Robot multi-machine pose consistency calibration method, device and equipment and storage medium

Abstract

The invention provides a robot multi-machine pose consistency calibration method and device, equipment and a storage medium, and the method comprises the steps: calculating a first calibration pose of a target robot working center relative to a motion center, and determining the relative position and pose relation between the target robot working center and the motion center; the standard pose of the working center relative to the motion center at the target point location is determined by collecting the second standard pose of the working center of the reference robot relative to the motion center. And a pose deviation value is calculated based on the first calibration pose and the second calibration pose, so that the deviation between the actual pose and the standard pose of the working center of the target robot at the target point location can be accurately quantified, and the pose of the target robot at the target point location can be compensated according to the pose deviation value. The target robot working center can accurately move to the working point position, and the working accuracy of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot calibration technology, and in particular to a method, device, equipment and storage medium for calibrating the consistency of multiple robot postures. Background Art

[0002] With the development of artificial intelligence (AI) technology, the application of robots in industrial logistics is becoming increasingly widespread and in-depth. Industrial logistics robots can more accurately identify objects, plan routes and avoid collisions, and efficiently handle tasks such as object handling and automatic sorting of large goods, thereby improving work efficiency and accuracy.

[0003] However, current robot navigation and control methods are all based on the robot's center of motion. However, the robot's work center, used to perform work operations, often does not coincide with its center of motion. Furthermore, within the same industrial logistics scenario, there may be multiple different work types and requirements, requiring robots of different types and uses to perform tasks at the same work location. Furthermore, the relative structures between the center of motion and work center of different robots vary. While the robot control system can uniformly control the movement of the centers of motion of different robots to the same coordinate position in planar space, it cannot precisely control the work centers of different robots to the same work point, resulting in low robot accuracy.

[0004] Therefore, how to improve the working accuracy of robots has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present application provides a method, device, equipment and storage medium for calibrating the consistency of multiple robot postures, aiming to improve the working accuracy of the robots.

[0006] In a first aspect, the present application provides a method for calibrating the consistency of postures of multiple robots, the method comprising the following steps:

[0007] Calculating a first calibration pose of the target robot's working center relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot;

[0008] When the reference robot is located at the target point, collecting a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot;

[0009] Calculating a posture deviation value of a work center of the target robot at the target point based on the first calibration posture and the second calibration posture;

[0010] Based on the posture deviation value, posture compensation is performed on the posture of the target robot at the target point to complete the posture calibration of the working center of the target robot.

[0011] In a second aspect, the present application further provides a robot multi-machine posture consistency calibration device, the robot multi-machine posture consistency calibration device comprising:

[0012] A first calibration pose calculation module is configured to calculate a first calibration pose of the working center of the target robot relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot;

[0013] A second calibration pose acquisition module is configured to acquire a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot when the reference robot is located at a target point;

[0014] A posture deviation value calculation module is used to calculate the posture deviation value of the work center of the target robot at the target point based on the first calibration posture and the second calibration posture;

[0015] The posture compensation module is used to perform posture compensation on the posture of the target robot at the target point based on the posture deviation value, so as to complete the posture calibration of the working center of the target robot.

[0016] In a third aspect, the present application also provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the robot multi-machine posture consistency calibration method as described above are implemented.

[0017] In a fourth aspect, the present application also provides a computer-readable storage medium, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the robot multi-machine posture consistency calibration method as described above are implemented.

[0018] The present application provides a method, device, computer equipment and storage medium for calibrating the consistency of the posture of multiple robots. The method of the present application clarifies the relative position and posture relationship between the work center of the target robot and the motion center by calculating the first calibration posture of the work center of the target robot relative to the motion center. By collecting the second calibration posture of the work center of the reference robot relative to the motion center, the standard posture of the work center relative to the motion center at the target point is determined. The posture deviation value is calculated based on the first calibration posture and the second calibration posture, which can accurately quantify the deviation between the actual posture of the work center of the target robot at the target point and the standard posture, so as to perform posture compensation on the posture of the target robot at the target point according to the posture deviation value, so that the work center of the target robot can be accurately moved to the work point, thereby improving the accuracy of the robot's work and meeting the requirements for high-precision robot operations in industrial logistics scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a flowchart of a first embodiment of a method for calibrating the consistency of multiple robot postures provided by this application;

[0021] Figure 2 A schematic diagram of the structure of the robot motion center and work center provided in this application;

[0022] Figure 3 This is a schematic structural diagram of a first embodiment of a multi-robot posture consistency calibration device provided by the present application;

[0023] Figure 4 This is a schematic block diagram of the structure of a computer device provided in an embodiment of the present application.

[0024] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0026] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0027] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0028] The robots described in this application (including target robots and reference robots, etc.) can include various types of robots, including industrial robots (such as robotic arms and AGVs), service robots (such as household robots and logistics robots), and special robots (such as underwater robots). To facilitate understanding by those skilled in the art, this application intends to use AGVs (Automated Guided Vehicles) as the subject of illustration for specific embodiments.

[0029] Among them, AGV (Automated Guided Vehicle) is an unmanned vehicle that can automatically drive along a preset path. It is widely used in many fields such as industry, logistics, and medical care for tasks such as material transportation and handling.

[0030] Please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of a method for calibrating the consistency of multiple robot postures provided in this application.

[0031] like Figure 1 As shown, the robot multi-machine posture consistency calibration method includes steps S101 to S104.

[0032] S101, calculating a first calibration pose of the working center of the target robot relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot;

[0033] In one embodiment, the motion center generally refers to the geometric center of the robot body or the reference point of its motion control system.

[0034] Specifically, if Figure 2 As shown in FIG, the center of motion of a robot can be the center point around which the robot can rotate and move. For example, the center of motion can be the center position of the robot chassis, or it can be considered as the midpoint of the line connecting the centers of the wheels on both sides of the robot.

[0035] The work center refers to the center of the area where the robot's work center mainly operates during the work process, such as the tool center point at the end of the robot's manipulator arm.

[0036] In one embodiment, the relative position between the motion center and the work center of the target robot is identified by tracking the motion trajectories of the motion center and the work center of the target robot.

[0037] Furthermore, based on the wheel encoders provided on the left and right wheels of the target robot, a first running trajectory corresponding to the motion center of the target robot is collected; based on the motion tracking measurement component, a second running trajectory corresponding to the working center is collected.

[0038] In one embodiment, wheel encoders are mounted on the left and right wheels of the robot to measure wheel speed and rotation direction. The wheel encoders can be used to obtain wheel rotation and coordinate information, thereby calculating the robot's motion speed, displacement, and position coordinates. The absolute position of the wheel encoders can be used to determine the current coordinates, thereby calculating the distance between the target point and the current position, and calculating the maximum acceleration based on the run time.

[0039] Based on the data from the wheel encoders, a first running trajectory of the target robot's motion center can be calculated. The first running trajectory reflects the moving path of the target robot on the ground.

[0040] Specifically, a two-dimensional plane coordinate system can be established with the target robot's center of motion as the origin, or with a certain point in space as the origin (such as a two-dimensional plane coordinate system constructed on the target robot's moving plane), usually including the X-axis and the Y-axis. This two-dimensional plane coordinate system will be used to describe the position and direction of the robot's center of motion. Before starting the acquisition, the robot's initial position needs to be initialized, usually set to the origin of the coordinate system (0,0). Wheel encoders are installed on the left and right wheels of the robot. During the robot's movement, the data of the left and right wheel encoders is read in real time, including the rotation angle and direction. This data will be used to calculate the robot's displacement and direction change.

[0041] The linear displacement of each wheel can be calculated based on the wheel encoder's rotation angle and the wheel's circumference: Displacement = rotation angle × (wheel circumference / 360°). The average of the left and right wheel displacements is used as the robot's linear displacement at the current time step. The change in robot motion direction is calculated based on the difference in left and right wheel displacements. If the left and right wheel displacements differ, the robot will rotate, and the change in direction can be calculated using the following formula: Direction Change = (Left Wheel Displacement - Right Wheel Displacement) / Wheel Spacing.

[0042] Based on the calculated linear displacement and the current orientation, the robot's center of motion is updated in the coordinate system. The calculated orientation change is added to the current orientation to obtain the new orientation. At each time step or at a specific sampling interval, the updated coordinates (X, Y) and orientation are stored to form a sequence of trajectory points. These trajectory points are plotted in the coordinate system to obtain the first trajectory of the target robot's center of motion.

[0043] In one embodiment, the wheel encoders are calibrated before data collection to reduce measurement errors. The collected encoder data is filtered to remove noise and outliers, improving data accuracy. Non-ideal factors in the robot's kinematic model, such as wheel slip and uneven ground, can be taken into account and error compensation can be performed.

[0044] In one embodiment, a three-dimensional coordinate system may also be constructed in the three-dimensional space where the target robot is located to track the three-dimensional coordinate data of the motion center and the working center of the target robot in the three-dimensional coordinate system.

[0045] In one embodiment, the motion tracking measurement component can be a variety of sensors or devices, such as an inertial measurement unit (IMU), an optical tracking system, a laser radar, etc. These devices are used to measure the work center position and posture of the target robot in real time.

[0046] For example, an inertial measurement unit (IMU) measures acceleration and angular velocity, integrating which can estimate position and attitude. Optical tracking systems (such as Vicon and OptiTrack) use multiple cameras to capture reflective markers on the work center and calculate its position and attitude in space. Laser trackers use lasers to track reflectors or markers on the work center, measuring their position and attitude in real time.

[0047] Based on the data of the motion tracking measurement component, a second running trajectory of the target robot work center can be obtained. The second running trajectory reflects the movement path of the target robot work center in the workspace.

[0048] For example, a position and attitude measurement system can be constructed to set the robot work center to move at different speeds along a predetermined linear trajectory, and then a laser tracker can be used to measure the position and attitude of discrete points on the trajectory of the robot work center, and its position error and attitude error can be analyzed to verify the positioning accuracy of the robot work center.

[0049] In one embodiment, during the movement of the target robot, the position and posture data of the work center are collected in real time by the selected motion tracking measurement component, wherein the collected data needs to be synchronized with the timestamp of the target robot. If the motion tracking measurement component uses a local coordinate system or a tool coordinate system, it is necessary to convert the data into a global coordinate system by coordinate transformation, which can usually be achieved by using rotation matrix and translation vector calculation. At each time step or specific sampling interval, the converted work center position (X, Y, Z) and posture (such as Euler angles or quaternions) are stored to form a sequence of trajectory points, which are plotted in three-dimensional space to form a second running trajectory of the robot work center.

[0050] In one embodiment, the second operation trajectory includes a third operation trajectory and a fourth operation trajectory. When the target robot is performing linear operation, the third operation trajectory corresponding to the work center is collected based on the operation tracking and measurement component; when the target robot is performing spin operation around the operation center, the fourth operation trajectory corresponding to the work center is collected based on the operation tracking and measurement component.

[0051] In one embodiment, the target robot is controlled to move in a straight line, and the trajectory of the motion center is calculated based on the left and right wheel encoders of the target robot. At the same time, an external high-precision measurement device (such as a laser tracker) is used to measure the third trajectory of the target robot's working center.

[0052] In one embodiment, the target robot is controlled to perform a spinning motion. At this time, the target robot moves around the motion center, and an external high-precision measuring device is used to measure the fourth motion trajectory of the target robot's working center.

[0053] Furthermore, based on the first running trajectory and the third running trajectory, the angular deviation value of the working center of the target robot relative to the motion center is calculated; based on the fourth running trajectory, the position deviation value of the working center of the target robot relative to the running center is calculated; based on the angular deviation value and the position deviation value, the first calibration posture of the working center of the target robot relative to the motion center is obtained.

[0054] In one embodiment, the third running trajectory is used to calculate the angular difference between the motion center trajectory and the working center trajectory. The difference is the angular deviation value yaw of the working center relative to the motion center.

[0055] For example, the robot's center of motion is measured using wheel encoders to obtain the displacement and direction of the robot's center of motion. The coordinates (x1, y1) of the center of motion at each time point are calculated. A high-precision measurement device (such as a laser tracker) is then used to obtain the coordinates (x2, y2) of the work center at each time point. The two sets of data are synchronized so that their timestamps are consistent.

[0056] Calculate the displacement vector of the center of motion at adjacent time points:

[0057] v1=(x1(t+Δt)-x1(t),y1(t+Δt)-y1(t))

[0058] Wherein, Δt represents the time interval between two adjacent time points, v1 represents the displacement vector of the motion center within the preset time interval Δt, and t represents a time point on the first running trajectory.

[0059] Calculate the displacement vector of the working center at adjacent time points:

[0060] v w =(x w (t+Δt)-x2(t),y2(t+Δt)-y2(t))

[0061] Wherein, Δt represents the time interval between two adjacent time points, v2 represents the displacement vector of the working center within the preset time interval Δt, and t represents a time point on the third running trajectory.

[0062] Use the vector dot product formula to calculate the angle θ between v1 and v2, which is the angle deviation value (yaw):

[0063]

[0064] In one embodiment, the above calculation is performed on multiple linear motion trajectories, and the average value is taken or a statistical method is used to determine the final angular deviation value. That is, the angular deviation value (yaw) of the working center relative to the motion center is obtained by averaging or statistically processing θ at multiple time points.

[0065] In one embodiment, the fourth running trajectory is used to calculate the position deviation values ​​x, y of the working center relative to the motion center.

[0066] Specifically, at a specific moment during the robot's spin, the positional deviations (x and y) of the work center relative to the center of motion are the coordinates (x, y) of the work center in the global coordinate system. Multiple positional deviations (x, y) are calculated for multiple measurement points during the spin process. By averaging these positional deviations, the average positional deviation (x, y) of the work center relative to the center of motion can be accurately determined.

[0067] In one embodiment, the calculated results (x, y, yaw) of the position deviation value and the angle deviation value are used as the first calibration posture T of the working center of the AGV (target robot) relative to the motion center.

[0068] S102, when the reference robot is located at the target point, collecting a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot;

[0069] In one embodiment, when controlling the operation of the AGV, the coordinates are usually based on the center of motion. When the AGV is working, it is actually necessary to accurately move its work center to the target point so that the AGV can accurately carry out the corresponding work process. However, due to the structural differences between different AGVs and the operational errors during the production and installation process, the relative calibration postures of the work centers and the motion centers of different AGVs are not the same. Therefore, when manipulating different AGVs to move to the same target point to execute the work process, there is a deviation in the work center of each AGV. When the motion center of the AGV moves to the target point, the work center is not at the exact position. Therefore, this application requires the use of a reference vehicle to record the work point and determine the second calibration posture of the work center and the motion center, so as to correct the posture of the work center of different AGVs at the target point.

[0070] Furthermore, the reference robot is controlled to move to the target point so that the motion center of the reference robot coincides with the coordinates of the target point; a first posture corresponding to the motion center of the reference robot and a second posture corresponding to the working center are collected; and based on the first posture and the second posture, a second calibration posture of the working center of the reference robot relative to the motion center of the reference robot is calculated.

[0071] In one embodiment, a representative AGV is selected as a reference robot. Its sensors, encoders, and measuring equipment are calibrated to ensure accurate data collection. A precise target point is set within the work area, with known coordinates in the global coordinate system. Control system commands are used to precisely move the reference robot's center of motion to the target point, ensuring that the coordinates of the center of motion and the target point coincide.

[0072] In one embodiment, similar to the target robot, the running trajectory of the reference robot corresponding to the working center is collected when the reference robot is performing linear operation, and the running trajectory of the reference robot corresponding to the working center is collected when the reference robot is performing spin operation around the running center.

[0073] The corresponding running trajectory of the work center of the reference robot when it is performing linear operation is used to calculate the angular difference between its motion center trajectory and the work center trajectory. This difference is the angular deviation value Yaw of the reference robot's work center relative to the motion center.

[0074] When the reference robot spins around its center of motion, the positional deviations (X and Y) of the work center relative to the center of motion are the coordinates (X, Y) of the work center in the global coordinate system. Multiple positional deviations (X, Y) are calculated for multiple measurement points during the spin. By averaging these positional deviations, the average positional deviation (X, Y) of the work center relative to the center of motion can be accurately determined.

[0075] In this way, the second calibration pose (X, Y, Yaw) of the working center of the reference robot relative to the motion center can be calibrated.

[0076] After obtaining the second calibration pose of the reference robot, the reference robot can be driven to move to the target point. At this time, the coordinates of the motion center of the reference robot and the target point are overlapped, and the current position of the working center of the reference robot can be considered as the standard working point, that is, the position that the working center of the target robot needs to reach. At this time, the second calibration pose (X, Y, Yaw) of the reference robot can be used as the standard pose of the standard working point relative to the target point. Therefore, the pose deviation value of the first calibration pose (x, y, yaw) of the target robot and the second calibration pose (X, Y, Yaw) of the reference robot can be calculated as the pose deviation value of the motion center of the target robot relative to the target point, and then the pose of the target robot can be compensated so that the working center of the target robot coincides with the standard working point.

[0077] S103, calculating a posture deviation value of the work center of the target robot at the target point based on the first calibration posture and the second calibration posture;

[0078] Generally, in robot posture correction and control, it is necessary to accurately calculate the posture deviation of the target robot's work center at the target point to ensure that it can accurately perform the task. By comparing the target robot's first calibration pose with the reference robot's predetermined second calibration pose, the posture deviation value of the target robot at the target point can be obtained, providing a basis for subsequent posture adjustment and correction.

[0079] In one embodiment, the target robot is controlled to move to the target point so that the coordinates of the target robot's center of motion coincide with the coordinates of the target point. At this time, the first calibration posture of the target robot is its actual posture at the target point, that is, it can be used to represent the actual posture of the target robot's working center relative to the target point when the target robot is at the target point.

[0080] The second calibration pose of the reference robot is recorded when the reference robot is located at the target point, that is, when the motion center of the reference robot coincides with the target point, the second calibration pose of the working center of the reference robot relative to the motion center. At this time, the second calibration pose can be regarded as the actual calibration pose of the working center of the reference robot relative to the target point.

[0081] Therefore, at the target point, the first calibration pose can be considered as the calibration pose of the target robot's work center relative to the target point, and the second calibration pose is the calibration pose of the reference robot's work center relative to the target point. Since the pose adjustment and correction of the target robot are based on the work center, the pose deviation between the first and second calibration poses at the target point can be calculated as the basis for adjusting the pose of the target robot's work center.

[0082] Furthermore, the first calibration pose includes a first calibration coordinate and a first calibration angle, and the second calibration pose includes a second calibration coordinate and a second calibration angle. Based on the first calibration coordinate and the second calibration coordinate, a coordinate difference of the target robot's work center at the target point is calculated; based on the first calibration angle and the second calibration angle, an angular difference of the target robot's work center at the target point is calculated; and based on the coordinate difference and the angular difference, a pose deviation value of the target robot's work center at the target point is obtained.

[0083] For example, as described above, the first calibration pose (x, y, yaw) of the target robot includes first calibration coordinates (x, y) and a first calibration angle (yaw); the second calibration pose (x, y, yaw) of the reference robot includes second calibration coordinates (x, y) and a second calibration angle (yaw). The pose deviation between the first calibration pose (x, y, yaw) and the second calibration pose (x, y, yaw) is calculated by pose matrix multiplication.

[0084] Specifically, the homogeneous transformation matrix of the first calibration pose can be expressed as:

[0085]

[0086] The homogeneous transformation matrix of the second calibration pose can be expressed as:

[0087]

[0088] First calculate the inverse matrix of the homogeneous transformation matrix of the first calibration pose The homogeneous transformation matrix T2 of the second calibration pose and Multiply them together to get the relative posture deviation matrix T diff .

[0089] For the homogeneous transformation matrix of the first calibration pose, its inverse matrix It can be expressed as:

[0090]

[0091] Relative pose deviation matrix T diff It can be expressed as:

[0092]

[0093] From T diff Extract translation and rotation differences from .

[0094] Among them, the translation difference is the matrix T diff The values ​​of the first two columns of the last two rows in (Δx, Δy).

[0095] The rotation difference can be extracted from the rotation matrix by the inverse tangent function:

[0096] Δyaw=arc tan2(T diff [1,0], T diff [0,0])

[0097] Based on the translation difference and rotation difference, the pose deviation value (Δx, Δy, Δyaw) of the target robot's work center at the target point is synthesized.

[0098] S104: Based on the posture deviation value, perform posture compensation on the posture of the target robot at the target point to complete the posture calibration of the work center of the target robot.

[0099] In one embodiment, the posture deviation value (Δx, Δy, Δyaw) reflects the deviation of the target robot work center at the target point relative to the reference position and direction.

[0100] For example, the coordinate difference (Δx, Δy) is used to determine the displacement of the target robot's motion center in the X and Y axes. For example, if Δx is positive, the robot needs to move in the positive direction of the X axis by a corresponding distance; if Δx is negative, the robot needs to move in the negative direction of the X axis.

[0101] For example, the target robot's center of motion needs to be adjusted by an angle based on the angle difference (Δyaw). If Δyaw is positive, the target robot needs to be rotated clockwise by the corresponding angle; if Δyaw is negative, the target robot needs to be rotated counterclockwise.

[0102] In one embodiment, in robot posture correction and control, based on the calculated posture deviation value, a corresponding posture compensation strategy can be formulated, control instructions can be generated, and the target robot can be controlled to execute the corresponding instruction action to achieve posture compensation of the target robot's work center.

[0103] Furthermore, based on the posture deviation value, a posture compensation strategy of the target robot is determined; based on the posture compensation strategy, a control instruction is generated; based on the control instruction, the target robot is controlled to execute a corresponding instruction action to achieve posture compensation of the target robot's work center.

[0104] Based on the posture compensation strategy, corresponding control instructions are generated, including movement distance, direction, and rotation angle. The robot control system executes the control instructions to adjust the posture of the target robot work center so that it reaches the desired precise posture at the target point.

[0105] For example, according to the value of Δx, the distance and direction that the target robot needs to move in the X-axis direction are determined, according to the value of Δy, the distance and direction that the target robot needs to move in the Y-axis direction are determined, and according to the value of Δyaw, the angle and direction that the target robot needs to rotate are determined.

[0106] Based on the above-mentioned posture deviation value, the control system generates instructions for controlling the target robot to move in the X-axis direction, including the moving distance and direction, generates instructions for controlling the target robot to move in the Y-axis direction, including the moving distance and direction, and generates instructions for controlling the target robot to rotate, including the rotation angle and direction.

[0107] The robot's control system executes X-axis movement commands to adjust the target robot's X-axis position, Y-axis movement commands to adjust the target robot's Y-axis position, and rotation commands to adjust the orientation of the target robot's work center. After completing these steps, the position of the target robot's work center at the target point is precisely compensated, ensuring accurate transport performance and improving production efficiency and assembly accuracy.

[0108] In another embodiment, because the first calibration pose is the pose of the target robot's work center relative to its motion center, and the second calibration pose is the pose of the reference robot's work center relative to its motion center, both the target robot and the reference robot must first move to the target point when performing work, i.e., the coordinates of the mobile robot's motion center and the target point must coincide. Therefore, the pose deviation value between the first calibration pose and the second calibration pose can be directly calculated. Then, when the target robot is moved to the target point, i.e., the target robot's motion center and the target point coordinates coincide, the pose of the target robot can be adjusted based on the pose deviation value to achieve pose compensation for the target robot's work center.

[0109] Alternatively, the target robot's movement path can be adjusted before it is moved. Specifically, the coordinates of the target robot's center of motion after the pose adjustment are calculated based on the pose deviation value and the initial coordinates of the target point. The target robot is then directly controlled to move to this coordinate point. At this point, the target robot's work center is located at the reference coordinates of the reference robot's work center. The target robot's work center can then be adjusted for angular deviation based on the pose deviation value. Alternatively, the angular deviation of the target robot's work center can be corrected before it is moved. The target robot can then be moved so that its center of motion is aligned with the aforementioned coordinate point, completing the pose compensation for the target robot's work center.

[0110] This embodiment provides a method for calibrating the consistency of the posture of multiple robots. The method clarifies the relative position and posture relationship between the work center of the target robot and the motion center by calculating the first calibration posture of the work center of the target robot relative to the motion center. By collecting the second calibration posture of the work center of the reference robot relative to the motion center, the standard posture of the work center relative to the motion center at the target point is determined. The posture deviation value is calculated based on the first calibration posture and the second calibration posture, which can accurately quantify the deviation between the actual posture of the work center of the target robot at the target point and the standard posture, so as to perform posture compensation on the posture of the target robot at the target point according to the posture deviation value, so that the work center of the target robot can be accurately moved to the work point, thereby improving the accuracy of the robot's work and meeting the requirements for high-precision robot operations in industrial logistics scenarios.

[0111] See also Figure 3 , Figure 3 This is a structural schematic diagram of the first embodiment of a robot multi-machine posture consistency calibration device provided in this application, which is used to execute the aforementioned robot multi-machine posture consistency calibration method.

[0112] like Figure 3As shown, the robot multi-machine posture consistency calibration device 200 includes: a first calibration posture calculation module 201, a second calibration posture acquisition module 202, a posture deviation value calculation module 203 and a posture compensation module 204.

[0113] A first calibration pose calculation module 201 is configured to calculate a first calibration pose of the target robot's working center relative to its motion center based on a first running trajectory corresponding to the target robot's motion center and a second running trajectory corresponding to the target robot's working center;

[0114] A second calibration pose acquisition module 202 is configured to acquire a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot when the reference robot is located at a target point;

[0115] A posture deviation value calculation module 203 is used to calculate the posture deviation value of the work center of the target robot at the target point based on the first calibration posture and the second calibration posture;

[0116] The posture compensation module 204 is used to perform posture compensation on the posture of the target robot at the target point based on the posture deviation value, so as to complete the posture calibration of the work center of the target robot.

[0117] In one embodiment, the robot multi-machine posture consistency calibration device 200 further includes a running trajectory acquisition module, including:

[0118] A first running trajectory acquisition submodule is configured to acquire a first running trajectory corresponding to the motion center of the target robot based on wheel encoders provided on the left and right wheels of the target robot;

[0119] The second operation trajectory acquisition submodule is used to acquire the second operation trajectory corresponding to the work center based on the motion tracking measurement component.

[0120] In one embodiment, the second running trajectory includes a third running trajectory and a fourth running trajectory;

[0121] The second running trajectory collection submodule includes:

[0122] a third operation trajectory acquisition unit, configured to acquire the third operation trajectory corresponding to the work center based on the operation tracking and measurement component when the target robot is performing linear operation;

[0123] The fourth operation trajectory acquisition unit is used to acquire the fourth operation trajectory corresponding to the working center based on the operation tracking and measurement component when the target robot performs spin operation around the operation center.

[0124] In one embodiment, the first calibration pose calculation module 201 includes:

[0125] an angular deviation value calculation unit, configured to calculate an angular deviation value of the working center of the target robot relative to the motion center based on the first running trajectory and the third running trajectory;

[0126] a position deviation value calculation unit, configured to calculate a position deviation value of a working center of the target robot relative to the operating center based on the fourth operating trajectory;

[0127] The first calibration pose obtaining unit is configured to obtain a first calibration pose of the working center of the target robot relative to the motion center based on the angle deviation value and the position deviation value.

[0128] In one embodiment, the second calibration pose acquisition module 202 includes:

[0129] a robot moving unit, configured to control the reference robot to move to the target point so that the motion center of the reference robot coincides with the coordinates of the target point;

[0130] A reference posture acquisition unit, configured to acquire a first posture corresponding to the motion center of the reference robot and a second posture corresponding to the working center;

[0131] A second calibration pose calculation unit is used to calculate a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot based on the first pose and the second pose.

[0132] In one embodiment, the first calibration pose includes a first calibration coordinate and a first calibration angle, and the second calibration pose includes a second calibration coordinate and a second calibration angle;

[0133] The posture deviation value calculation module 203 includes:

[0134] A coordinate difference calculation unit, configured to calculate a coordinate difference of a working center of the target robot at the target point based on the first calibration coordinate and the second calibration coordinate;

[0135] an angle difference calculation unit, configured to calculate an angle difference of a working center of the target robot at the target point based on the first calibration angle and the second calibration angle;

[0136] The posture deviation value obtaining unit is used to obtain the posture deviation value of the working center of the target robot at the target point based on the coordinate difference and the angle difference.

[0137] In one embodiment, the posture compensation module 204 includes:

[0138] A posture compensation strategy determination unit, configured to determine a posture compensation strategy of the target robot based on the posture deviation value;

[0139] A control instruction generating unit, configured to generate a control instruction based on the posture compensation strategy;

[0140] The posture compensation unit is used to control the target robot to execute the corresponding instruction action based on the control instruction to achieve posture compensation of the target robot's work center.

[0141] It should be noted that, those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned robot multi-machine posture consistency calibration method embodiment, and will not be repeated here.

[0142] The apparatus provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 4 Runs on the computer equipment shown.

[0143] See also Figure 4 , Figure 4 1 is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device may be a server.

[0144] See Figure 4 The computer device includes a processor, a memory, and a network interface connected through a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0145] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can cause the processor to execute any one of the robot multi-machine posture consistency calibration methods.

[0146] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0147] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any robot multi-machine posture consistency calibration method.

[0148] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0149] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0150] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps:

[0151] Calculating a first calibration pose of the target robot's working center relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot;

[0152] When the reference robot is located at the target point, collecting a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot;

[0153] Calculating a posture deviation value of a work center of the target robot at the target point based on the first calibration posture and the second calibration posture;

[0154] Based on the posture deviation value, posture compensation is performed on the posture of the target robot at the target point to complete the posture calibration of the working center of the target robot.

[0155] In one embodiment, the processor, before implementing the first running trajectory corresponding to the motion center of the target robot and the second running trajectory corresponding to the work center of the target robot, and calculating the first calibration pose of the work center of the target robot relative to the motion center, is further configured to implement:

[0156] Based on wheel encoders provided on the left and right wheels of the target robot, collecting a first running trajectory corresponding to the motion center of the target robot;

[0157] Based on the motion tracking measurement component, a second operation trajectory corresponding to the work center is collected.

[0158] In one embodiment, the second running trajectory includes a third running trajectory and a fourth running trajectory;

[0159] When the processor collects the second running trajectory corresponding to the work center based on the motion tracking measurement component, it is used to implement:

[0160] When the target robot is performing a straight-line operation, the third operation trajectory corresponding to the work center is collected based on the operation tracking and measurement component;

[0161] When the target robot performs spin operation around the operation center, the fourth operation trajectory corresponding to the working center is collected based on the operation tracking and measurement component.

[0162] In one embodiment, the processor, when implementing the first running trajectory corresponding to the motion center of the target robot and the second running trajectory corresponding to the work center of the target robot, and calculating the first calibration pose of the work center of the target robot relative to the motion center, is configured to implement:

[0163] Calculating an angular deviation value of a working center of the target robot relative to the motion center based on the first running trajectory and the third running trajectory;

[0164] Calculating a position deviation value of a working center of the target robot relative to the operating center based on the fourth operating trajectory;

[0165] Based on the angle deviation value and the position deviation value, a first calibration pose of the working center of the target robot relative to the motion center is obtained.

[0166] In one embodiment, when the processor collects the second calibration pose of the working center of the reference robot relative to the motion center of the reference robot when the reference robot is located at the target point, it is configured to implement:

[0167] Controlling the reference robot to move to the target point so that the motion center of the reference robot coincides with the coordinates of the target point;

[0168] Collecting a first pose corresponding to the motion center of the reference robot and a second pose corresponding to the work center;

[0169] Based on the first pose and the second pose, a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot is calculated.

[0170] In one embodiment, the first calibration pose includes a first calibration coordinate and a first calibration angle, and the second calibration pose includes a second calibration coordinate and a second calibration angle;

[0171] When calculating the posture deviation value of the work center of the target robot at the target point based on the first calibration pose and the second calibration pose, the processor is configured to implement:

[0172] Calculating a coordinate difference of a working center of the target robot at the target point based on the first calibrated coordinates and the second calibrated coordinates;

[0173] Calculating an angle difference of a working center of the target robot at the target point based on the first calibration angle and the second calibration angle;

[0174] Based on the coordinate difference and the angle difference, a posture deviation value of the working center of the target robot at the target point is obtained.

[0175] In one embodiment, when performing posture compensation on the posture of the target robot at the target point based on the posture deviation value to complete the posture calibration of the work center of the target robot, the processor is configured to implement:

[0176] Determining a posture compensation strategy for the target robot based on the posture deviation value;

[0177] generating control instructions based on the posture compensation strategy;

[0178] Based on the control instruction, the target robot is controlled to execute the corresponding instruction action to achieve posture compensation of the target robot's work center.

[0179] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement any one of the robot multi-machine posture consistency calibration methods provided in the embodiments of the present application.

[0180] The computer-readable storage medium may be an internal storage unit of the computer device described in the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a flash memory card, etc., equipped on the computer device.

[0181] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for calibrating the consistency of multiple robot postures, characterized in that: The method comprises: Calculating a first calibration pose of the target robot's working center relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot; When the reference robot is located at the target point, collecting a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot; Calculating a posture deviation value of a work center of the target robot at the target point based on the first calibration posture and the second calibration posture; Based on the posture deviation value, posture compensation is performed on the posture of the target robot at the target point to complete the posture calibration of the working center of the target robot.

2. The method for calibrating the consistency of multiple robot postures according to claim 1, characterized in that: Before calculating the first calibration pose of the working center of the target robot relative to the motion center based on the first running trajectory corresponding to the motion center of the target robot and the second running trajectory corresponding to the working center of the target robot, the method further includes: Based on wheel encoders provided on the left and right wheels of the target robot, collecting a first running trajectory corresponding to the motion center of the target robot; Based on the motion tracking measurement component, a second operation trajectory corresponding to the work center is collected.

3. The robot multi-machine posture consistency calibration method according to claim 2 is characterized in that: The second running trajectory includes a third running trajectory and a fourth running trajectory; The motion tracking measurement component is used to collect the second running trajectory corresponding to the work center, including: When the target robot is performing a straight-line operation, the third operation trajectory corresponding to the work center is collected based on the operation tracking and measurement component; When the target robot performs spin operation around the operation center, the fourth operation trajectory corresponding to the working center is collected based on the operation tracking and measurement component.

4. The method for calibrating the consistency of multiple robot postures according to claim 3, characterized in that: The calculating, based on the first running trajectory corresponding to the motion center of the target robot and the second running trajectory corresponding to the working center of the target robot, a first calibration pose of the working center of the target robot relative to the motion center includes: Calculating an angular deviation value of a working center of the target robot relative to the motion center based on the first running trajectory and the third running trajectory; Calculating a position deviation value of a working center of the target robot relative to the operating center based on the fourth operating trajectory; Based on the angle deviation value and the position deviation value, a first calibration pose of the working center of the target robot relative to the motion center is obtained.

5. The method for calibrating the consistency of multiple robot postures according to claim 1, characterized in that: When the reference robot is located at the target point, collecting a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot includes: Controlling the reference robot to move to the target point so that the motion center of the reference robot coincides with the coordinates of the target point; Collecting a first pose corresponding to the motion center of the reference robot and a second pose corresponding to the work center; Based on the first pose and the second pose, a second calibration pose of the work center of the reference robot relative to the motion center of the reference robot is calculated.

6. The method for calibrating the consistency of multiple robot postures according to claim 1, characterized in that: The first calibration pose includes a first calibration coordinate and a first calibration angle, and the second calibration pose includes a second calibration coordinate and a second calibration angle; The step of calculating the posture deviation value of the work center of the target robot at the target point based on the first calibration posture and the second calibration posture includes: Calculating a coordinate difference of a working center of the target robot at the target point based on the first calibrated coordinates and the second calibrated coordinates; Calculating an angle difference of a working center of the target robot at the target point based on the first calibration angle and the second calibration angle; Based on the coordinate difference and the angle difference, a posture deviation value of the working center of the target robot at the target point is obtained.

7. The method for calibrating the consistency of multiple robot postures according to claim 1, characterized in that: The step of performing posture compensation on the posture of the target robot at the target point based on the posture deviation value to complete the posture calibration of the work center of the target robot includes: Determining a posture compensation strategy for the target robot based on the posture deviation value; generating control instructions based on the posture compensation strategy; Based on the control instruction, the target robot is controlled to execute the corresponding instruction action to achieve posture compensation of the target robot's work center.

8. A device for calibrating the consistency of multiple robot postures, characterized in that: The robot multi-machine posture consistency calibration device includes: A first calibration pose calculation module is configured to calculate a first calibration pose of the working center of the target robot relative to the motion center based on a first running trajectory corresponding to the motion center of the target robot and a second running trajectory corresponding to the working center of the target robot; A second calibration pose acquisition module is configured to acquire a second calibration pose of the working center of the reference robot relative to the motion center of the reference robot when the reference robot is located at a target point; A posture deviation value calculation module is used to calculate the posture deviation value of the work center of the target robot at the target point based on the first calibration posture and the second calibration posture; The posture compensation module is used to perform posture compensation on the posture of the target robot at the target point based on the posture deviation value, so as to complete the posture calibration of the working center of the target robot.

9. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the robot multi-machine posture consistency calibration method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the robot multi-machine posture consistency calibration method according to any one of claims 1 to 7 are implemented.

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