Error compensation method and device and computer storage medium

Abstract

The invention provides an error compensation method and device and a computer storage medium. The error compensation method comprises the steps of obtaining historical arrival point deviation data of a robot; acquiring a path compensation value based on the historical arrival point deviation data; offsetting an original planning path according to the path compensation value to obtain a compensation planning path; and controlling the robot according to the compensation planning path so as to arrive at the terminal point. Through the mode, the alignment precision and the operation efficiency of the robot to the end point in navigation are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to an error compensation method, device and computer storage medium. Background Art

[0002] Common positioning and navigation methods for AGVs include QR code navigation, LiDAR navigation, and visual navigation. The principle of QR code navigation is to use a QR code sensor such as a camera to scan the QR code laid on the ground, obtain the coordinate position information of the QR code image, and then transmit it to the AGV control system. The AGV control system determines the image position based on the coordinate data, and then sends the navigation path instructions to the AGV according to the instructions of the scheduling system. The AGV establishes local navigation coordinates and calculates the initial position of the AGV based on the path instructions. With the help of inertial navigation technology, it walks along the QR code label position in the navigation path in sequence, and finally completes the navigation function.

[0003] At present, when using the QR code navigation method, since the laid QR codes are discontinuous, the position information obtained by the AGV is also discontinuous, and there is a certain error. Summary of the invention

[0004] The present application provides an error compensation method, device and computer storage medium.

[0005] In order to solve the above technical problems, the present application proposes an error compensation method, which includes: obtaining the robot's historical point-to-point deviation data; obtaining a path compensation value based on the historical point-to-point deviation data; offsetting the original planned path according to the path compensation value to obtain a compensated planned path; and controlling the robot according to the compensated planned path to reach the end point.

[0006] Among them, after the robot is controlled according to the compensation planning path to reach the end point, the error compensation method also includes: obtaining the actual point position of the robot after running according to the compensation planning path; based on the actual point position and the end point, obtaining the robot's arrival error; and using the arrival error to update the historical arrival deviation data.

[0007] The point error includes a lateral point error and a longitudinal point error.

[0008] Among them, the error compensation method also includes: determining whether the robot triggers algorithm protection measures based on the operation information of the robot during the operation according to the compensation planning path; in response to the robot triggering the algorithm protection measures, obtaining the sliding speed of the robot after triggering the algorithm protection measures; based on the speed integral of the sliding speed, determining the longitudinal point error of the robot.

[0009] Wherein, the error compensation method further includes: in response to the robot not triggering the algorithm protection measure, obtaining the longitudinal point error of the robot according to the longitudinal difference between the actual point and the end point.

[0010] Wherein, the error compensation method further includes:

[0011] The lateral point error of the robot is obtained according to the lateral difference between the actual point and the end point.

[0012] Among them, offsetting the original planned path according to the path compensation value to obtain the compensated planned path includes: obtaining the starting point and the end point in the original planned path; compensating the map coordinates of the end point using the path compensation value to obtain the compensated end point; generating the compensated planned path according to the starting point and the compensated end point.

[0013] In order to solve the above technical problems, the present application proposes an error compensation device, which includes an acquisition module, a calculation module, and a control module; the acquisition module is used to acquire the robot's historical point deviation data; the calculation module is used to acquire a path compensation value based on the historical point deviation data; the calculation module is used to offset the original planned path according to the path compensation value to obtain a compensated planned path; the control module is used to control the robot according to the compensated planned path to reach the end point.

[0014] In order to solve the above technical problems, the present application proposes an error compensation device, which includes a memory and a processor coupled to the memory; wherein the memory is used to store program data, and the processor is used to execute the program data to implement the above error compensation method.

[0015] In order to solve the above technical problem, the present application proposes a computer storage medium, wherein the computer storage medium is used to store program data, and the program data is used to implement the above error compensation method when executed by a computer.

[0016] Different from the prior art, the beneficial effects of the present application are as follows: the error compensation device obtains the robot's historical point deviation data; based on the historical point deviation data, a path compensation value is obtained; the original planned path is offset according to the path compensation value to obtain a compensated planned path; the robot is controlled according to the compensated planned path to reach the end point. In this way, the alignment accuracy and operation efficiency of the robot navigation from the end point to the point are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a first embodiment of the error compensation method provided by the present application;

[0019] Figure 2 It is a schematic diagram of an embodiment of the QR code navigation provided by the present application;

[0020] Figure 3 It is a schematic diagram of the point deviation provided by this application;

[0021] Figure 4 is a schematic diagram of lateral error provided by this application;

[0022] Figure 5 is a schematic diagram of an embodiment of the longitudinal error provided by the present application;

[0023] Figure 6 is a flow chart of a second implementation of the error compensation method provided by the present application;

[0024] Figure 7 is a schematic diagram of another embodiment of the longitudinal error provided by the present application;

[0025] Figure 8 is a schematic diagram of yet another embodiment of the longitudinal error provided by the present application;

[0026] Fig. 9 It is a schematic diagram of error compensation correction provided by this application;

[0027] Fig.10 is a structural schematic diagram of an embodiment of an error compensation device provided by the present application;

[0028] Fig.11 is a structural schematic diagram of another embodiment of the error compensation device provided by the present application;

[0029] Fig.12 It is a structural diagram of an embodiment of a computer storage medium provided by the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The error compensation method of the present application is applied to an error compensation device, wherein the error compensation device of the present application can be a server, or a system composed of a server and a local terminal cooperating with each other. Accordingly, the various parts included in the error compensation device, such as various units, subunits, modules, and submodules, can all be set in the server, or can be set in the server and the local terminal respectively.

[0032] Furthermore, the above-mentioned server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules, such as software or software modules for providing distributed servers, or it can be implemented as a single software or software module, which is not specifically limited here. In some possible implementations, the error compensation method of the embodiment of the present application can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0033] This application proposes an error compensation method, see Figure 1 , Figure 1 It is a flowchart of the first embodiment of the error compensation method provided by the present application.

[0034] like Figure 1 As shown, the specific steps are as follows:

[0035] Step S11: Obtain the robot's historical point deviation data.

[0036] In an embodiment of the present application, the robot may be an automated guided vehicle. An automated guided vehicle (AGV) is an unmanned logistics transport vehicle that can autonomously travel in factories, warehouses and other places through an autonomous navigation system and can complete various tasks such as material transportation and equipment handling.

[0037] The following description uses AGV as an example. It should be noted that in the embodiments of the present application, any type of robot can be used.

[0038] like Figure 2 As shown, Figure 2AGV uses QR code navigation to navigate from A to B and then to C, and finally stops at point C. When the AGV completes scanning the QR code at the current location, it will update the global positioning according to the scanning result. If the QR code is not scanned, the AGV moves according to the odometer.

[0039] In the embodiment of the present application, A, B, and C are QR codes laid on the ground, and C is the destination code. Due to construction errors, the actual position and angle of the QR code are different from the map configuration, resulting in errors in the final arrival of the AGV, which has an adverse impact on the operating efficiency of the site.

[0040] The point error includes a lateral point error and a longitudinal point error.

[0041] Please continue to see Figure 3 , Figure 3 It is a schematic diagram of the arrival deviation provided in this application, which defines that when the AGV finally arrives at the destination, the position deviation of the AGV relative to the QR code is the arrival error of the AGV at the end code, where ex represents the longitudinal error, which is positive along the line direction; ey represents the lateral error, which is positive on the left side along the line direction.

[0042] Step S12: Obtaining a path compensation value based on historical point deviation data.

[0043] like Figure 4 As shown, Figure 4 This is a schematic diagram of the lateral error provided by this application. When the QR codes at points A and C are pasted correctly, but the QR code at point B is not on the same horizontal line as the QR codes at points A and C, the positioning result when the AGV scans the QR code will have a lateral deviation. Path planning is performed based on this positioning result, which ultimately leads to a lateral deviation when the AGV reaches point C.

[0044] like Figure 5 As shown, Figure 5 It is a schematic diagram of an embodiment of the longitudinal error provided by the present application. If the QR codes at points A and B are pasted correctly, and the QR code pasted at point C is incorrectly constructed, its theoretical pasting position is C', that is, the actual physical distance BC between the QR code and the QR code at point B is less than the distance BC' configured in the map. Before the AGV scans the QR code at point R, since the actual position of the AGV at point R is far from C' in the map, the AGV may not slow down but maintain a relatively high speed. When the AGV scans the QR code at point R, the distance between it and the QR code is updated from RC' to RC (RC'>RC). It is too late to slow down at this time, which eventually leads to the phenomenon that the AGV goes too far and a longitudinal error occurs.

[0045] Therefore, this application proposes an embodiment for determining the longitudinal point-to-point error. For details, see Figure 6 , Figure 6 It is a flow chart of the second implementation of the error compensation method provided by the present application.

[0046] like Figure 6 As shown, the specific steps are as follows:

[0047] Step S21: Determine whether the robot triggers algorithm protection measures based on the operation information of the robot during the operation according to the compensation planning path.

[0048] The AGV in this application is provided with protection measures. When the AGV fails to scan the QR code, it slides at a preset low speed for a preset distance to ensure that the QR code is accurately scanned. If the QR code is not scanned after sliding for the preset distance, the AGV is judged to be derailed.

[0049] Using algorithm protection measures, we can ensure that the AGV can reach the end point while achieving higher arrival accuracy.

[0050] Due to the algorithm's protection measures at the end point, the AGV does not fail to reach point C in the longitudinal direction, so the longitudinal error ex ≥ 0. The AGV's longitudinal error at point C is unidirectional. This feature results in that when compensating for the longitudinal error, it can only improve the phenomenon of the AGV going too far, but cannot improve the problem of low efficiency.

[0051] After compensation, the AGV reaches point C through algorithm protection measures and does not exceed point C, and the subsequent AGV will continue to reach the point in this way. The reason why it is difficult to compensate for the longitudinal error of the AGV at point C is that it only has a unilateral statistic, and when compensating it, a phenomenon similar to gradient disappearance occurs in the negative direction.

[0052] Step S22: In response to the robot triggering the algorithm protection measure, obtaining the sliding speed of the robot after the algorithm protection measure is triggered.

[0053] In other embodiments of the present application, in response to the robot not triggering the algorithm protection measure, the error compensation device obtains the longitudinal point error of the robot according to the longitudinal difference between the actual point position and the end point.

[0054] Step S23: Determine the longitudinal point error of the robot based on the velocity integral of the sliding velocity.

[0055] In order to compensate for the longitudinal error of the AGV at the end point, this application redefines the longitudinal error:

[0056]

[0057] Where ex is the longitudinal error under the original definition, please continue to refer to Figure 7 , Figure 7 is a schematic diagram of another embodiment of the longitudinal error provided by the present application, such as Figure 7 As shown by the AB line segment in ; w = 1 represents the triggering of the algorithm protection measure, and w = 0 means no triggering; -∫vdt is the speed integral of the AGV sliding to the end point after the algorithm protection measure is triggered. This value represents the negative longitudinal error and is a representation of the efficiency of the AGV when it reaches the end point, as shown in Figure 7 As shown by the CD line segment in the figure. The longer the sliding distance, the greater the absolute value of the integral, and the lower the efficiency of the AGV in reaching the end point. new = 0, which means that the AGV reaches the end point quickly and accurately; when ex new is positive, indicating that the AGV has gone too far at the terminal. new A negative value means that the AGV is inefficient when walking to the end yard.

[0058] Furthermore, the present application proposes an embodiment for determining the lateral point-to-point error, and the specific steps are as follows:

[0059] The error compensation device obtains the lateral error of the robot according to the lateral difference between the actual point and the end point. Among them, ey represents the lateral error, which is positive on the left along the line direction.

[0060] Step S13: offset the original planned path according to the path compensation value to obtain a compensated planned path.

[0061] The starting point and the end point in the original planned path are obtained; the map coordinates of the end point are compensated using the path compensation value to obtain the compensated end point; and the compensated planned path is generated according to the starting point and the compensated end point.

[0062] In the embodiment of the present application, error compensation is performed on the AGV based on the newly defined longitudinal error.

[0063] For details, please see Figure 8 , Figure 8 FIG. 2 is a schematic diagram of another embodiment of the longitudinal error provided by the present application. Figure 8 As shown in FIG. 1 , when the AGV is positioned in the AB section and the subsequent path is the BC section, the compensation amount of point C from point B is obtained and compensated to the map coordinates of the end point C, where is the compensation amount in the direction of the BC section and is the compensation amount in the direction of the BC section.

[0064] In addition, the errors when reaching point C via different paths are different. For example, when the AGV is located in section DE and the subsequent path is section EC, the compensation amount of point C from point E is obtained and compensated to point C. No matter which point you go to point C from, there is a separate compensation. This application takes point C as an example, and each end point is set with a compensation amount. The initial value of the compensation amount is (0,0), and it is continuously updated with the arrival error of the AGV.

[0065] Step S14: Control the robot according to the compensation planning path to reach the end point.

[0066] The error compensation device obtains the actual point position of the robot after running according to the compensation planning path; obtains the point error of the robot based on the actual point position and the end point; and uses the point error to update the historical point deviation data.

[0067] like Fig. 9 As shown, Fig. 9 This is a schematic diagram of error compensation correction provided by this application. After adding compensation, taking the AB segment as an example, the AGV uses (x offset_BC ,y offset_BC ) as the offset plan for path planning Fig. 9 The middle S-curve. When the AGV scans the QR code at point C, the positioning will be updated from point to point R. If the compensation is reasonable, the longitudinal and lateral errors of the AGV at point R are zero, and the speed at point R is sufficient for the AGV to brake to point C. When the AGV finally reaches point C, its error is also zero. At the same time, the arrival process will not trigger the algorithm protection measures, thereby ensuring the operation efficiency. At this point, the longitudinal and lateral error compensation of the AGV at the end code is completed.

[0068] In order to implement the error compensation method of the above embodiment, the present application also provides an error compensation device, which is specifically referred to in Fig.10 , Fig.10 It is a structural schematic diagram of an embodiment of an error compensation device provided by the present application.

[0069] like Fig.10 As shown, the error compensation device 400 includes an acquisition module 41 , a calculation module 42 and a control module 43 .

[0070] The error compensation device 400 includes an acquisition module 41, a calculation module 42, and a control module 43;

[0071] The acquisition module 41 is used to acquire the historical point deviation data of the robot;

[0072] The calculation module 42 is used to obtain a path compensation value based on the historical point deviation data;

[0073] The calculation module 42 is used to offset the original planned path according to the path compensation value to obtain a compensated planned path;

[0074] The control module 43 is used to control the robot according to the compensation planning path to reach the end point.

[0075] In order to implement the error compensation method of the above embodiment, the present application also provides an error compensation device, which is specifically referred to in Fig.11 , Fig.11 It is a structural schematic diagram of another embodiment of the error compensation device provided by the present application.

[0076] like Fig.11 As shown, the error compensation device 600 of this embodiment includes a processor 61 , a memory 62 , an input / output device 63 and a bus 64 .

[0077] The processor 61 , the memory 62 , and the input / output device 63 are respectively connected to the bus 64 . The memory 62 stores a computer program, and the processor 61 is used to execute the computer program to implement the error compensation method of the above embodiment.

[0078] In this embodiment, the processor 61 may also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip having the ability to process signals. The processor 61 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The processor 61 may also be a GPU (Graphics Processing Unit), also known as a display core, a visual processor, or a display chip, which is a microprocessor that is specifically used for image computing on computers, workstations, game consoles, and some mobile devices (such as tablet computers, smart phones, etc.). The purpose of the GPU is to convert and drive the display information required by the computer system, and to provide a line scan signal to the display to control the correct display of the display. It is an important component that connects the display and the computer motherboard. As an important component of the computer host, the graphics card is responsible for outputting display graphics. The general-purpose processor may be a microprocessor or the processor 61 may also be any conventional processor, etc.

[0079] The present application also provides a computer storage medium, such as Fig.12 As shown, the computer storage medium 700 is used to store a computer program 71. When the computer program 71 is executed by a processor, it is used to implement the method described in the embodiment of the error compensation method of the present application.

[0080] The method involved in the embodiment of the error compensation method of the present application, when implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0081] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An error compensation method, characterized in that: The error compensation method comprises: Get the robot's historical point deviation data; Based on the historical point deviation data, a path compensation value is obtained; The original planned path is offset according to the path compensation value to obtain a compensated planned path; The robot is controlled according to the compensation planning path to reach the end point.

2. The error compensation method according to claim 1, characterized in that: After the robot is controlled according to the compensation planning path to reach the end point, the error compensation method further includes: Obtaining the actual position of the robot after running along the compensation planning path; Based on the actual point position and the end point, obtaining the arrival error of the robot; The historical arrival point deviation data is updated using the arrival point error.

3. The error compensation method according to claim 2, characterized in that: The point error includes a lateral point error and a longitudinal point error.

4. The error compensation method according to claim 3, characterized in that: The error compensation method further includes: Determining whether the robot triggers an algorithm protection measure according to operation information of the robot during operation according to the compensation planning path; In response to the robot triggering the algorithm protection measure, obtaining the sliding speed of the robot after the algorithm protection measure is triggered; The longitudinal arrival error of the robot is determined based on the velocity integral of the sliding velocity.

5. The error compensation method according to claim 4, characterized in that: The error compensation method further includes: In response to the robot not triggering the algorithm protection measure, the longitudinal point error of the robot is obtained according to the longitudinal difference between the actual point and the end point.

6. The error compensation method according to claim 3, characterized in that: The error compensation method further includes: The lateral point error of the robot is obtained according to the lateral difference between the actual point and the end point.

7. The error compensation method according to claim 1, characterized in that: The step of offsetting the original planned path according to the path compensation value to obtain the compensated planned path includes: Obtaining the starting point and the end point of the original planned path; Compensating the map coordinates of the end point using the path compensation value to obtain a compensated end point; The compensation planning path is generated according to the starting point and the compensation end point.

8. An error compensation device, characterized in that: The error compensation device includes an acquisition module, a calculation module, and a control module; The acquisition module is used to acquire the historical point deviation data of the robot; The calculation module is used to obtain a path compensation value based on the historical point deviation data; The calculation module is used to offset the original planned path according to the path compensation value to obtain a compensated planned path; The control module is used to control the robot according to the compensation planning path to reach the end point.

9. An error compensation device, characterized in that: The error compensation device includes a memory and a processor coupled to the memory; The memory is used to store program data, and the processor is used to execute the program data to implement the error compensation method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium is used to store program data, and when the program data is executed by a computer, it is used to implement the error compensation method according to any one of claims 1 to 7.

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