, x3, ..., xn stored by the robotic arm may be the same as or different from the second horizontal position coordinates X1, X2, X3, ..., Xn of the storage compartments on each layer of the shelf before refrigeration, and this is not limited here.

[0084] In some embodiments, in order to improve the accuracy of determining the deformation amount in the horizontal direction, the above-mentioned method of determining the deformation amount of the shelf in the horizontal direction according to the above-mentioned first horizontal position coordinate and the above-mentioned second horizontal position coordinate includes:

[0085] Determine a first position curve according to the first horizontal position coordinates;

[0086] Acquire a second position curve determined according to the second horizontal position coordinates;

[0087] Determine the horizontal position coordinates corresponding to the target vertical position coordinates after the shelf is deformed from the first position curve, and determine the horizontal position coordinates corresponding to the target vertical position coordinates before the shelf is deformed from the second position curve; the target vertical position coordinates are the vertical position coordinates corresponding to the fixed positions of the storage compartments on each layer of the shelf in the vertical direction;

[0088] The deformation amount of each storage compartment of the shelf in the horizontal direction is determined according to the horizontal position coordinates corresponding to the target vertical position coordinates before and after the shelf is deformed.

[0089] The first position curve reflects the change trend of the fixed position in the vertical direction and the first horizontal position coordinate after the shelf is deformed. The second position curve reflects the change trend of the fixed position in the vertical direction and the second horizontal position coordinate before the shelf is deformed.

[0090] Specifically, the first position curve after the shelf is deformed and the second position curve before the shelf is deformed can be determined by linear regression, and the deformation amount of each storage compartment of the shelf in the horizontal direction can be determined by comparing the difference in horizontal coordinates of the first position curve and the second position curve at the same target vertical position coordinate. Optionally, the linear regression method can be the least squares method.

[0091] For example, assuming that the first position curve is determined using the least squares method, n position information (X * 1,Z1)、(X * 2, Z2), …, (X * n, Zn), where X * 1. X * 2. …, X *n is the first horizontal position coordinate, Z1, Z2, ..., Zn are the fixed positions in the vertical direction corresponding to the storage compartments on each layer. The n position information is depicted in the XZ rectangular coordinate system, and the linear equation Z = a0 + a1X (Formula 1) is established. The predicted value Zj is calculated according to the linear equation, and the square sum (∑(Zi-Zj)^2) of the deviation (Zi-Zj) between the measured value (Zi) and the predicted value (Zj) is calculated, where i = j ≤ n. The above square sum is minimized as the optimization basis, and φ = ∑(Zi-Zj)^2 (Formula 2) is set. Substitute Formula 1 into Formula 2 to obtain: φ = ∑(Zi-a0-a1*Xi)^2 (Formula 3). When the square sum (∑(Zi-Zj) ^2) is the smallest, calculate the partial derivatives of φ with respect to a0 and a1 respectively, set these two partial derivatives equal to zero, and obtain: na0+(∑Xi)a1=∑Zi(Formula 4); (∑Xi)a0+(∑Xi^2)a1=∑(Xi,Zi)(Formula 5), ​​solve Formula 4 and Formula 5, and obtain a0=(∑Zi) / n-a1(∑Xi) / n(Formula 6), a1=[n∑XiYi-(∑Xi∑Yi)] / [n∑Xi^2-(∑Xi)^2)](Formula 7), substitute a0 and a1 into Formula 1, and obtain the above-mentioned first position curve. The above-mentioned second position curve can be determined according to the second horizontal position coordinate before the shelf is refrigerated by the same method, which will not be repeated here. After obtaining the first position curve and the second position curve, by comparing the difference in the horizontal position coordinates under the same target vertical position coordinates (i.e., Z1, Z2, ..., Zn), the deformation of each storage compartment of the shelf in the horizontal direction can be determined.

[0092] In the embodiment of the present application, the first position curve and the second position curve are determined by a linear regression method, which can clearly and accurately display the relationship between the horizontal position coordinates of the storage compartments on each layer of the shelf and the target vertical position coordinates before and after the shelf is refrigerated, thereby improving the accuracy of determining the horizontal deformation amount of the storage compartments on each layer.

[0093] In another optional embodiment of the present application, after the horizontal position of the robotic arm is corrected according to the deformation amount in the horizontal direction to obtain the first position correction information, the method further includes:

[0094] Determine the horizontal displacement of the mechanical arm in the storage compartments of each layer of the shelf according to the deformation amount in the horizontal direction;

[0095] Determine a new target planning path according to the horizontal offset; the new target planning path is a movement path after the horizontal direction of the target planning path is adjusted by the horizontal offset, and the position data of each layer of storage compartments in the vertical direction is detected;

[0096] During the movement of the robotic arm according to the new target planning path, the vertical position coordinates are determined according to the vertical position data of the shelf collected by the laser sensor assembly;

[0097] The first position correction information is adjusted according to the vertical position coordinates to obtain the second position correction information.

[0098] Specifically, the deformation amount of each layer of storage compartments on the shelf in the horizontal direction is determined as the horizontal offset of the robot arm on each layer of storage compartments, and then the horizontal path in the target planning path is adjusted by the above-mentioned horizontal offset to obtain a new target planning path. The above-mentioned new target planning path is used to detect the position data of each layer of storage compartments in the vertical direction. During the movement of the robot arm according to the new target planning path, when the laser sensor component detects the vertical side features of the shelf, the vertical position coordinate is determined according to the position feedback value latched in the vertical direction by the servo driver. The determination of the above-mentioned vertical position coordinate can refer to the first horizontal position coordinate of the above-mentioned embodiment, which will not be repeated here. Finally, the vertical position coordinate is used to replace the vertical position coordinate in the above-mentioned first position correction information to obtain the first position correction information.

[0099] Figure 7 A schematic diagram showing the new target planning path is shown in FIG. Figure 7 As shown in the figure, the robot arm is offset horizontally (i.e., the X-axis) by △Xi, and then Figure 7 The motion of the target planning path shown in the figure can obtain the new Z-axis coordinate of each storage compartment after cooling through the servo probe function, that is, the vertical position coordinate: Y * 1. Y * 2. Y * 3. ..., Y * n, and use the vertical position coordinates to replace the vertical position coordinates in the first position correction information to obtain the second position correction information: (x1+△X1, Y * 1) (x2+△X2, Y * 2) (x3+△X3, Y * 3) …, (xn+△Xn, Y * n). Through the above position correction, the position information (xi, yi) stored by the robot arm on each layer of the storage grid can be corrected to (xi+△Xi, Y * i), thereby improving the accuracy of the robot's operation.

[0100] It should also be noted that the above embodiment illustrates a method for performing position correction on a robotic arm through column shelves. For row shelves, a similar target path can be planned for position correction. For example, a motion path can be planned that cuts in from a fixed position in the horizontal direction of each layer of storage compartments on the shelf and alternately detects the position data of each layer of storage compartments in the vertical direction. The subsequent position correction method can refer to the above embodiment and will not be repeated here.

[0101] The present application also provides a position correction system for executing the position correction method described in the above embodiment. The position correction system provided by the present application is described below. The position correction system described below and the position correction method described above can be referenced to each other.

[0102] Reference Figure 8 , which is a functional architecture diagram of a position correction system provided in an embodiment of the present application. In this embodiment, the position correction system 8 includes a controller 80, a moving component 81 and a mechanical arm 82.

[0103] A laser sensor component 821 is disposed at the end of the mechanical arm, and the laser sensor component 821 is used to collect the first position information of the shelf after deformation when the mobile component 81 drives the mechanical arm 82 to move;

[0104] The controller 80 is used to obtain the second position information of the shelf before deformation, determine the deformation of the shelf according to the first position information and the second position information, and perform position correction on the robot arm 82 using the deformation.

[0105] The controller may be a programmable logic controller (PLC) for controlling the position, speed, and force of the robot. For example, the PLC controls the rotation speed, rotation angle, and output torque of the servo motor by sending instructions to the servo driver, and then adjusts the movement of the robot by moving the components. At the same time, the programmable logic controller may control the robot according to pre-programmed logic.

[0106] Reference Fig. 9As shown, it is an interactive schematic diagram of the position correction system. When the position correction is performed on the robot arm, the controller can control the robot arm to move according to the pre-stored target planning path. In the process of the robot arm moving based on the target planning path, the first horizontal position coordinates after the shelf deformation is collected by the laser sensor component are obtained, and then the controller obtains the second horizontal position coordinates before the shelf deformation, and determines the deformation amount of the shelf in the horizontal direction according to the above-mentioned first horizontal position coordinates and the above-mentioned second horizontal position coordinates. The horizontal deformation amount is used to perform horizontal position correction on the robot arm to obtain the first position correction information, and then the controller controls the robot arm to move based on the new target planning path. When the robot arm moves based on the new target planning path, the vertical position coordinates after the shelf deformation collected by the laser sensor component are obtained, and the vertical position correction is performed on the robot arm again according to the vertical position coordinates to obtain the second position correction information. Fig. 9 The position correction process in can refer to the above embodiment and will not be described in detail here.

[0107] It should also be noted that the position correction system in the embodiment of the present application may include: Figure 8 More or fewer components, such as radar equipment, display screens, etc. Figure 8 The combination / connection relationship between the components can also be adjusted and modified.

[0108] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0109] Corresponding to the position correction method described in the above embodiment, Fig.10 A schematic diagram of the structure of the position correction device provided in an embodiment of the present application is shown. For the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0110] Reference Fig.10 The device may be a position correction device, which is applied to a robotic arm. A laser sensor component is provided at the end of the robotic arm. The position correction device may include a first position information determination module 101, a second position information determination module 102 and a position correction module 103.

[0111] Reference Fig.10 , the position correction device comprises:

[0112] The first position information determining module 101 is used to collect the first position information of the shelf after deformation according to the laser sensor assembly;

[0113] The second position information determining module 102 is used to obtain the second position information of the shelf before deformation;

[0114] The position correction module 103 is used to determine the deformation amount of the shelf according to the first position information and the second position information, and perform position correction on the robot arm using the deformation amount.

[0115] It should be noted that the information interaction, execution process, etc. between the devices / units are based on the same concept as the method embodiments of the present application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0116] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the functional units and modules is used as an example. In practical applications, the function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0117] An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the method embodiments when executing the computer program.

[0118] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the various method embodiments can be implemented.

[0119] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the various method embodiments when executing the computer program product.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each method embodiment when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0121] In the embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A position correction method, characterized in that: Applied to a robotic arm, the end of which is provided with a laser sensor assembly, the method comprising: Collecting first position information of the shelf after deformation according to the laser sensor component; Acquire second position information of the shelf before deformation; The deformation amount of the shelf is determined according to the first position information and the second position information, and the position of the robot arm is corrected using the deformation amount.

2. The position correction method according to claim 1, characterized in that: The collecting of first position information of the shelf after deformation according to the laser sensor assembly includes: Acquiring position data collected by the laser sensor assembly and latched by the servo driver through a probe latching function; the servo driver and the laser sensor assembly are electrically connected; The first position information is determined according to the position data, wherein the first position information at least includes the position coordinates of the shelf in the horizontal direction or the position coordinates in the vertical direction.

3. The position correction method according to claim 2, characterized in that: The shelf is a shelf with a multi-layer storage grid structure, and the target planning path is a motion path that cuts in from a fixed position of each layer of storage grids on the shelf in the vertical direction and alternately detects the position data of each layer of storage grids in the horizontal direction; During the movement of the robot arm according to the target planning path, the acquisition of the position data collected by the laser sensor assembly latched by the servo driver through the probe latching function includes: When the laser sensor component detects the side feature of the shelf in the horizontal direction, the position feedback value of the laser sensor component latched in the horizontal direction by the servo driver is obtained to obtain the position data in the horizontal direction.

4. The position correction method according to claim 3, characterized in that: The determining the first location information according to the location data includes: Determining whether the horizontal position data exceeds a preset position feedback value range; If the position data in the horizontal direction does not exceed the preset position feedback value range, performing position coordinate conversion on the position data in the horizontal direction to obtain a first horizontal position coordinate; If the position information in the first position information exceeds the preset position feedback value range, a conversion period is determined according to the horizontal position data, and the position coordinate conversion is performed on the horizontal position data according to the conversion period to obtain the first horizontal position coordinate.

5. The position correction method according to claim 4, characterized in that: The second position information is determined according to position data collected by the laser sensor assembly during the movement of the mechanical arm according to the target planning path before the shelf is deformed, the second position information includes a second horizontal position coordinate before the shelf is deformed, and the deformation amount of the shelf is determined according to the first position information and the second position information, and the position deviation correction of the mechanical arm is performed using the deformation amount, including: Determining a deformation amount of the shelf in a horizontal direction according to the first horizontal position coordinate and the second horizontal position coordinate; The horizontal position of the robot arm is corrected according to the deformation amount in the horizontal direction to obtain first position correction information.

6. The position correction method according to claim 5, characterized in that: The determining the deformation amount of the shelf in the horizontal direction according to the first horizontal position coordinate and the second horizontal position coordinate comprises: determining a first position curve according to the first horizontal position coordinate; Acquire a second position curve determined according to the second horizontal position coordinates; Determine the horizontal position coordinates corresponding to the target vertical position coordinates after the shelf is deformed from the first position curve, and determine the horizontal position coordinates corresponding to the target vertical position coordinates before the shelf is deformed from the second position curve; the target vertical position coordinates are the vertical position coordinates corresponding to the fixed positions of the storage compartments on each layer of the shelf in the vertical direction; The deformation amount of each storage compartment of the shelf in the horizontal direction is determined according to the horizontal position coordinates corresponding to the target vertical position coordinates before and after the shelf is deformed.

7. The position correction method according to claim 5 or 6, characterized in that: After performing position correction on the horizontal position of the robot arm according to the deformation amount in the horizontal direction to obtain first position correction information, the method further includes: Determine the horizontal offset of the mechanical arm at each storage compartment of the shelf according to the deformation amount in the horizontal direction; Determine a new target planning path according to the horizontal offset; the new target planning path is a movement path of detecting the position data of each layer of storage grid in the vertical direction after the horizontal direction of the target planning path is adjusted by the horizontal offset; During the movement of the robot arm according to the new target planning path, the vertical position coordinates are determined according to the vertical position data of the shelf collected by the laser sensor assembly; The first position correction information is adjusted according to the vertical position coordinate to obtain second position correction information.

8. A position correction device, characterized in that: Applied to a robotic arm, the end of which is provided with a laser sensor assembly, including: A first position information determining module, used for collecting first position information of the shelf after deformation according to the laser sensor assembly; A second position information determining module, used to obtain the second position information of the shelf before deformation; A position correction module is used to determine the deformation amount of the shelf according to the first position information and the second position information, and use the deformation amount to perform position correction on the robot arm.

9. A position correction system, characterized in that: Includes controller, mobile assembly and robotic arm; A laser sensor component is disposed at the end of the mechanical arm, and the laser sensor component is used to collect first position information of the shelf after deformation when the mobile component drives the mechanical arm to move; The controller is used to obtain the second position information of the shelf before deformation, determine the deformation amount of the shelf according to the first position information and the second position information, and use the deformation amount to perform position correction on the robot arm.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed.

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