CN109093621A - Robot running precision monitoring method, device, robot, server and medium - Google Patents
Robot running precision monitoring method, device, robot, server and medium Download PDFInfo
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- CN109093621A CN109093621A CN201810908212.8A CN201810908212A CN109093621A CN 109093621 A CN109093621 A CN 109093621A CN 201810908212 A CN201810908212 A CN 201810908212A CN 109093621 A CN109093621 A CN 109093621A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1452—Methods for optical code recognition including a method step for retrieval of the optical code detecting bar code edges
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Abstract
The embodiment of the invention discloses a kind of robot running precision monitoring method, device, robot, server and media, wherein this method comprises: recording the side error amount of at least one image in 2 D code measured at least one robot operational process；The side error amount of record is sent to server, analyzes to obtain the monitoring result of at least one robot running precision so that server carries out data by opposite side error amount.The embodiment of the present invention can play the advantage of clustered machine people, be based on data statistics, realize effective monitoring to robot running precision, improve monitoring efficiency, guarantee the accuracy of monitoring result, avoid the generation of navigation failure.
Description
Technical field
The present embodiments relate to logistics technology more particularly to a kind of robot running precision monitoring method, device,
Robot, server and medium.
Background technique
Under the warehouse environment navigated based on two dimensional code, due to the otherness of each robot, it will usually which there are machines
The poor situation of the working condition of device people, i.e. robot cannot reach next target section along straight path according to the route of planning
Point.Robot running track shifts, and will lead to rate of breakdown in entire navigation procedure and improves.
Currently, there is no intuitive and accurate monitoring methods for the robot working condition during two-dimension code navigation.
If not only the accuracy of monitoring result cannot be guaranteed, but also monitoring process using manually being monitored one by one to robot
It takes time and effort.Therefore, how to realize that carrying out effectively monitoring to the running precision of robot is still that logistics navigation procedure is to be solved
Problem.
Summary of the invention
The embodiment of the present invention provides a kind of robot running precision monitoring method, device, robot, server and medium,
To realize the effect effectively monitored to the running precision of robot.
In a first aspect, it is applied to robot the embodiment of the invention provides a kind of robot running precision monitoring method, it should
Method includes:
Record the side error amount of at least one image in 2 D code measured at least one robot operational process；
The side error amount is sent to server, so that the server is by counting the side error amount
The monitoring result of at least one robot running precision is obtained according to analysis.
Optionally, the side error amount is sent to server, so that the server passes through to the side error
Value carries out data and analyzes to obtain the monitoring result of at least one robot running precision, comprising:
The side error amount is sent to the server, so as to the server by the side error amount into
Row data are analyzed to obtain the average running precision monitoring result of the running precision monitoring result of each robot and all robots.
Optionally, the side error amount is sent to the server, so that the server passes through to the side
Error amount carries out data and analyzes to obtain the average running precision of the running precision monitoring result of each robot and all robots
Monitoring result, comprising:
The side error amount is sent to the server, so that the server is according to first error threshold value, statistics
The probability of happening value for being greater than first error threshold value corresponding to the side error amount of each robot is obtained, and according to second
Error threshold, the average event that statistics obtains being greater than corresponding to the side error amount of all robots the second error threshold are general
Rate value.
Optionally, the side error amount include calibrated error value, image error value and two dimensional code paste error amount and,
Wherein, the calibrated error value is the camera coordinate system of the bottom of at least one robot and the centre coordinate of robot
Error amount between system, described image error amount are that the camera coordinate system of the bottom of at least one robot is current with it
Error amount between the corresponding two dimensional code coordinate system in position, it is at least one two dimensional code coordinate system that the two dimensional code, which pastes error amount,
With the error between terrestrial reference coordinate system.
Second aspect, the embodiment of the invention also provides a kind of robot running precision monitoring methods, are applied to server,
This method comprises:
Receive the side error amount of at least one image in 2 D code measured at least one robot operational process；
Data are carried out to the side error amount to analyze to obtain the monitoring result of at least one robot running precision.
Optionally, data are carried out to the side error amount to analyze to obtain the prison of at least one robot running precision
Survey result, comprising:
To the side error amount carry out data analyze to obtain each robot running precision monitoring result and institute it is organic
The average running precision monitoring result of device people.
Optionally, to the side error amount carry out data analyze to obtain each robot running precision monitoring result and
The average running precision monitoring result of all robots, comprising:
According to first error threshold value, statistics obtains being greater than first error corresponding to the side error amount of each robot
The probability of happening value of threshold value, and according to the second error threshold, statistics obtains the side error corresponding to all robots
Value is greater than the average probability of happening value of the second error threshold.
Optionally, according to first error threshold value, statistics obtains big corresponding to the side error amount of each robot
After the probability of happening value of first error threshold value, the method also includes:
If the probability of happening value of each robot is greater than default precision threshold, it is determined that influence robot operation
The factor of precision includes robot self-condition.
Optionally, the side error amount include calibrated error value, image error value and two dimensional code paste error amount and,
Wherein, the calibrated error value is the camera coordinate system of the bottom of at least one robot and the centre coordinate of robot
Error amount between system, described image error amount are that the camera coordinate system of the bottom of at least one robot is current with it
Error amount between the corresponding two dimensional code coordinate system in position, it is at least one two dimensional code coordinate system that the two dimensional code, which pastes error amount,
With the error between terrestrial reference coordinate system.
The third aspect, the embodiment of the invention also provides a kind of robot running precision monitoring devices, are configured at robot
In, which includes:
Side error amount logging modle, for recording at least one measured at least one robot operational process
The side error amount of image in 2 D code；
Side error information processing module, for the side error amount to be sent to server, so as to the server
It analyzes to obtain the monitoring result of at least one robot running precision by carrying out data to the side error amount.
Optionally, the side error information processing module is specifically used for: the side error amount is sent to the clothes
Business device, so that the server is analyzed to obtain the running precision prison of each robot by carrying out data to the side error amount
Survey the average running precision monitoring result of result and all robots.
Optionally, the side error information processing module is specifically used for:
The side error amount is sent to the server, so that the server is according to first error threshold value, statistics
The probability of happening value for being greater than first error threshold value corresponding to the side error amount of each robot is obtained, and according to second
Error threshold, the average event that statistics obtains being greater than corresponding to the side error amount of all robots the second error threshold are general
Rate value.
Optionally, the side error amount of the side error amount logging modle record includes calibrated error value, image
Error amount and two dimensional code paste error amount and, wherein the calibrated error value is the bottom of at least one robot
Error amount between camera coordinate system and the centre coordinate system of robot, described image error amount are at least one described machines
Error amount between the camera coordinate system of the bottom of people two dimensional code coordinate system corresponding with its current location, the two dimensional code are viscous
Patch error amount is the error between at least one two dimensional code coordinate system and terrestrial reference coordinate system.
Fourth aspect, the embodiment of the invention also provides a kind of robot running precision monitoring devices, are configured at server
In, which includes:
Side error amount receiving module, for receiving at least one measured at least one robot operational process
The side error amount of image in 2 D code；
Data analysis module is analyzed to obtain at least one robot fortune for carrying out data to the side error amount
The monitoring result of row precision.
Optionally, the data analysis module is specifically used for:
To the side error amount carry out data analyze to obtain each robot running precision monitoring result and institute it is organic
The average running precision monitoring result of device people.
Optionally, the data analysis module is specifically used for:
According to first error threshold value, statistics obtains being greater than first error corresponding to the side error amount of each robot
The probability of happening value of threshold value, and according to the second error threshold, statistics obtains the side error corresponding to all robots
Value is greater than the average probability of happening value of the second error threshold.
Optionally, described device further include:
Influence factor determining module, if the probability of happening value for each robot is greater than default precision threshold,
It includes robot self-condition that then determining, which influences the factor of the robot running precision,.
Optionally, the received side error amount of the side error amount receiving module includes calibrated error value, image
Error amount and two dimensional code paste error amount and, wherein the calibrated error value is the bottom of at least one robot
Error amount between camera coordinate system and the centre coordinate system of robot, described image error amount are at least one described machines
Error amount between the camera coordinate system of the bottom of people two dimensional code coordinate system corresponding with its current location, the two dimensional code are viscous
Patch error amount is the error between at least one two dimensional code coordinate system and terrestrial reference coordinate system.
5th aspect, the embodiment of the invention also provides a kind of robots, comprising:
Camera, for acquiring image in 2 D code；
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the robot running precision monitoring method applied to robot as described in any embodiment of the present invention.
6th aspect, the embodiment of the invention also provides a kind of servers, comprising:
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the robot running precision monitoring method applied to server as described in any embodiment of the present invention.
7th aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes that the robot applied to robot as described in any embodiment of the present invention is run when the program is executed by processor
Accuracy monitoring method.
Eighth aspect, the embodiment of the invention also provides another computer readable storage mediums, are stored thereon with calculating
Machine program realizes that the robot applied to server as described in any embodiment of the present invention transports when the program is executed by processor
Row accuracy monitoring method.
The embodiment of the present invention utilizes at least one two dimension measured in its operational process of at least one robot records
The side error amount of code image, is then sent to server for the side error amount of record, so that server is missed by opposite side
Difference carries out data and analyzes to obtain the monitoring result of at least one robot running precision.The side that server receiver device human hair is sent
Edge error value, is analyzed by data, obtains the monitoring result of at least one robot running precision.The embodiment of the present invention can solve
Certainly in the prior art according to personal monitoring robot running precision when monitoring efficiency is low and the accuracy of monitoring result is lower asks
Topic, has given full play to the advantage of clustered machine people, is based on data statistics, realizes effective monitoring to robot running precision,
Monitoring efficiency is improved, ensure that the accuracy of monitoring result, and then avoids the generation of navigation failure.
Detailed description of the invention
Fig. 1 is the flow chart for the robot running precision monitoring method that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of robot running precision monitoring method provided by Embodiment 2 of the present invention；
Fig. 3 is the flow chart for the robot running precision monitoring method that the embodiment of the present invention three provides；
Fig. 4 is the flow chart for the robot running precision monitoring method that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram for the robot running precision monitoring device that the embodiment of the present invention five provides；
Fig. 6 is the structural schematic diagram for the robot running precision monitoring device that the embodiment of the present invention six provides；
Fig. 7 is a kind of structural schematic diagram for robot that the embodiment of the present invention seven provides；
Fig. 8 is a kind of structural schematic diagram for server that the embodiment of the present invention eight provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the flow chart for the robot running precision monitoring method that the embodiment of the present invention one provides, and the present embodiment can fit
For applying the case where being monitored in robot to robot running precision, this method can be supervised by robot running precision
Device is surveyed to execute, which can realize by the way of software and/or hardware, and can be integrated in intelligent movable equipment
On, such as robot.As shown in Figure 1, this method specifically includes:
S110, the side for recording at least one image in 2 D code measured at least one robot operational process are missed
Difference.
It is corresponding at each node location in warehouse to paste a two dimension in the warehouse environment based on two-dimension code navigation
Code, the two dimensional code that robot is pasted by shooting identification ground, confirms current position coordinates, and add to the position precision of itself
With confirmation, to guarantee to successfully arrive at destination according to programme path.When robot running precision is higher, robot is on path
The form that can move along a straight line between adjacent node location moves ahead, accurate to reach next node position, at this time robot
The terrestrial reference coordinate system of centre coordinate system and corresponding position essentially coincides；When robot running precision is lower, robot exists
Running track between adjacent node position can shift, cannot accurately reach next node position, at this time robot
There is offset between centre coordinate system and the terrestrial reference coordinate system of corresponding position, can lead to the entire navigation of robot when serious
Route deviates the route planned, or even generates with the navigation routine of other robot there is a phenomenon where intersecting and interfering, and draws
Send out navigation accident.Therefore, staff needs effectively to monitor the running precision of robot, and recorder people runs
The side error amount of the image in 2 D code shot in the process, can be to provide data basis for monitoring analysis, it can by right
The side error amount of image in 2 D code carries out data analysis, judges the running precision of robot.Side error amount is bigger, robot
Centre coordinate system and corresponding position terrestrial reference coordinate system between offset distance it is bigger, the running precision of the robot is got over
It is low.
It is every when reaching above two dimensional code in robot operational process, using camera below to two dimensional code into
Then row image taking identifies two-dimensional barcode information using image recognition technology, and by carrying out calculation processing to shooting image,
Obtain the corresponding side error amount of the image in 2 D code.
S120, the side error amount of record is sent to server, so that server is counted by opposite side error amount
The monitoring result of at least one robot running precision is obtained according to analysis.
Robot will record side error amount when being sent to server, while robot number and corresponding position coordinate being sent out
It send to server, storing data can be divided in order to server area.Data send the shape that can be carried out simultaneously using record with transmission
Formula, can also be using the form of periodicity sending after record.After server receives data, analyze to obtain machine by data
The running precision monitoring result of people.Compared to using the artificial method for carrying out live monitoring robot running precision one by one, utilize
The robot of cluster carries out data collection, monitoring efficiency can be improved, and data statistics has more objectivity, it is ensured that prison
The reliability for surveying result has more reference value for maintenance personnel.
Optionally, side error amount include calibrated error value, image error value and two dimensional code paste error amount and,
In, calibrated error value is the mistake between the camera coordinate system of the bottom of at least one robot and the centre coordinate system of robot
Difference, image error value are that the camera coordinate system two dimensional code corresponding with its current location of the bottom of at least one robot is sat
Error amount between mark system, it is between at least one two dimensional code coordinate system and terrestrial reference coordinate system that two dimensional code, which pastes error amount,
Error.
Wherein, calibrated error value belongs to robot factory calibration content, for measuring the centre coordinate system of robot itself
Deviation between its bottom camera coordinate system.In the case that robot manufacture very accurately, the center of robot is sat
Mark system and camera coordinate system essentially coincide, but due to the inevitable property of foozle, the two coordinate systems are not tight
Lattice are overlapped.
Image error value is the center that whether two dimensional code is in image in the image for measure shooting, for example, can lead to
The distance for crossing two mutually perpendicular sidelines to picture centres of two dimensional code on the image of pre-set algorithm calculating shooting is inclined
Difference obtains camera coordinate system and two dimensional code then by the proportionate relationship conversion between picture size and physical location size
Image error value between coordinate system.When camera coordinate system is overlapped with two dimensional code coordinate system, the two dimensional code in image is shot
In picture centre.
It is when being pasted on ground for measuring two dimensional code that two dimensional code, which pastes error amount, and whether paste position deviates ground standard
Position.In the ideal case, the local Coordinate System for all two dimensional codes that ground is pasted is also substantially heavy with terrestrial reference coordinate system
It closes, two dimensional code coordinate system, that is, terrestrial reference coordinate system, but this can not exclude individual exceptions.When the sticky position of two dimensional code
It sets when deviateing, can also reduce the running precision of robot, it is when judging robot running precision that two dimensional code, which pastes error amount,
It is easy an ignored factor.Judge whether the running track of robot deviates programme path, it should with actual ground base
Subject to conventional coordinates, therefore, for the accuracy for guaranteeing monitoring result, need to take into account two dimensional code stickup error.
It is pasted in these three error amounts of error amount in calibrated error value, image error value and two dimensional code, any one error
The presence of value can have an impact the running precision of robot, take in this three errors simultaneously in the present embodiment, can
To guarantee monitoring result reliability and accuracy.In addition to this, mechanical reason of robot itself, such as the abrasion of pulley etc.,
Its running precision may also be influenced, and the present embodiment is using the side error amount of image in 2 D code as the weighing apparatus of robot running precision
Various situations can be included by amount condition.
The technical solution of the present embodiment utilizes measurement obtains in its operational process of at least one robot records at least one
Then the side error amount of record is sent to server by the side error amount of a image in 2 D code, so as to server by pair
Side error amount carry out data analyze to obtain the monitoring result of at least one robot running precision, solve in the prior art according to
According to the problem that monitoring efficiency when personal monitoring robot running precision is low and the accuracy of monitoring result is lower, collection has been given full play to
The advantage of group robot is based on data statistics, realizes effective monitoring to robot running precision, improve monitoring efficiency,
It ensure that the accuracy of monitoring result, and then avoid the generation of navigation failure.
Embodiment two
Fig. 2 is the flow chart of robot running precision monitoring method provided by Embodiment 2 of the present invention, the present embodiment be
Further progress optimizes on the basis of above-described embodiment.As shown in Fig. 2, this method specifically includes:
S210, the side for recording at least one image in 2 D code measured at least one robot operational process are missed
Difference.
In robot operational process, it repeatedly may repeatedly pass through a two dimensional code, at this point, robot can choose note
The side error amount of the image in 2 D code obtained every time is recorded, wherein primary side error amount can also be only recorded.
S220, the side error amount of record is sent to server, so that server is counted by opposite side error amount
The running precision monitoring result of each robot and the average running precision monitoring result of all robots are obtained according to analysis.
Server carries out data analysis to received side error amount, numbers according to robot and sorts out data, can
To obtain the running precision monitoring result of each robot, personnel convenient for safeguarding carry out targetedly robot maintenance work；If
The whole side error amount for considering all robots in warehouse field obtains the average running precision monitoring knot of all robots
The total evaluation of the operating condition to robots all in place may be implemented in fruit.If the running precision of individual machine people compared with
It is low, it can be safeguarded for individual machine people；If the average running precision of all robots is relatively low, it may be considered that machine
People carries out globality maintenance, avoids the generation and diffusion of navigation failure, safeguards a safe and orderly warehouse navigational environment.
Optionally, the side error amount of record is sent to server, so that server is carried out by opposite side error amount
Data are analyzed to obtain the average running precision monitoring result of the running precision monitoring result of each robot and all robots, packet
It includes:
The side error amount of record is sent to server, so that server is according to first error threshold value, statistics is obtained pair
The probability of happening value of first error threshold value should be greater than in the side error amount of each robot, and according to the second error threshold,
Statistics obtains the average probability of happening value for being greater than the second error threshold corresponding to the side error amount of all robots.
First error threshold value and the second error threshold involved in probability statistics process can run essence according to robot
The detection requirement of degree carries out adaptability setting.The value of error threshold is smaller, and corresponding detection requirement is stringenter.
The technical solution of the present embodiment utilizes measurement obtains in its operational process of at least one robot records at least one
Then the side error amount of record is sent to server, so that server passes through number by the side error amount of a image in 2 D code
The running precision monitoring result of each robot and the average running precision monitoring result of all robots are obtained according to analysis, it can be with
It realizes the assessment to individual machine people running precision or robot overall operation precision, solves in the prior art according to artificial prison
The problem that monitoring efficiency is low and the accuracy of monitoring result is lower when surveying robot running precision, has given full play to clustered machine people
Advantage, be based on data statistics, realize effective monitoring to robot running precision, improve monitoring efficiency, ensure that prison
The accuracy of result is surveyed, and then avoids the generation of navigation failure.
Embodiment three
Fig. 3 is the flow chart for the robot running precision monitoring method that the embodiment of the present invention three provides, and the present embodiment can fit
For application robot running precision is monitored in the server the case where, in the above embodiment of the present invention be applied to machine
Robot running precision monitoring method in device people, which cooperates, to be executed.This method can be held by robot running precision monitoring device
Row, which can be realized by the way of software and/or hardware, and can be integrated on the server.As shown in figure 3, this method
It specifically includes:
S310, the side for receiving at least one image in 2 D code measured at least one robot operational process are missed
Difference.
The transmission of data is realized by network communication between server and robot and is shared.Server is receiving robot
While the side error amount of transmission, the position coordinates of corresponding robot number and corresponding two dimensional code can also be received.According to
Robot number and position coordinates, server can carry out classification processing to data from two levels of robot and two dimensional code.
Optionally, side error amount include calibrated error value, image error value and two dimensional code paste error amount and,
In, calibrated error value is the mistake between the camera coordinate system of the bottom of at least one robot and the centre coordinate system of robot
Difference, image error value are that the camera coordinate system two dimensional code corresponding with its current location of the bottom of at least one robot is sat
Error amount between mark system, it is between at least one two dimensional code coordinate system and terrestrial reference coordinate system that two dimensional code, which pastes error amount,
Error.
S320, received side error amount progress data are analyzed to obtain the monitoring knot of at least one robot running precision
Fruit.
Server can be numbered according to robot classifies to data, and the side for belonging to the same robot records is missed
Difference is counted, and the monitoring result of the running precision of all robots can be obtained.
Optionally, data are carried out to received side error amount to analyze to obtain the monitoring of at least one robot running precision
As a result, comprising: the side error amount for docking receipts carries out data and analyzes to obtain the running precision monitoring result of each robot and institute
There is the average running precision monitoring result of robot.
It is analyzed based on data, individual machine people running precision and robot overall operation precision is monitored respectively, protected
The objectivity of monitoring result has been demonstrate,proved, and can be convenient the operation conditions that staff holds robot in warehouse, has been realized to machine
Effective supervision of device people, the potential navigation failure of prevention ahead of time.
The technical solution of the present embodiment receives the side error amount of at least one robot transmission by server, then right
Received side error amount carries out data analysis, obtains the monitoring result of at least one robot running precision, solves existing
The problem that monitoring efficiency is low when in technology according to personal monitoring robot running precision and the accuracy of monitoring result is lower, sufficiently
The advantage of clustered machine people has been played, data statistics has been based on, realizes effective monitoring to robot running precision, improve prison
Efficiency is surveyed, ensure that the accuracy of monitoring result, and then avoids the generation of navigation failure.
Example IV
Fig. 4 be the embodiment of the present invention four provide robot running precision monitoring method flow chart, the present embodiment be
Further progress optimizes on the basis of above-described embodiment.As shown in figure 4, this method specifically includes:
S410, the side for receiving at least one image in 2 D code measured at least one robot operational process are missed
Difference.
S420, according to first error threshold value, statistics, which obtains being greater than first corresponding to the side error amount of each robot, to be missed
The probability of happening value of poor threshold value, and according to the second error threshold, statistics obtains the side error amount corresponding to all robots
Greater than the average probability of happening value of the second error threshold.
Server is analyzed by data, is obtained in the side error amount of each robot records greater than first error threshold value
Ratio between the total degree of the side error amount of frequency of occurrence and the robot records, the side error of as each robot
Value is greater than the probability of happening value of first error threshold value；It counts and is greater than the second error threshold in the side error amount of all robot records
Ratio between the frequency of occurrence of value and the total degree of all robot records sides error amount, the side of as all robots
Error amount is greater than the average probability of happening value of the second error threshold.Wherein, first error threshold value can be run from individual machine people
Mean accuracy in terms of account for, set specific value；The average essence that second error threshold can be run from a large amount of robots
Degree aspect accounts for, and sets specific value.First error threshold value and the second error threshold can be set to identical value, can also
To be respectively set to different values.The determination of mean accuracy about the operation of single or a large amount of robots can be from historical data
Middle analysis obtains, and is also possible to the threshold value that maintenance personnel rule of thumb sets.
In navigation operational process, each robot is not identical by the number of two dimensional code for robot, i.e. record side
The total degree of error amount is not identical, here, the probability that the record event for counting the side error amount of corresponding robot occurs, rather than
The number of the specific record side error amount of statistics can seek unity of standard in order to later-stage utilization and carry out to the running precision of robot
Assessment reduces the complexity for determining monitoring result.
If the probability of happening value of S430, each robot is greater than default precision threshold, it is determined that influence robot fortune
The factor of row precision includes robot self-condition.
From the angle of data statistics, if uniform machinery people repeatedly passes through different two dimensional codes, obtained probability of happening value
Greater than default precision threshold, then illustrate to be robot itself the reason of influencing the robot running precision, wherein being specifically related to
Be calibrated error value or mechanical reason of robot of robot etc., need to carry out the calibrated error value of robot specific
Analysis determine so that more specificization when maintenance personnel carries out maintenance work.
It, can also be by being greater than in the corresponding side error amount of the same two dimensional code in addition, in data analysis process
The probability of happening of corresponding threshold value is counted, and is analyzed and is determined whether the reason of influencing robot running precision is two dimensional code.
The technical solution of the present embodiment by server receive at least one robot transmission side error amount, then into
The analysis of row data, the side error amount for respectively obtaining each robot are organic greater than the probability of happening value of first error threshold value and institute
The side error amount of device people is greater than the average probability of happening value of the second error threshold, and according to the probability of happening value of individual machine people
The influence factor for determining robot running precision solves in the prior art prison when according to personal monitoring robot running precision
The lower problem of the accuracy of survey low efficiency and monitoring result, has given full play to the advantage of clustered machine people, has been based on data statistics,
Effective monitoring to robot running precision is realized, monitoring efficiency is improved, ensure that the accuracy of monitoring result, and then is kept away
The generation of navigation failure is exempted from.
It is the embodiment of robot running precision monitoring device provided in an embodiment of the present invention below, the device and above-mentioned each
The robot running precision monitoring method of embodiment belongs to the same inventive concept, in the reality of robot running precision monitoring device
The detail content of not detailed description in example is applied, the embodiment of above-mentioned robot running precision monitoring method can be referred to.
Embodiment five
Fig. 5 is the structural schematic diagram for the robot running precision monitoring device that the embodiment of the present invention five provides, and is configured in
In robot, the present embodiment is applicable to the running precision situation of monitoring robot.It is configured at provided by the embodiment of the present invention
Robot running precision monitoring device in robot can be performed provided by any embodiment of the invention applied to robot
Robot running precision monitoring method has the corresponding functional module of execution method and beneficial effect.As shown in figure 5, the device
Specifically include side error amount logging modle 510 and side error information processing module 520, in which:
Side error amount logging modle 510 obtains at least for recording to measure at least one robot operational process
The side error amount of one image in 2 D code.
Optionally, the side error amount that side error amount logging modle 510 records includes calibrated error value, image error value
With two dimensional code paste error amount and, wherein calibrated error value be the bottom of at least one robot camera coordinate system and
Error amount between the centre coordinate system of robot, image error value are the camera coordinate systems of the bottom of at least one robot
Error amount between two dimensional code coordinate system corresponding with its current location, it is that at least one two dimensional code is sat that two dimensional code, which pastes error amount,
Error between mark system and terrestrial reference coordinate system.
Side error information processing module 520, for the side error amount of record to be sent to server, so as to server
Data are carried out by opposite side error amount to analyze to obtain the monitoring result of at least one robot running precision.
Optionally, side error information processing module 520, specifically for the side error amount of record is sent to service
Device is analyzed to obtain running precision monitoring result and the institute of each robot so that server carries out data by opposite side error amount
There is the average running precision monitoring result of robot.
Further, side error information processing module 520, specifically for the side error amount of record is sent to service
Device, so that server is according to first error threshold value, statistics obtains being greater than the first mistake corresponding to the side error amount of each robot
The probability of happening value of poor threshold value, and according to the second error threshold, statistics obtains the side error amount corresponding to all robots
Greater than the average probability of happening value of the second error threshold.
The technical solution of the present embodiment utilizes measurement obtains in its operational process of at least one robot records at least one
Then the side error amount of record is sent to server by the side error amount of a image in 2 D code, so as to server by pair
Side error amount carry out data analyze to obtain the monitoring result of at least one robot running precision, solve in the prior art according to
According to the problem that monitoring efficiency when personal monitoring robot running precision is low and the accuracy of monitoring result is lower, collection has been given full play to
The advantage of group robot is based on data statistics, realizes effective monitoring to robot running precision, improve monitoring efficiency,
It ensure that the accuracy of monitoring result, and then avoid the generation of navigation failure.
Embodiment six
Fig. 6 is the structural schematic diagram for the robot running precision monitoring device that the embodiment of the present invention six provides, and is configured in
In server, the present embodiment is applicable to the running precision situation of monitoring robot.It is configured at provided by the embodiment of the present invention
Robot running precision monitoring device in server can be performed provided by any embodiment of the invention applied to server
Robot running precision monitoring method has the corresponding functional module of execution method and beneficial effect.As shown in fig. 6, the device
Specifically include side error amount receiving module 610 and data analysis module 620, in which:
Side error amount receiving module 610 obtains at least for receiving to measure at least one robot operational process
The side error amount of one image in 2 D code.
Optionally, the received side error amount of side error amount receiving module 610 includes calibrated error value, image error value
With two dimensional code paste error amount and, wherein calibrated error value be the bottom of at least one robot camera coordinate system and
Error amount between the centre coordinate system of robot, image error value are the camera coordinate systems of the bottom of at least one robot
Error amount between two dimensional code coordinate system corresponding with its current location, it is that at least one two dimensional code is sat that two dimensional code, which pastes error amount,
Error between mark system and terrestrial reference coordinate system.
Data analysis module 620 is analyzed to obtain at least one robot for carrying out data to received side error amount
The monitoring result of running precision.
Optionally, data analysis module 620 is specifically used for analyzing to obtain to received side error amount progress data each
The running precision monitoring result of robot and the average running precision monitoring result of all robots.
Further, data analysis module 620 is specifically used for according to first error threshold value, and statistics obtains corresponding to each machine
The side error amount of device people is greater than the probability of happening value of first error threshold value, and according to the second error threshold, and statistics obtains pair
It should be in average probability of happening value of the side error amount of all robots greater than the second error threshold.
Optionally, which further includes influence factor determining module, if the probability of happening value for each robot is big
In default precision threshold, it is determined that the factor for influencing the robot running precision includes robot self-condition.
The technical solution of the present embodiment receives the side error amount of at least one robot transmission by server, then right
Received side error amount carries out data analysis, obtains the monitoring result of at least one robot running precision, solves existing
The problem that monitoring efficiency is low when in technology according to personal monitoring robot running precision and the accuracy of monitoring result is lower, sufficiently
The advantage of clustered machine people has been played, data statistics has been based on, realizes effective monitoring to robot running precision, improve prison
Efficiency is surveyed, ensure that the accuracy of monitoring result, and then avoids the generation of navigation failure.
Embodiment seven
Fig. 7 is a kind of structural schematic diagram for robot that the embodiment of the present invention seven provides.Fig. 7, which is shown, to be suitable for being used to realizing
The block diagram of the exemplary robotic 712 of embodiment of the present invention.The robot 712 that Fig. 7 is shown is only an example, should not be right
The function and use scope of the embodiment of the present invention bring any restrictions.
As shown in fig. 7, robot 712 is showed in the form of all-purpose robot.The component of robot 712 may include but not
Be limited to: camera 736, one or more processor 716, storage device 728 connect different system components (including camera
736, storage device 728 and processor 716) bus 718.
Camera 736, for acquiring image in 2 D code.Bus 718 indicates one of a few class bus structures or a variety of, packet
Include storage device bus or storage controller, peripheral bus, graphics acceleration port, processor or a variety of buses of use
The local bus of any bus structures in structure.For example, these architectures include but is not limited to Industry Standard Architecture
Structure (Industry Subversive Alliance, ISA) bus, microchannel architecture (Micro Channel
Architecture, MAC) bus, enhanced isa bus, Video Electronics Standards Association (Video Electronics
Standards Association, VESA) local bus and peripheral component interconnection (Peripheral Component
Interconnect, PCI) bus.
Robot 712 typically comprises a variety of computer system readable media.These media can be it is any can be by machine
The usable medium that device people 712 accesses, including volatile and non-volatile media, moveable and immovable medium.
Storage device 728 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory, RAM) 730 and/or cache memory 732.Robot 712 can be further
Including other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, storage system
System 734 can be used for reading and writing immovable, non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").To the greatest extent
It is not shown in pipe Fig. 7, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, with
And to removable anonvolatile optical disk, such as CD-ROM (Compact Disc Read-Only Memory, CD-ROM), number
Word optic disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical mediums) read-write CD
Driver.In these cases, each driver can be connected by one or more data media interfaces with bus 718.
Storage device 728 may include at least one program product, which has one group of (for example, at least one) program module,
These program modules are configured to perform the function of various embodiments of the present invention.
Program/utility 740 with one group of (at least one) program module 742 can store in such as storage dress
It sets in 728, such program module 742 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
742 usually execute function and/or method in embodiment described in the invention.
Robot 712 can also be with one or more external equipments 714 (such as keyboard, direction terminal, display 724 etc.)
Communication, can also be enabled a user to one or more terminal interact with the robot 712 communicate, and/or with make the machine
Any terminal (such as network interface card, modem etc.) that device people 712 can be communicated with one or more of the other computing terminal
Communication.This communication can be carried out by input/output (I/O) interface 722.Also, robot 712 can also be suitable by network
Orchestration 720 and one or more network (such as local area network (Local Area Network, LAN), wide area network (Wide Area
Network, WAN) and/or public network, such as internet) communication.As shown in fig. 7, network adapter 720 passes through bus 718
It is communicated with other modules of robot 712.It should be understood that although not shown in the drawings, can be used in conjunction with robot 712 other hard
Part and/or software module, including but not limited to: microcode, terminal driver, redundant processor, external disk drive array, magnetic
Disk array (Redundant Arrays of Independent Disks, RAID) system, tape drive and data backup
Storage system etc..
The program that processor 716 is stored in storage device 728 by operation, thereby executing various function application and number
According to processing, such as realize the robot running precision monitoring method for being applied to robot provided by the embodiment of the present invention, the party
Method includes:
Record the side error amount of at least one image in 2 D code measured at least one robot operational process；
The side error amount is sent to server, so that the server is by counting the side error amount
The monitoring result of at least one robot running precision is obtained according to analysis.
Embodiment eight
Fig. 8 is a kind of structural schematic diagram for server that the embodiment of the present invention eight provides.Fig. 8, which is shown, to be suitable for being used to realizing
The block diagram of the exemplary servers 812 of embodiment of the present invention.The server 812 that Fig. 8 is shown is only an example, should not be right
The function and use scope of the embodiment of the present invention bring any restrictions.
As shown in figure 8, server 812 is showed in the form of generic server.The component of server 812 may include but not
Be limited to: one or more processor 816, storage device 828 connect different system components (including storage device 828 and processing
Device 816) bus 818.
Bus 818 indicates one of a few class bus structures or a variety of, including storage device bus or storage device control
Device processed, peripheral bus, graphics acceleration port, processor or total using the local of any bus structures in a variety of bus structures
Line.For example, these architectures include but is not limited to industry standard architecture (Industry Subversive
Alliance, ISA) bus, microchannel architecture (Micro Channel Architecture, MAC) bus is enhanced
Isa bus, Video Electronics Standards Association (Video Electronics Standards Association, VESA) local are total
Line and peripheral component interconnection (Peripheral Component Interconnect, PCI) bus.
Server 812 typically comprises a variety of computer system readable media.These media can be it is any being capable of bedding and clothing
The usable medium that business device 812 accesses, including volatile and non-volatile media, moveable and immovable medium.
Storage device 828 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (Random Access Memory, RAM) 830 and/or cache memory 832.Server 812 can be further
Including other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, storage system
System 834 can be used for reading and writing immovable, non-volatile magnetic media (Fig. 8 do not show, commonly referred to as " hard disk drive ").To the greatest extent
It is not shown in pipe Fig. 8, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, with
And to removable anonvolatile optical disk, such as CD-ROM (Compact Disc Read-Only Memory, CD-ROM), number
Word optic disk (Digital Video Disc-Read Only Memory, DVD-ROM) or other optical mediums) read-write CD
Driver.In these cases, each driver can be connected by one or more data media interfaces with bus 818.
Storage device 828 may include at least one program product, which has one group of (for example, at least one) program module,
These program modules are configured to perform the function of various embodiments of the present invention.
Program/utility 840 with one group of (at least one) program module 842 can store in such as storage dress
It sets in 828, such program module 842 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
842 usually execute function and/or method in embodiment described in the invention.
Server 812 can also be with one or more external equipments 814 (such as keyboard, direction terminal, display 824 etc.)
Communication, can also be enabled a user to one or more terminal interact with the server 812 communicate, and/or with make the clothes
Any terminal (such as network interface card, modem etc.) that business device 812 can be communicated with one or more of the other computing terminal
Communication.This communication can be carried out by input/output (I/O) interface 822.Also, server 812 can also be suitable by network
Orchestration 820 and one or more network (such as local area network (Local Area Network, LAN), wide area network (Wide Area
Network, WAN) and/or public network, such as internet) communication.As shown in figure 8, network adapter 820 passes through bus 818
It is communicated with other modules of server 812.It should be understood that although not shown in the drawings, can be used in conjunction with server 812 other hard
Part and/or software module, including but not limited to: microcode, terminal driver, redundant processor, external disk drive array, magnetic
Disk array (Redundant Arrays of Independent Disks, RAID) system, tape drive and data backup
Storage system etc..
The program that processor 816 is stored in storage device 828 by operation, thereby executing various function application and number
According to processing, such as realize the robot running precision monitoring method for being applied to server provided by the embodiment of the present invention, the party
Method includes:
Receive the side error amount of at least one image in 2 D code measured at least one robot operational process；
Data are carried out to the side error amount to analyze to obtain the monitoring result of at least one robot running precision.
Embodiment nine
The embodiment of the present invention nine additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
It realizes when program is executed by processor and is monitored as provided by the embodiment of the present invention applied to the robot running precision of robot
Method, this method comprises:
Record the side error amount of at least one image in 2 D code measured at least one robot operational process；
The side error amount is sent to server, so that the server is by counting the side error amount
The monitoring result of at least one robot running precision is obtained according to analysis.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on remote computer or terminal completely on the remote computer on the user computer.It is relating to
And in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or extensively
Domain net (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
The embodiment of the invention also provides another computer readable storage medium, the computer program that stores thereon by
For executing a kind of robot running precision monitoring method applied to server, this method packet when computer processor executes
It includes:
Receive the side error amount of at least one image in 2 D code measured at least one robot operational process；
Data are carried out to the side error amount to analyze to obtain the monitoring result of at least one robot running precision.
Certainly, a kind of storage medium comprising computer program provided by the embodiment of the present invention, computer program is not
It is limited to method operation as described above, the robot provided by any embodiment of the invention applied to server can also be performed
The relevant operation of running precision monitoring method.It can be found in the content in embodiment nine to the introduction of storage medium to explain.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of robot running precision monitoring method is applied to robot characterized by comprising
Record the side error amount of at least one image in 2 D code measured at least one robot operational process；
The side error amount is sent to server, so that the server is by carrying out data point to the side error amount
Analysis obtains the monitoring result of at least one robot running precision.
2. the method according to claim 1, wherein the side error amount is sent to server, with toilet
Server is stated to analyze to obtain the monitoring of at least one robot running precision by carrying out data to the side error amount
As a result, comprising:
The side error amount is sent to the server, so that the server is by counting the side error amount
The running precision monitoring result of each robot and the average running precision monitoring result of all robots are obtained according to analysis.
3. the method according to any one of claims 1 to 2, which is characterized in that the side error amount includes calibrated error
Value, image error value and two dimensional code paste error amount and, wherein the calibrated error value is at least one described robot
Error amount between the camera coordinate system of bottom and the centre coordinate system of robot, described image error amount are described at least one
Error amount between the camera coordinate system of the bottom of a robot two dimensional code coordinate system corresponding with its current location, described two
It is the error between at least one two dimensional code coordinate system and terrestrial reference coordinate system that dimension code, which pastes error amount,.
4. a kind of robot running precision monitoring method is applied to server characterized by comprising
Receive the side error amount of at least one image in 2 D code measured at least one robot operational process；
Data are carried out to the side error amount to analyze to obtain the monitoring result of at least one robot running precision.
5. a kind of robot running precision monitoring device, is configured in robot characterized by comprising
Side error amount logging modle, for recording at least one two dimension measured at least one robot operational process
The side error amount of code image；
Side error information processing module, for the side error amount to be sent to server, so that the server passes through
Data are carried out to the side error amount to analyze to obtain the monitoring result of at least one robot running precision.
6. a kind of robot running precision monitoring device, is configured in server characterized by comprising
Side error amount receiving module, for receiving at least one two dimension measured at least one robot operational process
The side error amount of code image；
Data analysis module is analyzed to obtain at least one robot operation essence for carrying out data to the side error amount
The monitoring result of degree.
7. a kind of robot characterized by comprising
Camera, for acquiring image in 2 D code；
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Existing robot running precision monitoring method as claimed in any one of claims 1 to 3.
8. a kind of server characterized by comprising
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
Now robot running precision monitoring method as claimed in claim 4.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Robot running precision monitoring method as claimed in any one of claims 1 to 3 is realized when row.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Robot running precision monitoring method as claimed in claim 4 is realized when execution.
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| CN114619441A (en) * | 2020-12-10 | 2022-06-14 | 北京极智嘉科技股份有限公司 | Robot and two-dimensional code pose detection method |
| CN114619441B (en) * | 2020-12-10 | 2024-03-26 | 北京极智嘉科技股份有限公司 | Robot and two-dimensional code pose detection method |
| CN113031628A (en) * | 2021-05-26 | 2021-06-25 | 浙江华睿科技有限公司 | Position acquisition method of two-dimensional code, electronic device and storage medium |
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