CN108858197A - Shelf mobile accuracy monitoring method, apparatus, robot, server and medium - Google Patents

Shelf mobile accuracy monitoring method, apparatus, robot, server and medium Download PDF

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Publication number
CN108858197A
CN108858197A CN201810813414.4A CN201810813414A CN108858197A CN 108858197 A CN108858197 A CN 108858197A CN 201810813414 A CN201810813414 A CN 201810813414A CN 108858197 A CN108858197 A CN 108858197A
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China
Prior art keywords
shelf
feedback event
robot
server
decoding
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CN201810813414.4A
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CN108858197B (en
Inventor
陈曦
廖方波
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Beijing Jizhijia Technology Co Ltd
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Beijing Jizhijia Technology Co Ltd
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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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The embodiment of the invention discloses a kind of shelf mobile accuracy monitoring method, apparatus, robot, server and medium, wherein this method includes：Record the decoding feedback event at least one robot operational process, wherein, the type of decoding feedback event includes the correct feedback event divided according to the relationship of site error value and default error threshold between at least one robot shelf corresponding with its current location and error feedback event；The decoding feedback event of record is sent to server, so that server is analyzed to obtain the mobile accuracy monitoring result of at least one shelf by carrying out data to decoding feedback event.The embodiment of the present invention can play the advantage of clustered machine people, realize the effect that the precision mobile to shelf is effectively monitored.

Description

Shelf mobile accuracy monitoring method, apparatus, robot, server and medium
Technical field
The present embodiments relate to the mobile accuracy monitoring method, apparatus of logistics technology more particularly to a kind of shelf, Robot, server and medium.
Background technique
Currently, being a kind of time-saving and efficiency by intelligent robot moving goods rack in the physical distribution selection scheme of " goods to people " Goods sorting method.The offset accuracy that shelf are shouldered by robot directly affects the safety of shelf moving process.If shelf move There are the offsets of position precision during dynamic, it will the risk for causing shelf to topple over or scratch with other shelf.
But lack accuracy monitoring method effectively mobile for shelf in the prior art, for field maintenance person With reference to the failure that may occur during the physical distribution selection that gives warning in advance.Therefore, how to realize that the precision mobile to shelf is supervised Survey is still problem to be solved in logistics field.
Summary of the invention
The embodiment of the present invention provides a kind of accuracy monitoring method, apparatus, robot, server and medium that shelf are mobile, The effect effectively monitored with the realization precision mobile to shelf.
In a first aspect, a kind of accuracy monitoring method mobile the embodiment of the invention provides shelf, is applied to robot, it should Method includes：
Record the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
The decoding feedback event is sent to server, so as to the server by the decoding feedback event into Row data are analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
Optionally, the decoding feedback event recorded at least one robot operational process, including：
Record decoding feedback when at least one described robot is run to for the first time below the corresponding shelf in current location Event.
Optionally, the decoding feedback event is sent to server, so that the server passes through to the decoding instead Feedback event carries out data and analyzes to obtain the mobile accuracy monitoring of at least one shelf as a result, including：
The decoding feedback event is sent to the server, so that the server passes through to the decoding feedback thing Part carries out data and analyzes to obtain and the precision of the upward positioning system of at least one robot and at least one described shelf The two dimensional code of lower section pastes the relevant accuracy monitoring result of precision.
Optionally, the decoding feedback event is sent to the server, so that the server passes through to the solution Code feedback event carry out data analyze to obtain with the precision of the upward positioning system of at least one robot and it is described at least Two dimensional code below one shelf pastes the relevant accuracy monitoring of precision as a result, including：
The decoding feedback event is sent to the server, so that the server is corresponding to each robot respectively The correct feedback event and error feedback event of different shelf carry out probability statistics, and correspond to different machines to each shelf respectively The correct feedback event and error feedback event of people carries out probability statistics.
Optionally, the correct feedback event refers to that the site error value is less than or equal to the solution of the default error threshold Code feedback event；
The error feedback event refers to that the site error value is greater than the decoding feedback event of the default error threshold.
Optionally, the site error value include calibrated error value and image error value and, wherein the calibrated error Value is the error amount between the camera coordinate system at the top of at least one robot and the centre coordinate system of robot, institute Under the camera coordinate system shelf corresponding with its current location for stating the top that image error value is at least one robot Error amount between the two dimensional code coordinate system of side.
Second aspect, the embodiment of the invention also provides a kind of mobile accuracy monitoring methods of shelf, are applied to server, This method includes：
Receive the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
Data analysis is carried out to the decoding feedback event, obtains the mobile accuracy monitoring result of at least one shelf.
Optionally, the decoding feedback event received at least one robot operational process, including：
Receive decoding feedback when at least one described robot is run to for the first time below the corresponding shelf in current location Event.
Optionally, data analysis is carried out to the decoding feedback event, obtains the mobile accuracy monitoring of at least one shelf As a result, including：
Data analysis is carried out to the decoding feedback event, obtains the upward positioning system at least one robot Precision and at least one described shelf below two dimensional code paste the relevant accuracy monitoring result of precision.
Optionally, data analysis is carried out to the decoding feedback event, obtained upward at least one robot Two dimensional code below the precision of positioning system and at least one described shelf pastes the relevant accuracy monitoring of precision as a result, including：
The correct feedback event of different shelf is corresponded to each robot respectively and error feedback event carries out probability statistics, And respectively each shelf are corresponded to the correct feedback event and error feedback event progress probability statistics of different robots.
Optionally, in correct feedback event and the progress of error feedback event for corresponding to different shelf to each robot respectively Probability statistics, and respectively each shelf are corresponded to the correct feedback event and error feedback event progress probability system of different robots After meter, the method also includes：
According to probability statistics as a result, if each robot probability value for corresponding to the error feedback event of different shelf is big In the first preset value, it is determined that the factor for influencing the corresponding different shelf mobile accuracies of each robot includes the robot Upward positioning system precision；
If the probability value that each shelf correspond to the error feedback event of different robots is greater than the second preset value, it is determined that The factor for influencing the shelf mobile accuracy includes that two dimensional code below the shelf pastes precision.
Optionally, the correct feedback event refers to that the site error value is less than or equal to the solution of the default error threshold Code feedback event；
The error feedback event refers to that the site error value is greater than the decoding feedback event of the default error threshold.
Optionally, the site error value include calibrated error value and image error value and, wherein the calibrated error Value is the error amount between the camera coordinate system at the top of at least one robot and the centre coordinate system of robot, institute Under the camera coordinate system shelf corresponding with its current location for stating the top that image error value is at least one robot Error amount between the two dimensional code coordinate system of side.
The third aspect, the embodiment of the invention also provides a kind of mobile accuracy monitoring devices of shelf, are configured at robot In, which includes：
Feedback event logging modle, for recording the decoding feedback event at least one robot operational process, wherein The type of the decoding feedback event includes according between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that site error value and the relationship of default error threshold are divided；
Feedback data processing module, for the decoding feedback event to be sent to server, so that the server is logical It crosses and decoding feedback event progress data is analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
Optionally, the feedback event logging modle is specifically used for：At least one described robot is recorded to run for the first time Decoding feedback event when below to the corresponding shelf in current location.
Optionally, the feedback data processing module is specifically used for：The decoding feedback event is sent to the service Device, so that the server is analyzed to obtain and at least one robot by carrying out data to the decoding feedback event The precision of upward positioning system and the two dimensional code below at least one described shelf paste the relevant accuracy monitoring result of precision.
Optionally, the feedback data processing module is specifically used for：The decoding feedback event is sent to the service Device, so that the server corresponds to correct feedback event and the progress of error feedback event of different shelf to each robot respectively Probability statistics, and respectively each shelf are corresponded to the correct feedback event and error feedback event progress probability system of different robots Meter.
Optionally, the correct feedback event recorded in the feedback event logging modle refers to the site error value Less than or equal to the decoding feedback event of the default error threshold；
The error feedback event recorded in the feedback event logging modle refers to that the site error value is greater than institute State the decoding feedback event of default error threshold.
Optionally, the site error value in the feedback event logging modle includes calibrated error value and image error The sum of value, wherein the calibrated error value is the camera coordinate system and robot at the top of at least one robot Error amount between centre coordinate system, described image error amount are the camera coordinate systems at the top of at least one robot The error amount between two dimensional code coordinate system below shelf corresponding with its current location.Fourth aspect, the embodiment of the present invention is also A kind of accuracy monitoring device that shelf are mobile is provided, is configured in server, which includes：
Feedback event receiving module, for receiving the decoding feedback event at least one robot operational process, wherein The type of the decoding feedback event includes according between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that site error value and the relationship of default error threshold are divided；
It is mobile to obtain at least one shelf for carrying out data analysis to the decoding feedback event for data analysis module Accuracy monitoring result.
Optionally, the feedback event receiving module is specifically used for：At least one described robot is received to run to for the first time Decoding feedback event when below the corresponding shelf in current location.
Optionally, the data analysis module is specifically used for：To the decoding feedback event carry out data analysis, obtain with Two dimensional code below the precision of the upward positioning system of at least one robot and at least one described shelf pastes precision Relevant accuracy monitoring result.
Optionally, the data analysis module is specifically used for：The correct anti-of different shelf is corresponded to each robot respectively Feedback event and error feedback event carry out probability statistics, and respectively each shelf are corresponded to the correct feedback event of different robots Probability statistics are carried out with error feedback event.
Optionally, which further includes：
Robot factor determining module, for according to probability statistics as a result, if each robot corresponds to different shelf The probability value of error feedback event be greater than the first preset value, it is determined that influence the corresponding different shelf of each robot and move The factor of dynamic precision includes the precision of the upward positioning system of the robot.
Two dimensional code factor determining module, for according to probability statistics as a result, if each shelf correspond to different robots Error feedback event probability value be greater than the second preset value, it is determined that the factor for influencing the shelf mobile accuracy includes the shelf The two dimensional code of lower section pastes precision.
Optionally, correct feedback event described in the feedback event receiving module refers to that the site error value is less than In the decoding feedback event of the default error threshold；
The error feedback event refers to that the site error value is greater than the decoding feedback event of the default error threshold.
Optionally, the site error value in the feedback event receiving module includes calibrated error value and image error The sum of value, wherein the calibrated error value is the camera coordinate system and robot at the top of at least one robot Error amount between centre coordinate system, described image error amount are the camera coordinate systems at the top of at least one robot The error amount between two dimensional code coordinate system below shelf corresponding with its current location.5th aspect, the embodiment of the present invention is also A kind of robot is provided, including：
Camera, for acquiring the image in 2 D code below shelf；
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 mobile accuracy monitoring method of the shelf 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, including：
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 mobile accuracy monitoring method of the shelf 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, the shelf movement applied to robot as described in any embodiment of the present invention is realized when which 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 shelf applied to server as described in any embodiment of the present invention are mobile when the program is executed by processor Accuracy monitoring method.
The embodiment of the present invention utilizes the decoding feedback event in its operational process of at least one robot records, wherein solution The type of code feedback event includes according to the site error value between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event divided with the relationship of default error threshold；Then, the decoding of record is anti- Feedback event is sent to server, so that server is analyzed to obtain the shifting of at least one shelf by carrying out data to decoding feedback event Dynamic accuracy monitoring result.The decoding feedback event that server receiver device human hair is sent, and data are carried out to decoding feedback event Analysis obtains the mobile accuracy monitoring result of at least one shelf.The embodiment of the present invention solves to be lacked effectively in the prior art The accuracy monitoring method mobile shelf aiming at the problem that, given full play to the advantage of clustered machine people, the statistics based on data Analysis realizes the effect that the precision mobile to shelf is effectively monitored.
Detailed description of the invention
Fig. 1 is the flow chart of the accuracy monitoring method for the shelf movement that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of the mobile accuracy monitoring method of shelf provided by Embodiment 2 of the present invention；
Fig. 3 is the flow chart of the accuracy monitoring method for the shelf movement that the embodiment of the present invention three provides；
Fig. 4 is the flow chart of the accuracy monitoring method for the shelf movement that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram of the accuracy monitoring device for the shelf movement that the embodiment of the present invention five provides；
Fig. 6 is the structural schematic diagram of the accuracy monitoring device for the shelf movement 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 of the accuracy monitoring method for the shelf movement that the embodiment of the present invention one provides, and the present embodiment can fit The case where for applying precision mobile to shelf in robot to be monitored, this method can be supervised by the precision that shelf move 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, decoding feedback event at least one robot operational process is recorded, wherein the class of decoding feedback event Type include according between at least one robot shelf corresponding with its current location site error value and default error threshold The correct feedback event that is divided of relationship and error feedback event.
When using robot moving goods rack, robot runs to the lower section of shelf, shelf is held up upwards, then to target Ground is mobile.When the location matches degree of robot and shelf is higher, stable moving goods rack is may be implemented in robot, at this point, goods The mobile precision of frame is also relatively high；When the location matches degree of robot and shelf is lower, i.e. centre coordinate where robot There are certain deviations between position coordinates system where system and shelf, and when robot being caused to hold up shelf upwards, shelf occur Scale offset or angle tilt, at this point, the precision of shelf movement is just relatively low.It therefore, can be by recording at least one machine Site error value of device people during moving goods rack between shelf corresponding with its current location, to realize to the mobile essence of shelf The monitoring of degree.The process of carrying recorded decoding feedback event, that is, record position error amount process.Whenever position of robot records Error amount will draw type belonging to decoding feedback event according to the relationship of site error value and default error threshold Divide and marks.In addition, robot can also be while carrying recorded decoding feedback event, not to type belonging to decoding feedback event It divides, when carrying out data processing, by server according to the relationship of site error value and default error threshold, to decoding feedback Type belonging to event is divided and is marked.
Wherein, the specifying information for the decoding feedback event that robot records each time may include：Robot and present bit Set site error value between corresponding shelf, robot number and shelf number, the data of decoding feedback event can be according to Robot number and the distinguishing property storage of shelf number.Shelf number be by robot at the top of camera to below shelf Two dimensional code carry out image taking after identify and obtain.
Optionally, site error value include calibrated error value and image error value and, wherein calibrated error value is at least Error amount between the camera coordinate system at the top of one robot and the centre coordinate system of robot, image error value be to Between two dimensional code coordinate system below the camera coordinate system shelf corresponding with its current location at the top of a few robot Error amount.
Site error value can specifically pass through the centre coordinate system of robot, the camera coordinate system at top and shelf lower section Two dimensional code coordinate system this three between relationship measure.When site error value is very small, i.e., the center where robot is sat When position coordinates system where mark system and shelf essentially coincides, the centre coordinate system of corresponding robot, the camera at top are sat Two dimensional code coordinate system below mark system and shelf essentially coincides respectively.But due to the system of various factors, such as robot The stickup factor etc. of factor and two dimensional code is made, three of the above coordinate system can not achieve good coincidence.
Wherein, calibrated error value belongs to robot factory calibration content, for measuring the centre coordinate system of robot itself Deviation between its top camera coordinate system.In the case that robot manufacture very accurately, the center of robot is sat The center of mark system and camera coordinate system is to be overlapped, but due to the inevitable property of foozle, in the two coordinate systems The heart, which is also not, to be strictly overlapped.If calibration mass when robot dispatches from the factory is poor, even if the two dimensional code below shelf is pasted onto goods The center position of frame, when robot shoots two dimensional code below shelf, between camera coordinate system and two dimensional code coordinate system There can be biggish position deviation, shoot the two dimensional code come not at the center of shooting image.Alternatively, mark when robot dispatches from the factory Determine that quality is preferable, the two dimensional code below shelf is not pasted onto the center position of shelf precisely due to the fault of paste operation, This also results in the two dimensional code, there are position deviation, shot and between camera coordinate system and two dimensional code coordinate system and is not shooting The center of image.So needing to comprehensively consider robot when determining the site error value between robot and shelf location Relationship between centre coordinate system, camera coordinate system and two dimensional code coordinate system this three.The type of site error value includes ruler Degree offset and angle offset, the presence of scale offset, show as depositing offset in the horizontal and vertical directions when shelf lift up, The presence of angle offset shows as inclination when shelf lift up there are angle.
By two dimensional code in the image to shooting, in the picture whether calculating is identified and analyzed in the heart, is clapped for example, calculating The range deviation of two mutually perpendicular sidelines to picture centres of two dimensional code obtains the scale offset of two dimensional code on the image taken the photograph, Rotation angle using two dimensional code relative to picture centre obtains the angle offset of two dimensional code, then passes through picture size and reality Proportionate relationship conversion between position dimension, can obtain the image error between camera coordinate system and two dimensional code coordinate system Value finally adds calibrated error value on the basis of image error value, can be used to characterize the position between robot and shelf Set error amount.
Optionally, correct feedback event refers to that site error value is less than or equal to the decoding feedback event of default error threshold；
Error feedback event refers to that site error value is greater than the decoding feedback event of default error threshold.
Default error threshold can specifically be set according to the required precision of monitoring.The mobile accuracy monitoring of shelf is required to get over Height, the then default error threshold set need smaller.If robot records is correct feedback event, illustrate machine at this time Site error value between people and shelf is in the mobile accuracy monitoring allowed band of shelf, if robot records is mistake Feedback event then illustrates that the site error value at this time between robot and shelf has exceeded the mobile accuracy monitoring of shelf and allows model It encloses.Since the type of the site error value of record includes scale offset and angle offset, so correct feedback event includes scale Offset is less than or equal to the decoding feedback event of default scale error threshold value and angle offset is less than or equal to predetermined angle error threshold Decoding feedback event, similarly, error feedback event includes the decoding feedback thing that scale offset is greater than default scale error threshold value Part and angle offset are greater than the decoding feedback event of predetermined angle error threshold.
S120, the decoding feedback event of record is sent to server, so as to server by decoding feedback event into Row data are analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
The decoding feedback event of record is sent to server by robot, and server will be numbered according to robot and shelf Number classifies to data, and statistical analysis obtains the mobile accuracy monitoring of shelf as a result, joining field maintenance person Monitoring result is examined, the failure that the scale offset or angle tilt during the physical distribution selection that gives warning in advance due to shelf induce.
The technical solution of the present embodiment utilizes the decoding feedback event in its operational process of at least one robot records, In, the type of decoding feedback event includes being missed according to the position between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event that difference and the relationship of default error threshold are divided；Then, by the solution of record Code feedback event is sent to server, so that server is analyzed to obtain at least one goods by carrying out data to decoding feedback event The mobile accuracy monitoring result of frame.The embodiment of the present invention solves lacks precision effectively mobile for shelf in the prior art The problem of monitoring method, has given full play to the advantage of clustered machine people, the statistical analysis based on data, realizes mobile to shelf The effect that is effectively monitored of precision.
Embodiment two
Fig. 2 is the flow chart of the mobile accuracy monitoring method of shelf 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, decoding feedback when at least one robot is run to for the first time below the corresponding shelf in current location is recorded Event.
When robot is run to for the first time below each shelf, the position between shelf that can be monitored according to it is missed Difference is adjusted the position of itself, the adjustment including horizontal position, vertical position and angle to camera, with guarantee can be with Steadily hold up current shelf.When robot is run to again below same shelf, the site error value recorded will occur is 0 Or the situation of the site error value inaccuracy of record, because after by running to the adjustment of the position below shelf for the first time, then The site error value of secondary record is it is possible that the problem of error accumulation.It is real in order to guarantee on the basis of data statistic analysis Now to effective monitoring of shelf mobile accuracy, when needing to run to for the first time below the corresponding shelf in current location using robot The site error value of record, i.e. decoding feedback event when below the corresponding shelf in the current location of robot records be its first It is secondary to record when running to below the shelf.
S220, the decoding feedback event of record is sent to server, so as to server by decoding feedback event into Row data are analyzed to obtain and the two dimensional code below the precision of the upward positioning system of at least one robot and at least one shelf Paste the relevant accuracy monitoring result of precision.
The factor for influencing shelf mobile accuracy includes the factor of two dimensional code below the factor and shelf of robot itself, machine The factor of people itself mainly includes the precision of the upward positioning system of robot, is determined by the size of the calibrated error value of robot It is fixed；The factor of two dimensional code mainly include two dimensional code paste precision, by the paste position and shelf of two dimensional code center it is inclined Poor size determines.Decoding feedback event is sent to server by robot, and server carries out data analysis, obtain mainly with this two The relevant accuracy monitoring of aspect factor is as a result, avoiding only influences the unilateral of the mobile precision factor of shelf from the aspect of single Property conclusion for maintenance personnel, have more reference value so that monitoring result is more accurate, personnel convenient for safeguarding are according to prison It surveys result and carries out targetedly maintenance work, avoid the generation of logistics failure.
Optionally, the decoding feedback event of record is sent to server, so that server passes through to decoding feedback event Data are carried out to analyze to obtain and the two dimension below the precision of the upward positioning system of at least one robot and at least one shelf Code pastes the relevant accuracy monitoring of precision as a result, including：
The decoding feedback event of record is sent to server, so that server corresponds to different goods to each robot respectively The correct feedback event and error feedback event of frame carry out probability statistics, and are corresponding to different robots just to each shelf respectively True feedback event and error feedback event carry out probability statistics.
It is two dimensional code below the factor or shelf of robot itself to the factor that judgement influences shelf mobile accuracy Factor then needs for statistical analysis from robot and two references angles of shelf respectively.Specifically, can be by each machine Device people corresponds to the correct feedback event of different shelf and error feedback event carries out probability statistics, judges to influence shelf mobile accuracy Factor whether be robot upward positioning system precision；By corresponding to the correct anti-of different robots to each shelf Feedback event and error feedback event carry out probability statistics, judge whether the factor for influencing shelf mobile accuracy is that two dimensional code is pasted Precision.
It is corresponding that the technical solution of the present embodiment using its first time of at least one robot records runs to current location Then the decoding feedback event of record is sent to server, so that server passes through by decoding feedback event when below shelf Data are carried out to decoding feedback event to analyze to obtain and the precision of the upward positioning system of at least one robot and at least one Two dimensional code below shelf is pasted the relevant accuracy monitoring of precision and is lacked in the prior art effectively as a result, solving for shelf The problem of mobile accuracy monitoring method, the advantage of clustered machine people is given full play to, from the factor and shelf of robot itself The aspect of factor two of two dimensional code is started with, and the statistical analysis of data is carried out, and avoiding, which only influences shelf from the aspect of single, moves The one-sidedness conclusion of dynamic precision factor realizes the effect that the precision mobile to shelf is effectively monitored.
Embodiment three
Fig. 3 is the flow chart of the accuracy monitoring method for the shelf movement that the embodiment of the present invention three provides, and the present embodiment can fit The case where precision mobile to shelf is monitored in the server for application, and is applied to machine in the above embodiment of the present invention The mobile accuracy monitoring method of the shelf of device people, which cooperates, to be executed.This method can be held by accuracy monitoring device that shelf move 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, decoding feedback event at least one robot operational process is received, wherein the class of decoding feedback event Type include according between at least one robot shelf corresponding with its current location site error value and default error threshold The correct feedback event that is divided of relationship and error feedback event.
The transmission of data is realized by network communication between server and robot and is shared.Server receives robot The decoding feedback event of transmission, if robot has completed the division to the affiliated type of decoding feedback event, server is just not Need to be decoded the division of the affiliated type of feedback event, if the affiliated type of decoding feedback event is not drawn by robot Point, then server is needed according to the division for presetting the error threshold completion affiliated type of decoding feedback event.Default error threshold can Specifically to be set according to required precision of the monitoring personnel to monitoring.
Optionally, site error value include calibrated error value and image error value and, wherein calibrated error value is at least Error amount between the camera coordinate system at the top of one robot and the centre coordinate system of robot, image error value be to Between two dimensional code coordinate system below the camera coordinate system shelf corresponding with its current location at the top of a few robot Error amount.
The record of location error is recorded by robot, is then sent to server, ensure that the timely of data record Property and logic.
Optionally, correct feedback event refers to that site error value is less than or equal to the decoding feedback event of default error threshold；
Error feedback event refers to that site error value is greater than the decoding feedback event of default error threshold.
S320, data analysis is carried out to received decoding feedback event, obtains the mobile accuracy monitoring of at least one shelf As a result.
Server is based on the information for including in received decoding feedback event, for example, robot is corresponding with current location Site error value, robot number and shelf number between shelf etc. are analyzed to obtain the mobile precision prison of shelf by data Survey result.
Optionally, data analysis is carried out to received decoding feedback event, obtains the mobile precision prison of at least one shelf It surveys as a result, including：
Data analysis is carried out to received decoding feedback event, is obtained and the upward positioning system of at least one robot Precision accuracy monitoring result relevant with the two dimensional code stickup precision below at least one shelf.
The precision and the two dimension below shelf that the factor of influence shelf mobile accuracy includes the upward positioning system of robot Code pastes precision, can be to avoid the one-sidedness conclusion for only influencing the mobile precision factor of shelf from the aspect of single, so that prison It is more accurate to survey result, for maintenance personnel, has more reference value.
The technical solution of the present embodiment receives the decoding feedback thing at least one robot operational process by server Part, wherein the type of decoding feedback event includes according between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event that site error value and the relationship of default error threshold are divided, then, service Device carries out data analysis to received decoding feedback event, obtains the mobile accuracy monitoring of at least one shelf as a result, solving Shortage is effective aiming at the problem that accuracy monitoring method of shelf movement in the prior art, has given full play to the excellent of clustered machine people Gesture, the statistical analysis based on data realize the effect that the precision mobile to shelf is effectively monitored, and certainly from robot Two aspects of the factor of body and the factor of shelf two dimensional code are started with, and avoiding only influences the mobile essence of shelf from the aspect of single The one-sidedness conclusion of degree factor.
Example IV
Fig. 4 is the flow chart of the mobile accuracy monitoring method of shelf that the embodiment of the present invention four provides, the present embodiment be Further progress optimizes on the basis of above-described embodiment.As shown in figure 4, this method specifically includes：
S410, decoding feedback when at least one robot is run to for the first time below the corresponding shelf in current location is received Event.
Server is before carrying out data analysis, its first time for receiving robot records, to run to current location corresponding Decoding feedback event when below shelf, it is ensured that the validity and accuracy of monitoring result.
S420, based on the received decoding feedback event correspond to the correct feedback thing of different shelf to each robot respectively Part and error feedback event carry out probability statistics, and respectively each shelf are corresponded to the correct feedback event and mistake of different robots Accidentally feedback event carries out probability statistics.
S430, according to probability statistics as a result, if each robot corresponds to the general of the error feedback event of different shelf Rate value is greater than the first preset value, it is determined that the factor for influencing the corresponding different shelf mobile accuracies of each robot includes the machine The precision of the upward positioning system of people.
S440, according to probability statistics as a result, if each shelf correspond to the general of the error feedback event of different robots Rate value is greater than the second preset value, it is determined that the factor for influencing the shelf mobile accuracy includes that two dimensional code below the shelf pastes essence Degree.
First preset value can account in terms of the mean accuracy of robot itself, set specific value；Second is pre- If value can account in terms of the mean accuracy that the two dimensional code below shelf is pasted, specific value is set, about robot The determination for the mean accuracy pasted with shelf two dimensional code, which can be to analyze from historical data, to be obtained, and maintenance personnel's root is also possible to The threshold value set according to experience.If the probability value that each robot corresponds to the error feedback event of different shelf is larger, this shows The frequency that the site error value that the robot corresponds to different shelf records is greater than default error threshold is more, from statistics angle For degree, illustrate that the factor for influencing shelf mobile accuracy is the precision of the upward positioning system of the robot.If each goods The probability value that frame corresponds to the error feedback event of different robots is larger, shows that different robots correspond to the position of shelf record The frequency that error amount is greater than default error threshold is more, for statistics angle, illustrate to influence shelf mobile accuracy because Element is that two dimensional code pastes precision.
In the correct feedback event and error feedback event progress probability system for corresponding to different shelf to each robot respectively Meter, and respectively to each shelf correspond to different robots correct feedback event and error feedback event progress probability statistics it Afterwards, according to probability statistics as a result, the influence factor of determining corresponding shelf movement, can be convenient maintenance personnel and carry out effectively Maintenance work then safeguards robot if it is the factor of robot itself, such as the correct adjustment of calibrated error value； If it is the factor of two dimensional code below shelf, then two dimensional code is safeguarded, such as the corrigendum of two dimensional code paste position.
The technical solution of the present embodiment receives at least one robot by server and runs to current location pair for the first time Decoding feedback event when below the shelf answered, server decoding feedback event based on the received, respectively to each robot pair The correct feedback event and error feedback event for answering different shelf carry out probability statistics, and correspond to different machines to each shelf respectively The correct feedback event and error feedback event of device people carries out probability statistics, finally, according to probability statistics as a result, determining respectively Two aspect factors of shelf mobile accuracy are influenced out：The precision and two dimensional code of the upward positioning system of robot paste precision, solution Having determined, it is effective aiming at the problem that accuracy monitoring method of shelf movement to lack in the prior art, has given full play to clustered machine people Advantage, the statistical analysis based on data realizes the effect that the precision mobile to shelf is effectively monitored, and can basis The influence factor of determining shelf mobile accuracy carries out effectively specific aim to robot and shelf two dimensional code and safeguards.
It is the embodiment of the mobile accuracy monitoring device of shelf provided in an embodiment of the present invention below, the device and above-mentioned each The mobile accuracy monitoring method of the shelf of embodiment belongs to the same inventive concept, in the reality of the mobile accuracy monitoring device of shelf The detail content of not detailed description in example is applied, it can be with reference to the embodiment of the mobile accuracy monitoring method of above-mentioned shelf.
Embodiment five
Fig. 5 is the structural schematic diagram of the accuracy monitoring device for the shelf movement that the embodiment of the present invention five provides, and is configured in In robot, the present embodiment is applicable to the mobile precise manner of monitoring shelf.Machine is configured at provided by the embodiment of the present invention The goods provided by any embodiment of the invention applied to robot can be performed in the accuracy monitoring device of shelf movement in device people The mobile accuracy monitoring method of frame, has the corresponding functional module of execution method and beneficial effect.As shown in figure 5, the device has Body includes feedback event logging modle 510 and feedback data processing module 520, wherein：
Feedback event logging modle 510, for recording the decoding feedback event at least one robot operational process, In, the type of decoding feedback event includes being missed according to the position between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event that difference and the relationship of default error threshold are divided.
Optionally, feedback event logging modle 510 is run to currently for the first time specifically for recording at least one robot Decoding feedback event when below the corresponding shelf in position.
Feedback data processing module 520, for the decoding feedback event of record to be sent to server, so that server is logical It crosses and decoding feedback event progress data is analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
Optionally, feedback data processing module 520, specifically for the decoding feedback event of record is sent to server, So that server is analyzed to obtain and the upward positioning system of at least one robot by carrying out data to decoding feedback event Precision accuracy monitoring result relevant with the two dimensional code stickup precision below at least one shelf.
Further, feedback data processing module 520, specifically for the decoding feedback event of record is sent to service Device, so that server corresponds to the correct feedback event and error feedback event progress probability of different shelf to each robot respectively Statistics, and respectively each shelf are corresponded to the correct feedback event and error feedback event progress probability statistics of different robots.
Optionally, the decoding feedback event recorded in feedback event logging modle 510 carries out related when Type division Site error value between at least one robot shelf corresponding with its current location includes calibrated error value and image error The sum of value, wherein calibrated error value is the camera coordinate system at the top of at least one robot and the centre coordinate of robot Error amount between system, image error value are that the camera coordinate system at the top of at least one robot is corresponding with its current location Shelf below two dimensional code coordinate system between error amount.
Optionally, the correct feedback event recorded in feedback event logging modle 510 refers at least one robot and its Site error value between the corresponding shelf in current location is less than or equal to the decoding feedback event of default error threshold；The mistake of record Accidentally feedback event refers to that the site error value between at least one robot shelf corresponding with its current location is greater than default miss The decoding feedback event of poor threshold value.
It is corresponding that the technical solution of the present embodiment using its first time of at least one robot records runs to current location Then the decoding feedback event of record is sent to server, so that server passes through by decoding feedback event when below shelf Data are carried out to decoding feedback event to analyze to obtain and the precision of the upward positioning system of at least one robot and at least one Two dimensional code below shelf is pasted the relevant accuracy monitoring of precision and is lacked in the prior art effectively as a result, solving for shelf The problem of mobile accuracy monitoring method, the advantage of clustered machine people is given full play to, the statistical analysis based on data realizes The effect that mobile precision is effectively monitored to shelf.
Embodiment six
Fig. 6 is the structural schematic diagram of the accuracy monitoring device for the shelf movement that the embodiment of the present invention six provides, and is configured in In server, the present embodiment is applicable to the mobile precise manner of monitoring shelf.Clothes are configured at provided by the embodiment of the present invention The goods provided by any embodiment of the invention applied to server can be performed in the accuracy monitoring device of shelf movement in business device The mobile accuracy monitoring method of frame, has the corresponding functional module of execution method and beneficial effect.As shown in fig. 6, the device has Body includes feedback event receiving module 610 and data analysis module 620, wherein：
Feedback event receiving module 610, for receiving the decoding feedback event at least one robot operational process, In, the type of decoding feedback event includes being missed according to the position between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event that difference and the relationship of default error threshold are divided.
Optionally, feedback event receiving module 610 is run to currently for the first time specifically for receiving at least one robot Decoding feedback event when below the corresponding shelf in position.
Data analysis module 620 obtains at least one shelf for carrying out data analysis to received decoding feedback event Mobile accuracy monitoring result.
Optionally, data analysis module 620 are specifically used for carrying out data analysis to received decoding feedback event, obtain It is relevant that precision is pasted to the two dimensional code below the precision of the upward positioning system of at least one robot and at least one shelf Accuracy monitoring result.
Further, data analysis module 620, specifically for corresponding to the correct anti-of different shelf to each robot respectively Feedback event and error feedback event carry out probability statistics, and respectively each shelf are corresponded to the correct feedback event of different robots Probability statistics are carried out with error feedback event.
Optionally, which further includes robot factor determining module and two dimensional code factor determining module, wherein：
Robot factor determining module, for according to probability statistics as a result, if each robot corresponds to different shelf The probability value of error feedback event be greater than the first preset value, it is determined that influence the mobile essence of the corresponding different shelf of each robot The factor of degree includes the precision of the upward positioning system of the robot.
Two dimensional code factor determining module, for according to probability statistics as a result, if each shelf correspond to different robots Error feedback event probability value be greater than the second preset value, it is determined that the factor for influencing the shelf mobile accuracy includes the shelf The two dimensional code of lower section pastes precision.
Optionally, related when received decoding feedback event progress Type division in feedback event receiving module 610 Site error value between at least one robot shelf corresponding with its current location includes calibrated error value and image error The sum of value, wherein calibrated error value is the camera coordinate system at the top of at least one robot and the centre coordinate of robot Error amount between system, image error value are that the camera coordinate system at the top of at least one robot is corresponding with its current location Shelf below two dimensional code coordinate system between error amount.
Optionally, received correct feedback event refers at least one robot and its in feedback event receiving module 610 Site error value between the corresponding shelf in current location is less than or equal to the decoding feedback event of default error threshold；Received mistake Accidentally feedback event refers to that the site error value between at least one robot shelf corresponding with its current location is greater than default miss The decoding feedback event of poor threshold value.
The technical solution of the present embodiment receives the decoding feedback thing at least one robot operational process by server Part, wherein the type of decoding feedback event includes according between at least one robot shelf corresponding with its current location The correct feedback event and error feedback event that site error value and the relationship of default error threshold are divided, then, service Device carries out data analysis to received decoding feedback event, obtains the mobile accuracy monitoring of at least one shelf as a result, solving Shortage is effective aiming at the problem that accuracy monitoring method of shelf movement in the prior art, has given full play to the excellent of clustered machine people Gesture, the statistical analysis based on data realize the effect that the precision mobile to shelf is effectively monitored.
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 It is 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 the image in 2 D code below shelf.Bus 718 indicates one in a few class bus structures Kind or a variety of, including storage device bus or storage controller, peripheral bus, graphics acceleration port, processor or Use the local bus of any bus structures in a variety of bus structures.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, 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 accuracy monitoring method mobile applied to the shelf of robot provided by the embodiment of the present invention, the party Method includes：
Record the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
The decoding feedback event is sent to server, so as to the server by the decoding feedback event into Row data are analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
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 It is 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 accuracy monitoring method mobile applied to the shelf of server provided by the embodiment of the present invention, the party Method includes：
Receive the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
Data analysis is carried out to the decoding feedback event, obtains the mobile accuracy monitoring result of at least one shelf.
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 Mobile applied to the shelf of robot accuracy monitoring as provided by the embodiment of the present invention is realized when program is executed by processor Method, this method include：
Record the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
The decoding feedback event is sent to server, so as to the server by the decoding feedback event into Row data are analyzed to obtain the mobile accuracy monitoring result of at least one shelf.
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 mediums, are stored thereon with computer program, should For executing a kind of accuracy monitoring method that the shelf applied to server are mobile, this method packet when program is executed by processor It includes：
Receive the decoding feedback event at least one robot operational process, wherein the class of the decoding feedback event Type includes according to the site error value and default error between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of threshold value is divided；
Data analysis is carried out to the decoding feedback event, obtains the mobile accuracy monitoring result of at least one shelf.
Certainly, a kind of computer readable storage medium comprising computer program provided by the embodiment of the present invention, meter The method operation that calculation machine program is not limited to the described above can also be performed provided by any embodiment of the invention applied to service The relevant operation of the mobile accuracy monitoring method of the shelf of device.It can be found in the content solution in embodiment nine to the introduction of storage medium It releases.
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 mobile accuracy monitoring method of shelf, is applied to robot, which is characterized in that including：
Record the decoding feedback event at least one robot operational process, wherein the type packet of the decoding feedback event Include the site error value between at least one robot shelf corresponding with its current location according to and default error threshold The correct feedback event that is divided of relationship and error feedback event；
The decoding feedback event is sent to server, so that the server is by counting the decoding feedback event The mobile accuracy monitoring result of at least one shelf is obtained according to analysis.
2. the method according to claim 1, wherein the solution recorded at least one robot operational process Code feedback event, including：
Record decoding feedback event when at least one described robot is run to for the first time below the corresponding shelf in current location.
3. the method according to claim 1, wherein the decoding feedback event is sent to server, so as to The server is analyzed to obtain the mobile accuracy monitoring knot of at least one shelf by carrying out data to the decoding feedback event Fruit, including：
The decoding feedback event is sent to the server, so as to the server by the decoding feedback event into Row data are analyzed to obtain and the precision of the upward positioning system of at least one robot and at least one described shelf lower section Two dimensional code paste the relevant accuracy monitoring result of precision.
4. a kind of mobile accuracy monitoring method of shelf, is applied to server, which is characterized in that including：
Receive the decoding feedback event at least one robot operational process, wherein the type packet of the decoding feedback event Include the site error value between at least one robot shelf corresponding with its current location according to and default error threshold The correct feedback event that is divided of relationship and error feedback event；
Data analysis is carried out to the decoding feedback event, obtains the mobile accuracy monitoring result of at least one shelf.
5. a kind of mobile accuracy monitoring device of shelf, is configured in robot, which is characterized in that including：
Feedback event logging modle, for recording the decoding feedback event at least one robot operational process, wherein described The type of decoding feedback event includes according to the position between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of error amount and default error threshold is divided；
Feedback data processing module, for the decoding feedback event to be sent to server, so as to the server by pair The decoding feedback event carries out data and analyzes to obtain the mobile accuracy monitoring result of at least one shelf.
6. a kind of mobile accuracy monitoring device of shelf, is configured in server, which is characterized in that including：
Feedback event receiving module, for receiving the decoding feedback event at least one robot operational process, wherein described The type of decoding feedback event includes according to the position between at least one described robot shelf corresponding with its current location The correct feedback event and error feedback event that the relationship of error amount and default error threshold is divided；
Data analysis module obtains the mobile essence of at least one shelf for carrying out data analysis to the decoding feedback event Spend monitoring result.
7. a kind of robot, which is characterized in that including：
Camera, for acquiring the image in 2 D code below shelf；
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 The mobile accuracy monitoring method of existing shelf as claimed in any one of claims 1 to 3.
8. a kind of server, which is characterized in that including：
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 The now mobile accuracy monitoring method of shelf 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 Shelf as claimed in any one of claims 1 to 3 mobile accuracy monitoring method 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 Shelf as claimed in claim 4 mobile accuracy monitoring method is realized when execution.
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