CN101587329A - Robot predicting method and system - Google Patents
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- CN101587329A CN101587329A CNA2009100870776A CN200910087077A CN101587329A CN 101587329 A CN101587329 A CN 101587329A CN A2009100870776 A CNA2009100870776 A CN A2009100870776A CN 200910087077 A CN200910087077 A CN 200910087077A CN 101587329 A CN101587329 A CN 101587329A
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Abstract
The invention discloses a robot predicting method and system, belonging to the robot field. the method includes: obtaining the pose information and the angle information of a plurality of freedom degrees of the robot in the operation scene at the present time; calculating the obtained pose information and angle information by using the time queue algorithm to obtain the pose information and the angle information of a plurality of freedom degrees of the robot at the next time; driving the robot model to move in the operation scene model according to the pose information and angle information at the next time to obtain the result for predicting the robot, and displaying the predicting result. The system comprises an obtaining module, a calculating module and a predict displaying module. In the invention, the attending personnel can help to operate or correctly control the robot action according to the condition, thus realizing the whole-visual-angle observation of the image and having flexible control and convenient application.
Description
Technical field
The present invention relates to the robot field, particularly a kind of method and system of robot predicting.
Background technology
Robot predicting research is one of most important research direction in the robot research, and so-called robot predicting has both direction.The first is simulated the situation that robot is occurred in motion process, and expectation finds out irrational place so that correct; It two is to utilize to predict the outcome to understand the working condition of robot in real time, according to the information of understanding help operate or correctly control robot move.The robot predicting technology involves numerous subjects, as data excavation, processing data information, Computer Image Processing, virtual reality and visualization technique or the like.
Distant operation is an important technology of robot application.By remote-controlled operation platform, operating personnel can monitor and control distant place robot and finish various job tasks, thus make robot can replace human that can't touch at some in addition some jeopardize under the environment of human health or life security and finish various tasks.Prediction is a gordian technique in the remote control system.Present prognoses system can realize the kinematics and the dynamics simulation of robot, and can realize the anthropomorphic robot real time collision detection, can realize that the prediction of the operational order sent by distant operator shows.
The prediction display technique is a gordian technique in the distant operation of long time delay.By the prediction display technique long time delay is compensated.The perception that exists for operating system and the control of network delay have brought many problems, and it causes the instability of system, thereby have seriously reduced the operating performance of system.Prediction can be used to overcome time delay influence in the remote control system, and prediction has good guidance and suggesting effect to the operator, has reduced time delay influence, improves the operability of system.
Prior art one is the anthropomorphic robot plan (HRP of MITI of Japan, Humanoid Robot Project) subsidizes people such as FumioKanehiro and developed virtual anthropomorphic robot emulation platform, this emulation platform has and real machine physiognomy controller architecture model and physical construction model together, can realize the kinematics and the dynamics simulation of robot, and can realize the anthropomorphic robot real time collision detection, can realize that the prediction of the operational order sent by distant operator shows.But what this emulation platform simulation showed is ideal situation, and therefore the robot real time data that do not adopt in service, can't reflect the actual robot operation information.
The prediction emulation that prior art two is done planet roaming car for T.B.Sheridan etc.At first set up the realistic model of system's operation, the current state of emerging system, derivative in realistic model, and control input allow realistic model with the speed operation more faster than real process then, thus the operation of control planet roaming car.This technology is very effective to the stepless control of single entity or rigid body, but be not suitable for the distant operation that has the multiple degrees of freedom space object, as having the distant operation of the anthropomorphic robot of more than 30 degree of freedom, this is because the multiple degrees of freedom space object can not replace with a particle simply.
Summary of the invention
In order to overcome the defective of above-mentioned prior art, the invention provides a kind of method and system of robot predicting.Described technical scheme is as follows:
A kind of method of robot predicting, described method comprises:
Obtain the posture information of current time robot in working scene and the angle information of a plurality of degree of freedom;
Adopt the time series algorithm that described posture information of obtaining and angle information are carried out computing, obtain next posture information of robot and angle information of these a plurality of degree of freedom constantly;
Move in the working scene model according to described next posture information and angle information drive machines human model constantly, obtain result, and show described prediction result robot predicting.
The described posture information of current time robot in working scene and the angle information of a plurality of degree of freedom of obtaining specifically comprises:
Obtain the posture information of current time robot by the position transducer that is installed on the robot manipulating task scene, and obtain the angle information of a plurality of degree of freedom of current time robot by the angular transducer that is installed on a plurality of joints of robot health.
The described posture information of current time robot in working scene and the angle information of a plurality of degree of freedom of obtaining specifically comprises:
Obtain current time and the constantly posture information of robot in working scene and the angle information of a plurality of degree of freedom in the past.
Described time series algorithm specifically comprises:
Adopt autoregression algorithm, moving average algorithm or autoregression-moving average algorithm.
Described robot model makes for using 3 d modeling software, has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition;
Described working scene model is made for using 3 d modeling software, has resemblance identical with working scene and position relation.
A kind of system of robot predicting, described system comprises:
Acquisition module is used for obtaining the angle information of current time robot in posture information and a plurality of degree of freedom of working scene;
Computing module is used to adopt the time series algorithm that posture information and the angle information that described acquisition module obtains carried out computing, obtains next the constantly posture information of robot and angle information of these a plurality of degree of freedom;
The prediction display module, next that is used for obtaining according to described computing module posture information and angle information drive machines human model constantly moves at the working scene model, obtains the result to robot predicting, and shows described prediction result.
Described system also comprises:
Position transducer is installed in the working scene of robot, is used to gather the posture information of current time robot, and sends to described acquisition module;
Angular transducer is installed on a plurality of joints of robot health, is used to gather the angle information of a plurality of degree of freedom of current time robot, and sends to described acquisition module.
Described acquisition module specifically be used for obtaining current time and in the past constantly robot at the angle information of posture information and a plurality of degree of freedom of working scene.
Described time series algorithm specifically comprises:
Adopt autoregression algorithm, moving average algorithm or autoregression-moving average algorithm.
Described robot model makes for using 3 d modeling software, has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition;
Described working scene model is made for using 3 d modeling software, has resemblance identical with working scene and position relation.
The present invention utilizes the real-time feedback data of robot, adopt the match of time series algorithm, calculate the following service data of robot constantly, show by the prediction scene that makes up, make operating personnel can see the working condition of robot in advance, so that operating personnel help operate or correct control robot action according to these situations.The robot actual motion feedback data of Cai Yonging wherein, the pose data that joint data that obtained by the angular transducer on the robot body and position transducer obtain are formed, and these data can be expressed robot ruuning situation fully.In addition, robot model and working scene model all adopt 3 d modeling software to make up, and can realize full view image, and the operator can change observation visual angle arbitrarily, observes the details of scene, and control is conveniently used flexibly.
Description of drawings
Fig. 1 is the method flow diagram of the robot predicting that provides of the embodiment of the invention;
Fig. 2 is the application scenarios synoptic diagram of the robot predicting that provides of the embodiment of the invention;
Fig. 3 is a system data treatment scheme synoptic diagram shown in Figure 2;
Fig. 4 is the system construction drawing of the robot predicting that provides of the embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
The technical scheme that the embodiment of the invention provides is used for robot is predicted in the position and the motion conditions of working scene, go for teleoperation of robot control, by prediction the situation that robot is occurred in motion process is simulated, for teleoperation of robot provides the operation reference frame.
The technical scheme that the embodiment of the invention provides goes for anthropomorphic robot, but promptly has the robot of human appearance feature simulating human elemental motion, in addition, can also be applicable to the robot of other types, as mobile robot, medical robot or the like.
Referring to Fig. 1, the embodiment of the invention provides a kind of method of robot predicting, comprising:
Step 101: obtain the posture information of current time robot in working scene and the angle information of a plurality of degree of freedom, these information can be expressed the ruuning situation of robot fully;
Wherein, the posture information of robot in working scene is meant the position and the attitude of robot, represents with relative three-dimensional coordinate Shaft angle with three-dimensional coordinate data usually.The degree of freedom of robot has a plurality of usually, for example, and 30 or 32 etc.Usually, the angle information of robot degree of freedom is meant the relative angle data between the connecting rod that robot each joint of health connected, all corresponding angle information of each degree of freedom.
The posture information of robot can be obtained by the position transducer that is installed on the robot manipulating task scene, and this position transducer can be one, also can be for a plurality of.The angle information of degree of freedom can be obtained by the angular transducer that is installed on a plurality of joints of robot health.
When obtaining the angle information of a plurality of degree of freedom, can obtain the angle information of all degree of freedom of robot, also can obtain the angle information of part degree of freedom.Preferably, obtain the angle information of all degree of freedom of robot, can reflect the operation conditions of robot more accurately.For example, there are 32 degree of freedom in robot, 32 joints are promptly arranged, on each joint, angular transducer is installed, can gather wherein 28 angle informations that angular transducer is measured, perhaps gather wherein 30 angle informations that angular transducer is measured, preferably, gather the angle information that 32 angular transducers are measured.
Step 102: adopt the time series algorithm that posture information and the angle information that obtains carried out computing, obtain next posture information of robot and angle information of these a plurality of degree of freedom constantly;
Time series (Time Series) analysis is a branch of probability statistics subject, be that utilization theory of probability statistics and method are analyzed random data sequence (or claiming dynamic data sequence), can fully show in each field the statistics behavior of research or tested object, and with these behavioural characteristic abstract and modelling, be convenient to understand the essence and the characteristic of object inherence, and further be applied to numerous areas such as forecast, prediction, adaptive control, space technology, optimum filtering.
Time series algorithm commonly used at present has three kinds: autoregression (AR, Auto Regressive) algorithm, moving average (MA, Moving Average) algorithm and autoregression-average (ARMA, Auto Regressive Moving Average) algorithm that moves.This step can adopt any algorithm wherein to carry out computing.
Wherein the AR algorithm be in the actual treatment by the algorithm of extensive employing, the embodiment of the invention preferably adopts this algorithm, its solving equation is one group of linear equation, relative linear prediction analysis also is the core technology that generally adopts in the signal Processing.This arthmetic statement the observed reading observed readings previous with himself or preceding several moment of stochastic process relevant or dependence arranged.In data processing, curve fitting, set up in the practical problemss such as experimental formula, the autoregression algorithm all is widely used.
Step 103: move in the working scene model according to next posture information and the angle information drive machines human model constantly that obtains, obtain result, and show prediction result to robot predicting.
Wherein, the number of next angle information constantly is identical with the number of the angle information of current time, and correspondence one by one, all to should a plurality of degree of freedom.For example, the angle information of the current time that obtains is 30: A1～A30, next angle information constantly that the 1st～the 30th degree of freedom of the corresponding robot of difference, computing obtain still is 30: B1～B30, the 1st～the 30th degree of freedom of same corresponding robot.
In embodiments of the present invention, before prediction, use 3 d modeling software to make robot model and working scene model earlier.Wherein, the robot model has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition; The working scene model has resemblance identical with working scene and position relation, can realize full view, and the operator can change the visual angle arbitrarily, observes the situation of model.If have other objects in the working scene of robot, then also have the three-dimensional model of this object in the working scene model, thereby can simulate the working scene of robot realistically.
In said method, except the angle information of the posture information of obtaining the current time robot and a plurality of degree of freedom, can also obtain in the past the posture information of robot and the angle information of a plurality of degree of freedom constantly.Usually, when each obtains posture information and angle information constantly, all can write down this posture information of obtaining constantly and angle information.If not only obtain the posture information and the angle information of current time, the posture information and the angle information in the moment before also obtaining, then can from constantly the information in the past that has write down, choose, the concrete number in the moment of choosing in the past is provided with according to the minimum principle of time series algorithm predicts error, a moment can be, also a plurality of moment can be.For example, in the posture information of obtaining current time t and angle information, can also in the information that has write down, choose posture information and the angle information of a moment t-1 in the past, perhaps choose in the past 3 posture information and the angle informations of t-1, t-2 and t-3 constantly, perhaps choose the posture information in 10 moment in the past and angle information etc., thereby computing obtains next posture information and angle information of t+1 constantly.Wherein, the unit embodiment of the invention of t is not done concrete qualification, can be second or millisecond or the like.
The prediction result displayed can be used for distant operation control, as according to the action of prediction result displayed control robot etc.
Referring to Fig. 2, the system applies scene synoptic diagram that carries out robot predicting that provides for the embodiment of the invention.This system comprises: distant operation control terminal, robot, position transducer 1～n, prediction display terminal and projection screen.Wherein, each joint of robot health is equipped with angular transducer, can measure the angle information of each degree of freedom of robot in real time, and passes to distant operation control terminal.Position transducer 1,2 ..., n is installed in the robot manipulating task scene (n for more than or equal to 1 natural number), can measure robot in working scene posture information and pass to distant operation control terminal.Preset the time series algorithm in the distant operation control terminal, adopt this algorithm that posture information and the angle information that collects carried out computing, obtain next posture information and angle information constantly, be the feedback forecasting data, and output is shown on the screen, this screen can be the screen of distant operation control terminal, perhaps predict the screen of display terminal, perhaps special projection screen or the like, because distant operation control terminal is display operation control interfaces all usually, therefore, preferably, be shown to predicting the outcome on the screen of prediction display terminal or and be shown on the projection screen by prediction display terminal output.Wherein, in the robot manipulating task scene position number of sensors can be set to as required one or more, as 3 or 5 or the like.
Be example with scene shown in Figure 2 below, referring to Fig. 3, specify the method for above-mentioned robot predicting, its step is as follows:
The operator of 1. distant operation control terminal gives robot by operation interface transmit operation order;
2. after the planning control module of robot is received this order, send to the executive system of robot, operate accordingly by this executive system control robot;
3. the real-time angle information of each degree of freedom that will measure of the angular transducer on each joint of robot health returns to the operation interface of distant operation control terminal;
4. the operation interface of distant operation control terminal passed to the real-time pose information of the robot that measures by position transducer;
The operation interface of 5. distant operation control terminal sends to the feedback forecasting computing module with angle information and the posture information that receives;
The feedback forecasting computing module of 6. distant operation control terminal carries out computing with default autoregression algorithm to angle information and posture information, obtain next angle information and posture information constantly, and with its match the prediction display terminal the robot model on, motion and the position of robot model in the working scene model between each connecting rod of drive machines human model, express robot in motion constantly in future, obtain result, and show that prediction result is to the operator robot predicting.
Wherein, step is to carry out simultaneously 3. and 4. in no particular order, and angle information that records and posture information are the data of synchronization, thereby guarantees the real-time of robot service data feedback.
Referring to Fig. 4, the embodiment of the invention also provides a kind of system of robot predicting, comprising:
Further, said system also comprises:
Wherein, acquisition module 401 can specifically be used for obtaining current time and in the past constantly robot 402 at the angle information of posture information and a plurality of degree of freedom of working scene, thereby improve the degree of accuracy of computing, constantly number can be for one or more in the past for these.
The time series algorithm that relates in the said system specifically comprises: adopt autoregression algorithm, moving average algorithm or autoregression-moving average algorithm.Wherein, the robot model makes for using 3 d modeling software, has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition; The working scene model is made for using 3 d modeling software, has resemblance identical with working scene and position relation.
The above-mentioned acquisition module 401 that the embodiment of the invention provides, computing module 402 and prediction display module 403 are realized with software usually, can be integrated in as required in the equipment, perhaps are arranged in two equipment.For example, acquisition module 401 and computing module 402 are integrated in the distant operation control terminal, and prediction display module 403 is arranged on the prediction display terminal; Perhaps, acquisition module 401 is arranged in the distant operation control terminal, and computing module 402 and prediction display module 403 are arranged on the prediction display terminal or the like.In addition, prediction display module 403 also can directly link to each other with projection screen, and will predict the outcome directly is presented on the projection screen.
Said method that the embodiment of the invention provides and system, utilize the real-time feedback data of robot, adopt the match of time series algorithm, calculate the following service data of robot constantly, show by the prediction scene that makes up, make operating personnel can see the working condition of robot in advance, so that operating personnel help operate or correct control robot action according to these situations.The robot actual motion feedback data of Cai Yonging wherein, the pose data that joint data that obtained by the angular transducer on the robot body and position transducer obtain are formed, and these data can be expressed robot ruuning situation fully.In addition, robot model and working scene model all adopt 3 d modeling software to make up, and can realize full view image, and the operator can change observation visual angle arbitrarily, observes the details of scene, and control is conveniently used flexibly.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1, a kind of method of robot predicting is characterized in that, described method comprises:
Obtain the posture information of current time robot in working scene and the angle information of a plurality of degree of freedom;
Adopt the time series algorithm that described posture information of obtaining and angle information are carried out computing, obtain next posture information of robot and angle information of these a plurality of degree of freedom constantly;
Move in the working scene model according to described next posture information and angle information drive machines human model constantly, obtain result, and show described prediction result robot predicting.
2, the method for robot predicting according to claim 1 is characterized in that, the described posture information of current time robot in working scene and the angle information of a plurality of degree of freedom of obtaining specifically comprises:
Obtain the posture information of current time robot by the position transducer that is installed on the robot manipulating task scene, and obtain the angle information of a plurality of degree of freedom of current time robot by the angular transducer that is installed on a plurality of joints of robot health.
3, the method for robot predicting according to claim 1 is characterized in that, the described posture information of current time robot in working scene and the angle information of a plurality of degree of freedom of obtaining specifically comprises:
Obtain current time and the constantly posture information of robot in working scene and the angle information of a plurality of degree of freedom in the past.
4, the method for robot predicting according to claim 1 is characterized in that, described time series algorithm specifically comprises:
Adopt autoregression algorithm, moving average algorithm or autoregression-moving average algorithm.
5, the method for robot predicting according to claim 1 is characterized in that,
Described robot model makes for using 3 d modeling software, has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition;
Described working scene model is made for using 3 d modeling software, has resemblance identical with working scene and position relation.
6, a kind of system of robot predicting is characterized in that, described system comprises:
Acquisition module is used for obtaining the angle information of current time robot in posture information and a plurality of degree of freedom of working scene;
Computing module is used to adopt the time series algorithm that posture information and the angle information that described acquisition module obtains carried out computing, obtains next the constantly posture information of robot and angle information of these a plurality of degree of freedom;
The prediction display module, next that is used for obtaining according to described computing module posture information and angle information drive machines human model constantly moves at the working scene model, obtains the result to robot predicting, and shows described prediction result.
7, the system of robot predicting according to claim 6 is characterized in that, described system also comprises:
Position transducer is installed in the working scene of robot, is used to gather the posture information of current time robot, and sends to described acquisition module;
Angular transducer is installed on a plurality of joints of robot health, is used to gather the angle information of a plurality of degree of freedom of current time robot, and sends to described acquisition module.
8, the system of robot predicting according to claim 6 is characterized in that, described acquisition module specifically be used for obtaining current time and in the past constantly robot at the angle information of posture information and a plurality of degree of freedom of working scene.
9, the system of robot predicting according to claim 6 is characterized in that, described time series algorithm specifically comprises:
Adopt autoregression algorithm, moving average algorithm or autoregression-moving average algorithm.
10, the system of robot predicting according to claim 6 is characterized in that,
Described robot model makes for using 3 d modeling software, has resemblance identical with robot and degree of freedom setting, satisfies robot multi-connecting-rod mechanism kinematical constraint condition;
Described working scene model is made for using 3 d modeling software, has resemblance identical with working scene and position relation.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101783195A (en) * | 2009-12-15 | 2010-07-21 | 中广核工程有限公司 | Method and system for verifying control room layout design by using virtual human |
| CN106462804A (en) * | 2016-06-29 | 2017-02-22 | 深圳狗尾草智能科技有限公司 | Method and system for generating robot interaction content, and robot |
| CN106534283A (en) * | 2016-11-02 | 2017-03-22 | 旗瀚科技有限公司 | A system and method for synchronously controlling a plurality of robots |
| WO2017185208A1 (en) * | 2016-04-25 | 2017-11-02 | 深圳前海达闼云端智能科技有限公司 | Method and device for establishing three-dimensional model of robot, and electronic device |
| CN107921626A (en) * | 2015-05-01 | 2018-04-17 | 通用电气公司 | System and method for controlling Robotic Manipulator |
| CN108108027A (en) * | 2018-02-01 | 2018-06-01 | 福建蓝帽子互动娱乐科技股份有限公司 | Virtual reality method and system based on roller-coaster |
| CN108115681A (en) * | 2017-11-14 | 2018-06-05 | 深圳先进技术研究院 | Learning by imitation method, apparatus, robot and the storage medium of robot |
| CN109696908A (en) * | 2019-01-18 | 2019-04-30 | 南方科技大学 | Robot and its track setting method and system |
| CN110561391A (en) * | 2019-09-24 | 2019-12-13 | 中国船舶重工集团公司第七0七研究所 | Inertia information feedforward control device and method for lower limb exoskeleton system |
| CN111093903A (en) * | 2017-08-31 | 2020-05-01 | 川崎重工业株式会社 | Robot system and method for operating the same |
| CN112549024A (en) * | 2020-11-26 | 2021-03-26 | 华南理工大学 | Robot sensorless collision detection method based on time series analysis and application |
| CN112881052A (en) * | 2021-01-14 | 2021-06-01 | 深圳市杉川机器人有限公司 | Method and device for constructing working scene of mobile robot |
| CN113807630A (en) * | 2020-12-23 | 2021-12-17 | 京东科技控股股份有限公司 | Method, device, equipment and storage medium for acquiring requirements of robot service platform |
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| CN101783195B (en) * | 2009-12-15 | 2013-03-27 | 中广核工程有限公司 | Method and system for verifying control room layout design by using virtual human |
| CN101783195A (en) * | 2009-12-15 | 2010-07-21 | 中广核工程有限公司 | Method and system for verifying control room layout design by using virtual human |
| CN107921626A (en) * | 2015-05-01 | 2018-04-17 | 通用电气公司 | System and method for controlling Robotic Manipulator |
| WO2017185208A1 (en) * | 2016-04-25 | 2017-11-02 | 深圳前海达闼云端智能科技有限公司 | Method and device for establishing three-dimensional model of robot, and electronic device |
| CN106462804A (en) * | 2016-06-29 | 2017-02-22 | 深圳狗尾草智能科技有限公司 | Method and system for generating robot interaction content, and robot |
| CN106534283A (en) * | 2016-11-02 | 2017-03-22 | 旗瀚科技有限公司 | A system and method for synchronously controlling a plurality of robots |
| CN111093903A (en) * | 2017-08-31 | 2020-05-01 | 川崎重工业株式会社 | Robot system and method for operating the same |
| CN108115681B (en) * | 2017-11-14 | 2020-04-07 | 深圳先进技术研究院 | Simulation learning method and device for robot, robot and storage medium |
| CN108115681A (en) * | 2017-11-14 | 2018-06-05 | 深圳先进技术研究院 | Learning by imitation method, apparatus, robot and the storage medium of robot |
| CN108108027A (en) * | 2018-02-01 | 2018-06-01 | 福建蓝帽子互动娱乐科技股份有限公司 | Virtual reality method and system based on roller-coaster |
| CN109696908A (en) * | 2019-01-18 | 2019-04-30 | 南方科技大学 | Robot and its track setting method and system |
| CN109696908B (en) * | 2019-01-18 | 2022-06-21 | 南方科技大学 | Robot and flight path setting method and system thereof |
| CN110561391A (en) * | 2019-09-24 | 2019-12-13 | 中国船舶重工集团公司第七0七研究所 | Inertia information feedforward control device and method for lower limb exoskeleton system |
| CN112549024A (en) * | 2020-11-26 | 2021-03-26 | 华南理工大学 | Robot sensorless collision detection method based on time series analysis and application |
| CN112549024B (en) * | 2020-11-26 | 2022-05-24 | 华南理工大学 | Robot sensorless collision detection method based on time series analysis and application |
| CN113807630A (en) * | 2020-12-23 | 2021-12-17 | 京东科技控股股份有限公司 | Method, device, equipment and storage medium for acquiring requirements of robot service platform |
| CN113807630B (en) * | 2020-12-23 | 2024-03-05 | 京东科技控股股份有限公司 | Method, device, equipment and storage medium for acquiring requirements of robot service platform |
| CN112881052A (en) * | 2021-01-14 | 2021-06-01 | 深圳市杉川机器人有限公司 | Method and device for constructing working scene of mobile robot |
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