CN110561498A - Method and device for determining repeated positioning accuracy of robot and robot - Google Patents
Method and device for determining repeated positioning accuracy of robot and robot Download PDFInfo
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- CN110561498A CN110561498A CN201910935892.7A CN201910935892A CN110561498A CN 110561498 A CN110561498 A CN 110561498A CN 201910935892 A CN201910935892 A CN 201910935892A CN 110561498 A CN110561498 A CN 110561498A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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Abstract
The invention discloses a method and a device for determining repeated positioning accuracy of a robot and the robot. Wherein, the method comprises the following steps: when the robot moves to a target area along each of the multiple paths, controlling an image acquisition device to acquire images of the robot, and obtaining images acquired by the image acquisition device when the robot moves to the target area each time, wherein the target area is provided with the image acquisition device which is used for acquiring the images of the robot moving to the target area; analyzing the image to obtain point location information of a preset part arranged on the robot; and determining the repeated positioning accuracy of the robot according to the reference information and the point location information, wherein the reference information is preset information based on the target area. The invention solves the technical problem of higher difficulty in a mode for determining the repeated positioning precision of the robot in the related technology.
Description
Technical Field
The invention relates to the technical field of robot positioning, in particular to a method and a device for determining repeated positioning accuracy of a robot and the robot.
background
Industrial robots are a trend of future automation development, wherein the repeated positioning accuracy is an important parameter of robot motion, and the higher the positioning accuracy, the more the technical level of the robot can be reflected. However, the conventional testing method is to purchase a laser tracker, and the laser tracker measures the parameter of the robot, although the laser tracker can effectively measure the parameter and can also do more testing work; however, the laser tracker is very expensive, and requires a series of parameter configurations before each use, and requires professional personnel to operate, which is very inconvenient.
Aiming at the problem that the mode for determining the repeated positioning precision of the robot in the related technology is difficult, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining the repeated positioning accuracy of a robot and the robot, and at least solves the technical problem that the difficulty of a mode for determining the repeated positioning accuracy of the robot in the related technology is high.
according to an aspect of the embodiments of the present invention, there is provided a method for determining a robot repeated positioning accuracy, including: when the robot moves to a target area along each of a plurality of paths, controlling an image acquisition device to acquire an image of the robot, and obtaining an image acquired by the image acquisition device when the robot moves to the target area each time, wherein the target area is provided with the image acquisition device, and the image acquisition device is used for acquiring the image of the robot moving to the target area; analyzing the image to obtain point location information of a preset part arranged on the robot; and determining the repeated positioning precision of the robot according to reference information and the point location information, wherein the reference information is preset information based on the target area.
Optionally, controlling the image capturing device to capture an image of the robot as the robot moves to the target area along each of the plurality of paths comprises: when the robot is determined to move to the target area along each of the plurality of paths, controlling the robot to send image acquisition information to the image acquisition equipment; and when the image acquisition equipment receives the image acquisition information, controlling the image acquisition equipment to acquire images based on the image acquisition information.
Optionally, controlling the image capturing device to capture an image based on the image capturing information includes one of: under the condition that the image acquisition equipment is determined to successfully acquire the image based on the image acquisition information, analyzing the image; and recording image acquisition failure information under the condition that the image acquisition equipment fails to acquire images based on the image acquisition information.
Optionally, determining the repeated positioning accuracy of the robot according to the reference information and the point location information includes: generating a line graph based on the point location information; and determining the repeated positioning precision of the robot according to the line graph and the reference information.
Optionally, determining the repeated positioning accuracy of the robot according to the line graph and the reference information comprises: determining deviation information of the point location information of the predetermined component from the reference information when the robot moves to a target area along each of the plurality of paths based on the line graph and the reference information; determining a repositioning accuracy of the robot based on the deviation information.
According to another aspect of the embodiments of the present invention, there is provided an apparatus for determining a robot repositioning accuracy, including: the robot control device comprises a control unit and a control unit, wherein the control unit is used for controlling an image acquisition device to acquire an image of a robot when the robot moves to a target area along each of a plurality of paths, so as to obtain the image acquired by the image acquisition device when the robot moves to the target area each time, the target area is provided with the image acquisition device, and the image acquisition device is used for acquiring the image of the robot moving to the target area; the analysis unit is used for analyzing the image to obtain point location information of a preset part arranged on the robot; and the determining unit is used for determining the repeated positioning precision of the robot according to reference information and the point location information, wherein the reference information is preset information based on the target area.
Optionally, the control unit comprises: the first control module is used for controlling the robot to send image acquisition information to the image acquisition equipment when determining that the robot moves to the target area along each of the paths; and the second control module is used for controlling the image acquisition equipment to acquire images based on the image acquisition information when the image acquisition equipment receives the image acquisition information.
Optionally, the control unit comprises one of: the analysis module is used for analyzing the image under the condition that the image acquisition equipment is determined to successfully acquire the image based on the image acquisition information; and the recording module is used for recording image acquisition failure information under the condition that the image acquisition equipment fails to acquire images based on the image acquisition information.
Optionally, the determining unit includes: the generating module is used for generating a line graph based on the point location information; and the determining module is used for determining the repeated positioning precision of the robot according to the line graph and the reference information.
Optionally, the determining module includes: a first determination sub-module configured to determine deviation information of point location information of the predetermined component from the reference information when the robot moves to a target area along each of the plurality of paths based on the line graph and the reference information; a second determining submodule for determining a repositioning accuracy of the robot based on the deviation information.
According to another aspect of the embodiment of the present invention, there is provided a robot using the method for determining the repeated positioning accuracy of the robot described in any one of the above.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein the program executes the method for determining the repeated positioning accuracy of the robot described in any one of the above.
According to another aspect of the embodiment of the present invention, there is further provided a processor, configured to execute a program, where the program executes the method for determining the repeated positioning accuracy of the robot described in any one of the above.
In the embodiment of the invention, when the robot moves to a target area along each of a plurality of paths, the image acquisition equipment is controlled to acquire images of the robot, and the images acquired by the image acquisition equipment when the robot moves to the target area are obtained, wherein the target area is provided with the image acquisition equipment which is used for acquiring the images of the robot moving to the target area; analyzing the image to obtain point location information of a preset part arranged on the robot; the method for determining the repeated positioning precision of the robot achieves the purpose of determining the repeated positioning precision of the robot based on the point location information obtained by analyzing the image acquired by the robot and the preset reference information, achieves the technical effect of reducing the difficulty of determining the repeated positioning precision of the robot, and further solves the technical problem that the difficulty of determining the repeated positioning precision of the robot in the related technology is high.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a method of determining robot repositioning accuracy according to an embodiment of the invention;
FIG. 2 is a preferred flow chart of a method of determining robot repositioning accuracy in accordance with an embodiment of the present invention;
Fig. 3 is a schematic diagram of a device for determining the accuracy of repeated positioning of a robot according to an embodiment of the present invention.
Detailed Description
in order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of a method for determining robot repositioning accuracy, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of a method for determining the accuracy of repeated positioning of a robot according to an embodiment of the present invention, and as shown in fig. 1, the method for determining the accuracy of repeated positioning of a robot includes the following steps:
And S102, when the robot moves to a target area along each of the multiple paths, controlling the image acquisition equipment to acquire images of the robot, and obtaining the images acquired by the image acquisition equipment when the robot moves to the target area every time, wherein the target area is provided with the image acquisition equipment which is used for acquiring the images of the robot moving to the target area.
Optionally, the multiple paths are preset for accurate determination of the repeated positioning of the robot.
in an alternative embodiment, the robot may move to the target area along each of the plurality of paths to take a picture, that is, when the robot moves to the target area along each path, the image capturing device disposed in the target area captures an image of the robot.
It should be noted that, in the embodiment of the present invention, the type of the image capturing device is not particularly limited, and may be at least one of the following: infrared image acquisition equipment and a camera.
And step S104, analyzing the image to obtain point location information of a preset part arranged on the robot.
optionally, in order to improve the accuracy of the repeated positioning precision of the robot, in the embodiment of the present invention, a predetermined component may be set at a predetermined position of the robot, and the predetermined component is obtained by analyzing the acquired image every time the image analysis is performed. In the embodiment of the present invention, the predetermined component is not particularly limited, and may be, for example, a circular or other shaped component where the robot end flange is provided.
And S106, determining the repeated positioning accuracy of the robot according to reference information and point location information, wherein the reference information is preset information based on a target area.
Alternatively, the above-mentioned reference information may be determined in advance based on the position information of the target area, for use as information for performing the repetitive positioning accuracy determination of the robot.
that is, the obtained point location information may be compared with the reference information to obtain the repeated positioning accuracy of the robot.
As can be seen from the above, in the embodiment of the present invention, when the robot moves to the target area along each of the plurality of paths, the image acquisition device is controlled to acquire an image of the robot, the image is acquired by the image acquisition device each time the robot moves to the target area, the image is analyzed to acquire point location information of a predetermined component disposed on the robot, and then the repeated positioning accuracy of the robot is determined according to reference information and the point location information, where the reference information is information preset based on the target area, and the purpose of determining the repeated positioning accuracy of the robot based on the point location information acquired by analyzing the image acquired by the robot and the preset reference information is achieved.
It is easy to notice that when the robot moves to the target area along each of the multiple paths, the image acquisition device is controlled to acquire images of the robot, the images acquired by the image acquisition device are acquired when the robot moves to the target area each time, the images are analyzed to acquire point location information of a predetermined component arranged on the robot, and then the repeated positioning accuracy of the robot is determined according to the reference information and the point location information, because the point location information acquired by analyzing the images acquired by the image acquisition based on the multiple operation of the robot is compared with the reference information to acquire the repeated positioning accuracy of the robot, the point location information acquired based on the multiple operation of the robot is directly compared with the reference information without adopting a laser tracker to track the robot, the repeated positioning accuracy of the robot is acquired, and the complexity of the measurement of the repeated positioning accuracy of the robot is reduced, the technical effect of reducing the difficulty of determining the repeated positioning precision of the robot is achieved.
From the analysis, the technical problem that the method for determining the repeated positioning accuracy of the robot in the related art is difficult is solved through the technical scheme provided by the embodiment of the invention.
According to the above-described embodiment of the present invention, in step S102, controlling the image capturing apparatus to capture an image of the robot while the robot moves to the target area along each of the plurality of paths may include: when the robot is determined to move to a target area along each of the plurality of paths, controlling the robot to send image acquisition information to the image acquisition equipment; and when the image acquisition equipment receives the image acquisition information, controlling the image acquisition equipment to acquire images based on the image acquisition information.
Specifically, controlling the image pickup apparatus to perform image pickup based on the image pickup information includes one of: under the condition that the image acquisition equipment is determined to successfully acquire the image based on the image acquisition information, analyzing the image; and recording image acquisition failure information under the condition that the image acquisition equipment fails to acquire the image based on the image acquisition information.
According to the embodiment, the image acquisition states of the image acquisition equipment can be processed respectively, namely, the images are analyzed under the condition that the image acquisition is successful; on the contrary, the information of the failure of the current photographing is recorded, for example, which photographing failed and the reason of the failure of photographing.
according to the above embodiment of the present invention, in step S106, determining the repeated location accuracy of the robot according to the reference information and the point location information may include: generating a line graph based on the point location information; and determining the repeated positioning accuracy of the robot according to the line graph and the reference information.
For example, a line graph may be generated based on the point location information, reference information may be fitted to the line graph, and the repeated positioning accuracy of the robot may be obtained by comparing the line graph generated based on the point location information with a line graph obtained based on the reference information.
In an alternative embodiment, determining the accuracy of the repeated positioning of the robot from the line graph and the reference information comprises: determining deviation information of the point location information of the predetermined component relative to the reference information when the robot moves to the target area along each of the plurality of paths based on the line graph and the reference information; and determining the repeated positioning accuracy of the robot based on the deviation information.
That is, in order to further improve the accuracy of the precision of the repetitive positioning of the robot, after the line graph generated based on the point location information and the line graph obtained based on the reference information, the feature values between the reference information and the robot point location information, for example, the variance, the standard deviation, and the like are determined, and the precision of the repetitive positioning of the robot is determined using these feature values.
Fig. 2 is a preferred flowchart of a method for determining the robot repositioning accuracy according to an embodiment of the present invention, and as shown in fig. 2, it is determined that the robot starts to move, the robot is still when moving to a target area, waits for an image capturing device to perform image capturing, performs image capturing on the robot by using the image capturing device, and records a photographing failure message if the photographing fails; otherwise, recording the current position information, generating a line graph according to each point location, synchronously completing calculation processing, and generating related test information on line; and (6) completing the test.
It should be noted that, in the embodiment of the present invention, the related test information may also be generated in an offline manner.
According to the method for determining the repeated positioning accuracy of the robot, provided by the embodiment of the invention, the corresponding device is divided into two parts, one part is an industrial robot part, the other part is an industrial project part, and the two parts are communicated through Ethernet TCP/IP.
As shown in fig. 2, the robot first performs the operation of the predetermined estimation, after the robot operates for a period of time, the robot then operates to the photographing position, after the robot is completely stationary, the industrial robot communicates with the industrial camera through TCP/IP to inform the industrial camera to start photographing, the industrial camera immediately triggers photographing after receiving a signal, the photographing succeeds, the industrial camera records the current position information, compares the current position information according to the point location information of each photographing to generate a broken line graph, completes data processing synchronously, and generates related test information on line, if the photographing fails, the industrial camera also communicates with the industrial robot through TCP/IP to inform the robot that the photographing fails, the robot needs to take a picture again, after the photographing succeeds, the robot leaves the photographing point to continue to move, then continues to take a picture to know that the collection of the test sample is completed, and finally generates a test report.
According to the method for determining the robot repeated positioning precision, the test method is convenient to operate, the industrial camera part and the industrial robot part are separated, the industrial robot is moved to the designated position before each test, then the industrial camera and the industrial robot are connected through the network cable, the robot test program is led in, the point position of a shot is adjusted, the industrial camera part is built for the first time, and the adjustment is not needed each time later, the test method can be used for testing the positioning precision quickly and efficiently, namely, the repeated positioning precision of the robot can be measured effectively, quickly and accurately, and the test cost is reduced to the greatest extent.
Example 2
according to another aspect of the embodiments of the present invention, there is further provided an embodiment of an apparatus for performing the method for determining the accuracy of the robot repeated location in embodiment 1, and fig. 3 is a schematic diagram of an apparatus for determining the accuracy of the robot repeated location according to an embodiment of the present invention, as shown in fig. 3, the apparatus for determining the accuracy of the robot repeated location includes: a control unit 31, an analysis unit 33 and a determination unit 35. The following describes in detail the robot repositioning accuracy determination device.
And the control unit 31 is configured to control the image acquisition device to acquire an image of the robot when the robot moves to the target area along each of the plurality of paths, so as to obtain an image acquired by the image acquisition device when the robot moves to the target area each time, where the target area is provided with the image acquisition device, and the image acquisition device is configured to acquire the image of the robot moving to the target area.
And an analysis unit 33 for analyzing the image to obtain point location information of a predetermined part provided on the robot.
The determining unit 35 is configured to determine the repeated positioning accuracy of the robot according to reference information and point location information, where the reference information is preset information based on the target area.
It should be noted here that the control unit 31, the analysis unit 33, and the determination unit 35 correspond to steps S102 to S106 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure in embodiment 1. It should be noted that the modules described above as part of an apparatus may be implemented in a computer system such as a set of computer-executable instructions.
as can be seen from the above, in the above embodiment of the present invention, when the robot moves to the target area along each of the multiple paths, the control unit 31 may control the image acquisition device to acquire an image of the robot, so as to obtain an image acquired by the image acquisition device each time the robot moves to the target area, where the target area is provided with the image acquisition device, and the image acquisition device is configured to acquire the image of the robot moving to the target area; analyzing the image by using the analysis unit 33 to obtain point location information of a predetermined part arranged on the robot; and determining the repeated positioning accuracy of the robot by using the determination unit 35 according to reference information and point location information, wherein the reference information is information preset based on the target area. The device for determining the repeated positioning accuracy of the robot provided by the embodiment of the invention realizes the purpose of determining the repeated positioning accuracy of the robot based on the point location information obtained by analyzing the image acquired by the robot and the preset reference information, achieves the technical effect of reducing the difficulty of determining the repeated positioning accuracy of the robot, and further solves the technical problem of higher difficulty of a method for determining the repeated positioning accuracy of the robot in the related art.
In an alternative embodiment, the control unit comprises: the first control module is used for controlling the robot to send image acquisition information to the image acquisition equipment when determining that the robot moves to the target area along each of the plurality of paths; and the second control module is used for controlling the image acquisition equipment to acquire images based on the image acquisition information when the image acquisition equipment receives the image acquisition information.
In an alternative embodiment, the control unit comprises one of: the analysis module is used for analyzing the image under the condition that the image acquisition equipment is determined to successfully acquire the image based on the image acquisition information; and the recording module is used for recording the image acquisition failure information under the condition that the image acquisition equipment fails to acquire the image based on the image acquisition information.
In an alternative embodiment, the determining unit comprises: the generating module is used for generating a line graph based on the point location information; and the determining module is used for determining the repeated positioning precision of the robot according to the line graph and the reference information.
in an alternative embodiment, the determining module includes: a first determining sub-module for determining deviation information of point location information of the predetermined component from reference information when the robot moves to the target area along each of the plurality of paths based on the line graph and the reference information; and the second determining submodule is used for determining the repeated positioning accuracy of the robot based on the deviation information.
Example 3
according to another aspect of the embodiments of the present invention, there is also provided a robot using the method for determining the accuracy of repeated positioning of the robot according to any one of the embodiments 1.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein the program performs the method for determining the robot relocation accuracy of any one of the above.
Example 5
According to another aspect of the embodiment of the present invention, there is provided a processor, configured to execute a program, where the program executes the method for determining the repeated positioning accuracy of the robot.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
in the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
in addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
the foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for determining the repeated positioning accuracy of a robot is characterized by comprising the following steps:
When the robot moves to a target area along each of a plurality of paths, controlling an image acquisition device to acquire an image of the robot, and obtaining an image acquired by the image acquisition device when the robot moves to the target area each time, wherein the target area is provided with the image acquisition device, and the image acquisition device is used for acquiring the image of the robot moving to the target area;
Analyzing the image to obtain point location information of a preset part arranged on the robot;
and determining the repeated positioning precision of the robot according to reference information and the point location information, wherein the reference information is preset information based on the target area.
2. The method of claim 1, wherein controlling the image capture device to capture images of the robot as the robot moves to the target area along each of the plurality of paths comprises:
When the robot is determined to move to the target area along each of the plurality of paths, controlling the robot to send image acquisition information to the image acquisition equipment;
And when the image acquisition equipment receives the image acquisition information, controlling the image acquisition equipment to acquire images based on the image acquisition information.
3. The method of claim 1, wherein controlling the image acquisition device to perform image acquisition based on the image acquisition information comprises one of:
Under the condition that the image acquisition equipment is determined to successfully acquire the image based on the image acquisition information, analyzing the image;
And recording image acquisition failure information under the condition that the image acquisition equipment fails to acquire images based on the image acquisition information.
4. The method of claim 1, wherein determining the accuracy of the repeated positioning of the robot from the reference information and the point location information comprises:
Generating a line graph based on the point location information;
And determining the repeated positioning precision of the robot according to the line graph and the reference information.
5. the method of claim 4, wherein determining the accuracy of the repeated positioning of the robot from the line graph and the reference information comprises:
Determining deviation information of the point location information of the predetermined component from the reference information when the robot moves to a target area along each of the plurality of paths based on the line graph and the reference information;
Determining a repositioning accuracy of the robot based on the deviation information.
6. an apparatus for determining the accuracy of a robot repeat location, comprising:
the robot control device comprises a control unit and a control unit, wherein the control unit is used for controlling an image acquisition device to acquire an image of a robot when the robot moves to a target area along each of a plurality of paths, so as to obtain the image acquired by the image acquisition device when the robot moves to the target area each time, the target area is provided with the image acquisition device, and the image acquisition device is used for acquiring the image of the robot moving to the target area;
The analysis unit is used for analyzing the image to obtain point location information of a preset part arranged on the robot;
And the determining unit is used for determining the repeated positioning precision of the robot according to reference information and the point location information, wherein the reference information is preset information based on the target area.
7. The apparatus of claim 6, wherein the control unit comprises:
The first control module is used for controlling the robot to send image acquisition information to the image acquisition equipment when determining that the robot moves to the target area along each of the paths;
And the second control module is used for controlling the image acquisition equipment to acquire images based on the image acquisition information when the image acquisition equipment receives the image acquisition information.
8. A robot, characterized in that it uses the method of determination of the accuracy of robot repositioning according to any of claims 1 to 5.
9. a storage medium characterized in that the storage medium includes a stored program, wherein the program performs the method of determining the accuracy of robot relocation claimed in any one of claims 1 to 5.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to perform the method of determining the accuracy of a robot relocation claimed in any one of claims 1 to 5 when running.
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|---|---|---|---|---|
| CN115179327A (en) * | 2022-09-05 | 2022-10-14 | 成都睿芯行科技有限公司 | Mobile robot positioning accuracy testing method |
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Application publication date: 20191213 |