WO2022012365A1 - 机器人标定方法、设备及存储介质 - Google Patents

机器人标定方法、设备及存储介质 Download PDF

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Publication number
WO2022012365A1
WO2022012365A1 PCT/CN2021/104567 CN2021104567W WO2022012365A1 WO 2022012365 A1 WO2022012365 A1 WO 2022012365A1 CN 2021104567 W CN2021104567 W CN 2021104567W WO 2022012365 A1 WO2022012365 A1 WO 2022012365A1
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WO
WIPO (PCT)
Prior art keywords
calibration
robot
scene
information
operation event
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Application number
PCT/CN2021/104567
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English (en)
French (fr)
Inventor
杨志钦
邝丽艳
Original Assignee
炬星科技（深圳）有限公司
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Publication of WO2022012365A1 publication Critical patent/WO2022012365A1/zh

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Classifications

    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers

Definitions

  • the invention relates to the technical field of robots, and in particular to a robot calibration method, equipment and storage medium.
  • the robot's vision module and other components Before the autonomous mobile robot is put into use, it is necessary to calibrate the robot's vision module and other components to ensure that the robot is normal and meets the use standards. In addition, with the increase of the use time of the robot, it may cause the wear of the wheels, the change of the mechanical structure, etc., which will lead to the decrease of the initial calibration accuracy. When the accuracy drops to a certain level, the related functions of the robot will be seriously affected. Therefore, the calibration of the robot is very important.
  • the invention provides a robot calibration method, equipment and storage medium, aiming at standardizing the robot calibration and reducing the calibration cost.
  • the present invention provides a method for calibrating a robot, and the method for calibrating a robot includes:
  • the calibration requirements of the robot obtain the calibration scene information required for the robot calibration; and build the calibration scene required when calibrating the robot according to the obtained calibration scene information;
  • the present invention provides a robot calibration device, the robot calibration device comprising:
  • the scene construction module is set to: obtain the calibration scene information required for the robot calibration according to the calibration requirements of the robot; and build the calibration scene required for calibrating the robot according to the obtained calibration scene information;
  • a calibration execution module configured to: execute a calibration operation event of the robot based on the established calibration scene
  • the result feedback module is configured to: when the execution of the calibration operation event is completed, feedback the execution result of the calibration operation event for the user to view.
  • the present invention provides an electronic device, the electronic device includes a memory and a processor, the memory stores a robot calibration program that can run on the processor, and the robot calibration program is When the processor is running, the robot calibration method is executed.
  • the present invention provides a computer-readable storage medium on which a robot calibration program is stored, and the robot calibration program can be executed by one or more processors to implement the robot calibration method A step of.
  • the invention provides a robot calibration method, equipment and storage medium, which obtains calibration scene information required for robot calibration according to the robot's calibration requirements; and builds a calibration scene required when calibrating the robot according to the obtained calibration scene information ; Based on the built calibration scene, execute the calibration operation event of the robot; when the calibration operation event is executed, feedback the execution result of the calibration operation event for the user to view; by building a generalized calibration scene, provide Simple and clear operation software and/or operation programs (including automatic operation programs and human-computer interaction operation programs), as well as calibration resources that can be used in batches, realize the standardization of the robot calibration process and calibration steps, and reduce the threshold and The calibration cost of the robot.
  • Simple and clear operation software and/or operation programs including automatic operation programs and human-computer interaction operation programs
  • FIG. 1 is a schematic flowchart of an embodiment of a robot calibration method of the present invention.
  • Fig. 2a is a schematic diagram of an application scenario of an embodiment of the ground material required to build the calibration scene in the robot calibration method of the present invention.
  • Fig. 2b is a schematic diagram of an application scenario of an implementation manner in which a calibration scene is obtained after the ground material provided in Fig. 2a is used to construct the calibration scene.
  • FIG. 3 is a schematic diagram of functional modules of an embodiment of the robot calibration device of the present invention.
  • FIG. 4 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
  • the invention provides a robot calibration method, equipment and storage medium. By building a generalized calibration scene, it provides concise and clear running software and/or running programs (including automatic running programs and human-computer interaction running programs), and batch
  • the used calibration resources realize the standardization of the robot calibration process and calibration steps, and reduce the threshold of robot calibration and the calibration cost of the robot.
  • the robot calibration method provided by the embodiment of the present invention includes steps S10-S30.
  • Step S10 Obtain calibration scene information required for robot calibration according to the robot's calibration requirements; and build a calibration scene required for calibrating the robot according to the obtained calibration scene information.
  • the calibration scene information can be classified, for example, for a general calibration scene, configure the corresponding standard calibration scene information; and then, according to specific calibration requirements, configure the calibration scene for the calibration The required special calibration scene information, so that the calibration scene required for calibrating the robot is built according to the pre-configured standard calibration scene information and the special calibration scene information that matches the specific calibration requirements.
  • Step S20 Execute a calibration operation event of the robot based on the built calibration scene.
  • the robot when executing the calibration operation event corresponding to the robot, it can be mainly divided into two implementations.
  • One is that the robot performs an automatic calibration operation.
  • the robot The calibration software and/or calibration program can be launched to automatically execute the calibration operation event.
  • the other type is that the robot performs a non-automatic calibration operation, that is, after the corresponding calibration scene is built, the robot executes the corresponding calibration operation event according to the received control command.
  • Step S30 when the calibration operation event is completed, the execution result of the calibration operation event is fed back for the user to view.
  • a feedback function is provided for the execution result of the calibration operation event; that is, when the execution of the calibration operation event is completed, the execution result of the calibration operation event can be fed back for the user to view.
  • the execution result or execution data of the calibration operation event is displayed through the user operation display interface, and the user is informed.
  • the feedback for the execution result of the calibration operation event mainly includes two methods. One is to automatically judge the execution success or failure result, and when feeding back the execution result of the calibration operation event, directly feedback the calibration success or The result of the execution of the calibration failure. The other is that the execution result is not automatically judged, and only the execution result information of the calibration operation event is fed back.
  • the execution result of the calibration operation event is fed back for the user to view, which can be implemented according to the following technical means:
  • the execution result of successful calibration or calibration failure can be automatically fed back.
  • the calibration operation event is completed, based on the user operation display interface, the calibration result information of successful or failed calibration is directly displayed; or, a picture or a three-dimensional point cloud image corresponding to the calibration result information is displayed.
  • step S10 of the embodiment shown in FIG. 1 when acquiring the calibration scene information required for robot calibration according to the robot's calibration requirements, the following technical means may be used: according to the robot's required calibration Obtain the material information and tool information required for calibrating the parameter information; obtain the calibration scene information required for robot calibration according to the obtained material information and tool information.
  • corresponding calibration resources that can be used in batches can be provided in advance for the construction of the calibration scene, such as basic materials and supporting combination tools, and then according to the calibration scene.
  • the specific parameter information required to be calibrated by the robot, and the specific material information and tool information required to be used when calibrating the parameter information is obtained.
  • the calibration scene information corresponding to the material information and the tool information is selected from the pre-provided basic materials and matching combination tools.
  • step S10 of the embodiment shown in FIG. 1 building a calibration scene required for calibrating the robot can be implemented according to the following technical means:
  • the acquired calibration scene information calls the scene construction step operation information preset according to the calibration scene information; based on the scene construction step operation information, a standard calibration scene required for calibrating the robot is constructed.
  • corresponding scene construction step operation information is pre-configured for different parameter information to be calibrated.
  • the operation information of the scene construction step that matches the calibration scene information is searched for and called.
  • the scene construction step operation information in the embodiment of the present invention matches with different calibration scene information; using the calibration scene information, according to the scene construction step information, different calibration scenes can be correspondingly constructed.
  • step S20 in the embodiment shown in FIG. 1 can be implemented according to the following technical means: in the constructed calibration scene, based on the user operation display interface, the operation information of the calibration step is displayed for the user based on the The calibration step operation information triggers the execution of the calibration operation event.
  • the calibration operation in this embodiment is a non-automatic calibration operation, for example, by manually triggering a corresponding control command by a user to execute a relevant calibration operation event of the robot.
  • the operation information of the calibration step can be displayed based on the user operation display interface for the user to view.
  • the user controls the calibration robot to execute the corresponding calibration operation event according to the displayed calibration step operation information and according to the corresponding calibration operation steps.
  • the calibration operation event of the robot is automatically executed; at the same time, based on the user operation display interface, the execution process of the calibration operation event is displayed in real time.
  • the calibration operation in this embodiment is an automatic calibration operation, that is, based on the established calibration scene, the calibration robot can start the calibration program and/or calibration software that matches the calibration scene in the established calibration scene, and automatically Execute the corresponding calibration operation event.
  • the robot can automatically execute the corresponding calibration operation event without human-computer interaction, and at the same time, through the user operation display interface, the execution process of the calibration operation event is displayed in real time for the user to view.
  • the robot uses its own display screen to display the calibration progress corresponding to the automatic calibration and the feedback results of the interaction between the calibration and the environment.
  • step S10 in the embodiment shown in FIG. 1 can be implemented according to the following technical means:
  • the calibration scene information including the ground material required for the robot calibration;
  • the ground material of the marked information, and based on the built ground material, a surrounding environment for the ground material is set.
  • step S20 in the embodiment shown in FIG. 1 can be implemented according to the following technical means:
  • the preset calibration operation steps corresponding to the calibration operation event are acquired, so that the robot performing the calibration: along the trajectory corresponding to the ground material and/or all The marking information is obtained, and the corresponding calibration operation event is executed according to the preset calibration operation steps.
  • the calibration scene information required for robot calibration is obtained.
  • the materials and tools required for the construction of the calibration scene can be divided into: basic environment material package and special project materials Package:
  • the materials required by the basic environmental material package mainly include: ground materials with tracks or marks, or the ground materials are called carpets.
  • the carpet is designed and manufactured in accordance with the specifications to ensure that when the calibration operation for the calibration of the internal parameters of the laser odometer is carried out in any site and by any person, the calibration result will not be invalid due to the deviation of the environmental deployment.
  • the outer rails may be placed on the periphery of the carpet in a surrounding manner, thereby forming a corresponding closed environment.
  • the robot needs to circle several times and collect data in the surrounding environment. At this time, it is necessary to design a trajectory path on the carpet.
  • the robot can use its own vision module or build a standard map into the corresponding machine system of the robot in advance. The design of the calibration scene automatically moves along the trajectory on the carpet.
  • the corresponding starting position of the robot can also be marked at the same time; for example, in the specific implementation, it can be marked by printing or pasting a two-dimensional code; or, as long as it is specific and obvious Any identification mark can be used; in this way, during non-automatic calibration, the robot can prompt the tester to perform corresponding operations through the software interface; or, during automatic calibration, the robot can automatically identify through the robot's own vision module, so Calibration is complete.
  • FIG. 2a is a schematic diagram of an application scenario of an embodiment of the ground material required to build the calibration scene in the robot calibration method of the present invention.
  • the floor material is a carpet, which is combined with the smallest unit of square, and each side corresponding to the carpet can be marked with letters or numbers. In this way, That is, the coordinate position information corresponding to each grid in the carpet can be formed together by the XY coordinates.
  • the specific specifications of the carpet can be expanded according to the product standard to be calibrated, for example, the carpet in Fig. 2a can be enlarged or reduced according to the calibrated product standard.
  • FIG. 2b is a schematic diagram of an application scenario of an embodiment of a calibration scene obtained after the ground material provided in FIG. 2a is used to construct the calibration scene.
  • the surrounding black area is the enclosure; the enclosure in Figure 2b can be set to be a folding type; at the same time, the enclosure is also designed to have different heights according to different calibration items.
  • the square M in FIG. 2b can be set as a position identifier. If the location identifier belongs to the location information corresponding to the basic material package, the location identifier can be directly printed on the carpet in Fig.
  • the area composed of gray squares in Figure 2b can be demarcated as a trajectory, that is, the corresponding test route; for specific calibration operation events, during specific implementation, the robot can automatically follow the trajectory composed of the gray squares, i.e. the test route.
  • the tester can also guide the robot to complete the corresponding calibration operation event along the test route composed of the above gray squares, or, in specific application scenarios, the tester can also be Move the robot along the test route formed by the gray squares, so that the robot performs the above calibration operation event.
  • the embodiment of the present invention does not limit the specific implementation manner of the robot performing the calibration operation event, as long as the robot executes and completes the corresponding calibration operation event.
  • the robot calibration method realizes the standardization of the robot calibration process and calibration steps and lowers the threshold for robot calibration by building a generalized calibration scene, providing concise and clear running software and calibration resources that can be used in batches. and the calibration cost of the robot.
  • the embodiment of the present invention further provides a device for calibrating a robot.
  • the robot calibration device provided by the embodiment of the present invention includes: a scene construction module 100 , a calibration execution module 200 and a result feedback module 300 , and the scene construction module 100 , the calibration execution module 200 and the result feedback module 300 communicate with each other Connect, cooperate with each other, and implement the steps of the robot calibration method. in:
  • the scene construction module 100 is configured to: obtain the calibration scene information required for the robot calibration according to the calibration requirements of the robot; and build the calibration scene required when the robot is calibrated according to the obtained calibration scene information;
  • the calibration execution module 200 is configured to: execute the calibration operation event of the robot based on the established calibration scene;
  • the result feedback module 300 is configured to: when the execution of the calibration operation event is completed, feedback the execution result of the calibration operation event for the user to view.
  • the scene building module 100 is configured to: obtain material information and tool information required to be used when calibrating the parameter information according to the parameter information required to be calibrated by the robot; according to the obtained material information and tool information information to obtain the calibration scene information required for robot calibration.
  • the scene construction module 100 is configured to: call the scene construction step operation information preset according to the calibration scene information according to the acquired calibration scene information; build the scene construction step based on the scene construction step operation information Standard calibration scenarios required when calibrating a robot.
  • the calibration execution module 200 is configured to: in the built calibration scene, based on the user operation display interface, display calibration step operation information for the user to trigger the calibration based on the calibration step operation information The execution of the operation event; or: in the constructed calibration scene, the robot's calibration operation event is automatically executed; at the same time, based on the user operation display interface, the execution process of the calibration operation event is displayed in real time.
  • the result feedback module 300 is configured to: in the case of automatically judging the calibration result, when the calibration operation event is completed, based on the user operation display interface, directly display the calibration result information of successful calibration or calibration failure; Alternatively, a picture or a three-dimensional point cloud image corresponding to the calibration result information is displayed.
  • the result feedback module 300 is configured to: when the calibration operation event is executed, display the execution result corresponding to the calibration operation event based on the user operation display interface for the user to view and It is judged that the execution result of the calibration operation event is calibration success or calibration failure.
  • the scene construction module 100 is configured to: obtain calibration scene information including ground materials required for robot calibration according to the robot's calibration requirements for laser odometry internal parameter calibration; according to the obtained calibration scene information, Building a ground material with a running track and/or marking information including a marked starting position, and setting a surrounding block environment for the ground material based on the built ground material.
  • the calibration execution module 200 is configured to obtain preset calibration operation steps corresponding to the calibration operation event based on the constructed ground material with the trajectory and/or the marking information, so that the calibration operation is performed.
  • Robot execute the corresponding calibration operation event according to the preset calibration operation steps along the trajectory corresponding to the ground material and/or the marking information.
  • the robot calibration device of the embodiment of the present invention provides concise and clear operation software and/or operation programs (including automatic operation programs and human-computer interaction operation programs) and calibration resources that can be used in batches by building a generalized calibration scene. It standardizes the robot calibration process and calibration steps, and reduces the threshold of robot calibration and the cost of robot calibration.
  • FIG. 4 is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.
  • the electronic device 1 may be a PC (Personal Computer, personal computer), or may be a terminal device such as a smart phone, a tablet computer, or a portable computer.
  • the electronic device 1 includes at least a memory 11 , a processor 12 , a communication bus 13 , and a network interface 14 .
  • the memory 11 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (eg, SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like.
  • the memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as a hard disk of the electronic device 1 .
  • the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), Secure Digital, SD) card, flash card (Flash Card), etc.
  • the memory 11 may also include both an internal storage unit of the electronic device 1 and an external storage device.
  • the memory 11 can not only be used to store application software installed in the electronic device 1 and various types of data, such as codes of the robot calibration program 110 , etc., but also can be used to temporarily store data that has been output or will be output.
  • the processor 12 may be a central processing unit (Central Processing Unit) in some embodiments.
  • Central Processing Unit Central Processing Unit
  • CPU central processing unit
  • controller microcontroller
  • microprocessor microprocessor or other data processing chips, for running the program codes or processing data stored in the memory 11, for example, executing the robot calibration program 110 and the like.
  • the communication bus 13 is used to realize the connection communication between these components.
  • the network interface 14 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.
  • a standard wired interface such as a WI-FI interface
  • WI-FI interface wireless interface
  • the electronic device 1 may further include a user interface, and the user interface may include a display (Display), an input unit such as a keyboard (Keyboard), and an optional user interface may also include a standard wired interface and a wireless interface.
  • the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode) Touch, etc.
  • the display may also be appropriately called a display screen or a display unit, which is used for displaying information processed in the electronic device 1 and for displaying a visualized user interface.
  • FIG. 4 only shows the electronic device 1 having the components 11-14 and the robot calibration program 110. Those skilled in the art can understand that the structure shown in FIG. 4 does not constitute a limitation on the electronic device 1, and may include a Fewer or more components are shown, or some components are combined, or a different arrangement of components.
  • a robot calibration program 110 is stored in the memory 11 ; the robot calibration program 110 stored in the memory 11 can be used in the processing When the robot calibration program 110 is executed by the processor 12, the steps of the above-mentioned robot calibration method are implemented.
  • the specific implementation of the electronic device in the embodiment of the present invention is basically the same as the implementation principle of each embodiment corresponding to the above-mentioned robot calibration method.
  • an embodiment of the present invention further provides a computer-readable storage medium, where a robot calibration program is stored on the computer-readable storage medium, and the robot calibration program can be executed by one or more processors, so as to realize the above-mentioned robot The steps of the calibration method.
  • the specific implementation of the computer-readable storage medium of the present invention is basically the same as the implementation principle of each embodiment corresponding to the above-mentioned robot calibration method.
  • embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects.
  • the robot calibration method, device and storage medium of the present invention can provide concise and clear running software and/or running programs, and calibration resources that can be used in batches by building a generalized calibration scene, and can realize the calibration process and calibration steps of the robot. Standardization reduces the threshold for robot calibration and the cost of robot calibration. Therefore, it has industrial applicability.

Abstract

本发明公开了一种机器人标定方法、设备及存储介质，所述方法包括：根据机器人的标定需求，获取机器人标定所需的标定场景信息，并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景（S10）；基于搭建的所述标定场景，执行所述机器人的标定操作事件（S20）；所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看（S30）；从而实现对机器人标定流程和标定步骤的标准化，降低机器人标定的门槛和机器人的标定成本。

Description

机器人标定方法、设备及存储介质 技术领域
本发明涉及机器人技术领域，特别涉及一种机器人标定方法、设备及存储介质。
 背景技术
自主移动机器人在投入使用前，需要对机器人的视觉模组等部件进行标定，以确定机器人是正常且符合使用标准的。除此之外，随着机器人使用时间的增加，可能会造成轮子的磨损、机械结构的变化等情况，这些都会导致最初的标定精度下降。而当精度下降到一定程度时，机器人的相关功能会受到严重影响。因此，对机器人的标定十分重要。
传统的对机器人进行标定的工作和步骤繁琐，且在对机器人进行标定时，不管场地的准备还是标定的测试过程，都需要专业人士进行，导致机器人的标定门槛和成本都很高。
 技术问题
本发明提供一种机器人标定方法、设备及存储介质，旨在将机器人的标定标准化，降低标定成本。
 技术解决方案
第一方面，本发明提供了一种机器人标定方法，所述机器人标定方法包括：
根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；
基于搭建的所述标定场景，执行所述机器人的标定操作事件；
所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
第二方面，本发明提供了一种机器人标定装置，所述机器人标定装置包括：
场景搭建模块，设置为：根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；
标定执行模块，设置为：基于搭建的所述标定场景，执行所述机器人的标定操作事件；
结果反馈模块，设置为：所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
第三方面，本发明提供了一种电子设备，所述电子设备包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的机器人标定程序，所述机器人标定程序被所述处理器运行时，执行所述的机器人标定方法。
第四方面，本发明提供了一种计算机可读存储介质，所述存储介质上存储有机器人标定程序，所述机器人标定程序可以被一个或者多个处理器执行，以实现所述的机器人标定方法的步骤。
 有益效果
本发明一种机器人标定方法、设备及存储介质，根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；基于搭建的所述标定场景，执行所述机器人的标定操作事件；所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看；通过搭建通用化的标定场景，提供简洁清晰的运行软件和/或运行程序（包括自动化运行程序和人机交互运行程序）、以及可批量使用的标定资源，实现了对机器人标定流程和标定步骤的标准化，降低了机器人标定的门槛和机器人的标定成本。
 附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：
图1是本发明机器人标定方法的一种实施方式的流程示意图。
图2a是本发明机器人标定方法中搭建所述标定场景所需使用的地面材料的一种实施方式的应用场景示意图。
图2b是利用图2a中提供的所述地面材料进行所述标定场景搭建后得到标定场景的一种实施方式的应用场景示意图。
图3是本发明机器人标定装置的一种实施方式的功能模块示意图。
图4是本发明电子设备的一种实施方式的内部结构示意图。
 本发明的实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
本发明提供了一种机器人标定方法、设备及存储介质，通过搭建通用化的标定场景，提供简洁清晰的运行软件和/或运行程序（包括自动化运行程序和人机交互运行程序）、以及可批量使用的标定资源，实现对机器人标定流程和标定步骤的标准化，降低机器人标定的门槛和机器人的标定成本。
如图1所示，本发明实施例提供的机器人标定方法包括步骤S10-S30。
步骤S10、根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景。
本发明实施例中，将机器人标定的流程进行标准化时，需要为进行标定的机器人搭建对应的标定场景。由于针对不同的标定参数，可能需要的标定场景不同，因此需要针对机器人所需标定的具体的标定参数，获取该标定参数所对应的标定需求；并根据获取的所述标定需求，配置机器人标定所需的符合所述标定需求的标定场景信息，进而根据获取的上述标定场景信息，搭建与所述标定场景信息相匹配的标定场景。
优选地，在一个实施例中，可以为所述标定场景信息进行分类，比如，针对可以通用的标定场景，配置对应的标准标定场景信息；进而，再根据具体的标定需求，配置针对所述标定需求的特殊标定场景信息，从而根据预先配置的所述标准标定场景信息，以及与具体标定需求相匹配的特殊标定场景信息，搭建对机器人进行标定时所需的标定场景。
步骤S20、基于搭建的所述标定场景，执行所述机器人的标定操作事件。
在搭建的标定场景中，根据标定需求，执行所述机器人对应的标定操作事件时，主要可以分为两种实施方式，一种是机器人执行自动标定操作，当搭建好对应的标定场景时，机器人即可启动标定软件和/或标定程序，自动执行标定操作事件。另一类是，机器人执行非自动标定操作，即当搭建好对应的标定场景后，机器人根据接收到的控制指令，执行对应的标定操作事件。
步骤S30、所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
针对所述标定操作事件的执行结果，具备反馈功能；即在所述标定操作事件执行完成时，能够反馈所述标定操作事件的执行结果，供用户查看。比如，将所述标定操作事件的执行结果或者执行数据，通过用户操作显示界面进行显示，并告知用户。
本发明实施例中，针对所述标定操作事件的执行结果的反馈，主要包括两种方式，一种是自动判断执行成败结果，在反馈所述标定操作事件的执行结果时，直接反馈标定成功或者标定失败的执行结果。另一种是不自动判断执行成败结果，仅反馈所述标定操作事件的执行结果信息。
优选地，在一个实施例中，所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看，可以按照如下技术手段实施：
针对自动判断标定结果的情况，在标定完成时，可以自动反馈标定成功或者标定失败的执行结果。在所述标定操作事件执行完成时，基于用户操作显示界面，直接显示标定成功或者标定失败的标定结果信息；或者，显示所述标定结果信息对应的图片或者三维点云图。
针对非自动判断标定结果的情况，在标定完成时，需要工作人员进行人为地选择判断结果。在所述标定操作事件执行完成时，基于所述用户操作显示界面，显示所述标定操作事件对应的执行结果，供用户查看并判断所述标定操作事件的执行结果是标定成功还是标定失败。
优选地，在一个实施例中，图1所述实施例的步骤S10中，在根据机器人的标定需求，获取机器人标定所需的标定场景信息时，可以按照如下技术手段实施：根据机器人所需标定的参数信息，获取标定所述参数信息时所需使用的材料信息和工具信息；根据获取的所述材料信息和工具信息，获取机器人标定所需的标定场景信息。
本发明实施例中，针对机器人进行标定时所需的标定场景，可以预先为所述标定场景的搭建提供对应的可批量使用的标定资源，比如基础材料和配套的组合工具，进而根据进行标定的机器人所需标定的具体的参数信息，获取标定所述参数信息时所需使用的具体的材料信息和工具信息。根据获取的所述材料信息和工具信息，从预先提供的所述基础材料和配套的组合工具中，挑选出所述材料信息和工具信息对应的所述标定场景信息。
优选地，在一个实施例中，图1所述实施例的步骤S10中，在根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景，可以按照如下技术手段实施：根据获取的所述标定场景信息，调用根据所述标定场景信息预先设置的场景搭建步骤操作信息；基于所述场景搭建步骤操作信息，搭建对机器人进行标定时所需的标准的标定场景。
本发明实施例中，为实现机器人标定流程的标准化，针对不同的所需标定的参数信息，预先配置了相应的场景搭建步骤操作信息。针对机器人所需标定的参数信息，当获取到所述参数信息对应的标定场景信息时，查找并调用与所述标定场景信息相匹配的所述场景搭建步骤操作信息。本发明实施例中的场景搭建步骤操作信息，与不同的标定场景信息相匹配；利用所述标定场景信息，按照所述场景搭建步骤信息，即可对应搭建出不同的标定场景。
优选地，在一个实施例中，图1所述实施例中的步骤S20可以按照如下技术手段实施：在搭建的所述标定场景中，基于用户操作显示界面，显示标定步骤操作信息，供用户基于所述标定步骤操作信息，触发所述标定操作事件的执行。
这种实施方式中的标定操作为非自动标定操作，比如，通过用户手动触发对应的控制指令，执行相关的所述机器人的标定操作事件。在一个具体的应用场景中，基于搭建的所述标定场景，启动标定流程并开始进入标定时，可以基于用户操作显示界面，显示所述标定步骤操作信息，供用户查看。用户根据显示的所述标定步骤操作信息，按照对应的标定操作步骤，控制标定机器人执行对应的所述标定操作事件。
或者：在搭建的所述标定场景中，自动执行所述机器人的标定操作事件；同时，基于所述用户操作显示界面，实时显示所述标定操作事件的执行过程。
这种实施方式中的标定操作为自动标定操作，即基于搭建的所述标定场景，标定机器人可以在搭建的标定场景中，启动与所述标定场景相匹配的标定程序和/或标定软件，自动执行对应的标定操作事件。在自动执行标定操作时，无需人机交互，机器人即可自动执行对应的所述标定操作事件，同时通过所述用户操作显示界面，实时显示所述标定操作事件的执行过程，供用户查看。比如，在一个具体的应用场景中，机器人利用自带的显示屏，显示自动标定对应的标定进度和标定与环境交互的反馈结果。
下面以激光里程计内参标定这一具体的标定需求为例，进一步描述本发明机器人标定方法的实施过程。
针对激光里程计内参标定的具体应用场景，图1所述实施例中的步骤S10可以按照如下技术手段实施：
根据机器人针对激光里程计内参标定的标定需求，获取机器人标定所需的包含地面材料的标定场景信息；根据获取的所述标定场景信息，搭建带有运行轨迹和/或包括已标记起始位置的标记信息的地面材料，并基于搭建的所述地面材料，设置针对所述地面材料的四周围挡环境。
针对激光里程计内参标定的具体应用场景，图1所述实施例中的步骤S20可以按照如下技术手段实施：
基于搭建的带有轨迹和/或所述标记信息的地面材料，获取所述标定操作事件对应的预设标定操作步骤，使得进行标定的机器人：沿着所述地面材料对应的轨迹和/或所述标记信息，按照所述预设标定操作步骤，执行对应的所述标定操作事件。
在该具体的应用场景中，针对激光里程计内参标定的标定需求，获取机器人标定所需的标定场景信息，比如该标定场景搭建需要的材料和工具可以分为：基础环境材料包和特殊项目材料包；在该具体的应用场景中，该基础环境材料包需要的材料主要有：带有轨迹或者标记的地面材料，或者将地面材料称之为地毯。地毯按照规格设计和制作，保证针对激光里程计内参标定的标定操作在任何场地、任何人员进行时，都不会出现因为环境部署偏差而导致标定结果失效的情况。在一个具体的应用场景中，可以在上述地毯铺设完成以后，将外档以围绕的方式在地毯的外围进行摆放，从而形成对应的封闭环境。以激光里程计内参标定为例，在执行对应的标定操作事件时，机器人需要在四周围挡的环境内，绕行数圈并采集数据。此时需要在地毯上设计轨迹路径，在具体应用时，比如机器人通过本身的视觉模组或者提前将标准地图内置到该机器人对应的机器系统中，机器人依据标定软件和/或标定程序以及地图轨迹的标定场景的设计，自动沿着地毯上的轨迹运动。
优选地，在该具体的应用场景中，也可以同时标记机器人对应的起始位置；比如，在具体实施时，可以使用印刷或者粘贴二维码的方式进行标记；或者，只要是具体明显的可识别性标记均可；如此一来，在非自动标定时，机器人便可以通过软件界面提示测试人员执行对应的操作；或者，在自动标定时，机器人可以通过机器人自身的视觉模组自动识别，从而完成标定。
如图2a所示，图2a是本发明机器人标定方法中搭建所述标定场景所需使用的地面材料的一种实施方式的应用场景示意图。在图2a对应的一个具体的应用场景中，所述地面材料使用的是地毯，该地毯以最小单位的正方形进行组合，该地毯对应的每条边可以使用字母或者数字进行标记，如此一来，即可通过XY坐标共同组成该地毯中每个格子对应的坐标位置信息。图2a中，地毯的具体规格可以根据需进行标定的产品标准进行扩张，比如根据标定的产品标准，放大或者缩小图2a中的地毯。
如图2b所示，图2b是利用图2a中提供的所述地面材料进行所述标定场景搭建后，得到标定场景的一种实施方式的应用场景示意图。利用图2a的地毯进行标定场景的搭建时，四周的黑色区域为围挡；图2b中的围挡可以设置为折叠型；同时，该围挡也根据不同的标定项目设计成不同的高度。根据应用场景的具体需求，可以将图2b中的方格M设置为位置标识。该位置标识若属于基础材料包对应的位置信息，则可以将该位置标识直接印刷在图2a的地毯上；若该位置标识属于特殊项目的位置信息，则可以基于用户操作显示界面进行提示，以便在后期可以通过粘贴的方式或者通过直接摆放的方式，设置上述位置标识。图2b中由灰色方格组成的区域可以标定为轨迹，即对应的测试路线；针对具体的标定操作事件，在具体实施时，可以由机器人自动沿着上述灰色方格组成的轨迹即测试路线完成移动，从而执行完成对应的标定操作事件；也可以由测试人员引导机器人沿着上述灰色方格组成的测试路线执行完成对应的标定操作事件，或者，在具体的应用场景中，也可以由测试人员沿着上述灰色方格组成的测试路线移动机器人，从而由机器人执行完成上述标定操作事件。本发明实施例对机器人执行所述标定操作事件的具体实施方式不进行限定，只要机器人执行并完成对应的所述标定操作事件即可。
本发明实施例的机器人标定方法，通过搭建通用化的标定场景，提供简洁清晰的运行软件、以及可批量使用的标定资源，实现了对机器人标定流程和标定步骤的标准化，降低了机器人标定的门槛和机器人的标定成本。
对应于上述实施例提供的一种机器人标定方法，本发明实施例还提供了一种机器人标定装置。如图3所示，本发明实施例提供机器人标定装置包括：场景搭建模块100、标定执行模块200以及结果反馈模块300，所述场景搭建模块100、标定执行模块200以及结果反馈模块300之间通信连接，相互配合，实施机器人标定方法的步骤。其中：
所述场景搭建模块100设置为：根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；
所述标定执行模块200设置为：基于搭建的所述标定场景，执行所述机器人的标定操作事件；
所述结果反馈模块300，设置为：所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
在一个实施例中，所述场景搭建模块100设置为：根据机器人所需标定的参数信息，获取标定所述参数信息时所需使用的材料信息和工具信息；根据获取的所述材料信息和工具信息，获取机器人标定所需的标定场景信息。
在一个实施例中，所述场景搭建模块100设置为：根据获取的所述标定场景信息，调用根据所述标定场景信息预先设置的场景搭建步骤操作信息；基于所述场景搭建步骤操作信息，搭建对机器人进行标定时所需的标准的标定场景。
在一个实施例中，所述标定执行模块200设置为：在搭建的所述标定场景中，基于用户操作显示界面，显示标定步骤操作信息，供用户基于所述标定步骤操作信息，触发所述标定操作事件的执行；或者：在搭建的所述标定场景中，自动执行所述机器人的标定操作事件；同时，基于所述用户操作显示界面，实时显示所述标定操作事件的执行过程。
在一个实施例中，所述结果反馈模块300设置为：针对自动判断标定结果的情况，所述标定操作事件执行完成时，基于用户操作显示界面，直接显示标定成功或者标定失败的标定结果信息；或者，显示所述标定结果信息对应的图片或者三维点云图。
针对非自动判断标定结果的情况，所述结果反馈模块300设置为：所述标定操作事件执行完成时，基于所述用户操作显示界面，显示所述标定操作事件对应的执行结果，供用户查看并判断所述标定操作事件的执行结果是标定成功或者标定失败。
在一个实施例中，所述场景搭建模块100设置为：根据机器人针对激光里程计内参标定的标定需求，获取机器人标定所需的包含地面材料的标定场景信息；根据获取的所述标定场景信息，搭建带有运行轨迹和/或包括已标记起始位置的标记信息的地面材料，并基于搭建的所述地面材料，设置针对所述地面材料的四周围挡环境。
在一个实施例中，所述标定执行模块200设置为：基于搭建的带有轨迹和/或所述标记信息的地面材料，获取所述标定操作事件对应的预设标定操作步骤，使得进行标定的机器人：沿着所述地面材料对应的轨迹和/或所述标记信息，按照所述预设标定操作步骤，执行对应的所述标定操作事件。
本发明实施例的机器人标定装置，通过搭建通用化的标定场景，提供简洁清晰的运行软件和/或运行程序（包括自动化运行程序和人机交互运行程序）、以及可批量使用的标定资源，实现了对机器人标定流程和标定步骤的标准化，降低了机器人标定的门槛和机器人的标定成本。
本发明还提供了一种电子设备，所述电子设备可以按照图1所述的机器人标定方法来标定对应的机器人。如图4所示，图4是本发明电子设备的一种实施方式的内部结构示意图。
在本实施例中，电子设备1可以是PC（Personal Computer，个人电脑），也可以是智能手机、平板电脑、便携计算机等终端设备。该电子设备1至少包括存储器11、处理器12，通信总线13，以及网络接口14。
其中，存储器11至少包括一种类型的可读存储介质，所述可读存储介质包括闪存、硬盘、多媒体卡、卡型存储器（例如，SD或DX存储器等）、磁性存储器、磁盘、光盘等。存储器11在一些实施例中可以是电子设备1的内部存储单元，例如该电子设备1的硬盘。存储器11在另一些实施例中也可以是电子设备1的外部存储设备，例如电子设备1上配备的插接式硬盘，智能存储卡（Smart Media Card, SMC），安全数字（Secure Digital, SD）卡，闪存卡（Flash Card）等。进一步地，存储器11还可以既包括电子设备1的内部存储单元也包括外部存储设备。存储器11不仅可以用于存储安装于电子设备1的应用软件及各类数据，例如机器人标定程序110的代码等，还可以用于暂时地存储已经输出或者将要输出的数据。
处理器12在一些实施例中可以是一中央处理器（Central Processing Unit, CPU）、控制器、微控制器、微处理器或其他数据处理芯片，用于运行存储器11中存储的程序代码或处理数据，例如执行机器人标定程序110等。
通信总线13用于实现这些组件之间的连接通信。
网络接口14可选的可以包括标准的有线接口、无线接口（如WI-FI接口），通常用于在该电子设备1与其他电子设备之间建立通信连接。
可选地，该电子设备1还可以包括用户接口，用户接口可以包括显示器（Display）、输入单元比如键盘（Keyboard），可选的用户接口还可以包括标准的有线接口、无线接口。可选地，在一些实施例中，显示器可以是LED显示器、液晶显示器、触控式液晶显示器以及OLED（Organic Light-Emitting Diode，有机发光二极管）触摸器等。其中，显示器也可以适当的称为显示屏或显示单元，用于显示在电子设备1中处理的信息以及用于显示可视化的用户界面。
图4仅示出了具有组件11-14以及机器人标定程序110的电子设备1，本领域技术人员可以理解的是，图4示出的结构并不构成对电子设备1的限定，可以包括比图示更少或者更多的部件，或者组合某些部件，或者不同的部件布置。
基于图1至图3实施例的描述，在图4所示的电子设备1实施例中，存储器11中存储有机器人标定程序110；所述存储器11上存储的机器人标定程序110可在所述处理器12上运行，所述机器人标定程序110被所述处理器12运行时实现上述机器人标定方法的步骤。
本发明实施例的电子设备具体实施方式与上述机器人标定方法对应的各实施例的实施原理基本相同，上述方法实施例的技术特征在本实施例中均能对应适用，在此不作累述。
此外，本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有机器人标定程序，所述机器人标定程序可以被一个或者多个处理器执行，以实现上述机器人标定方法的步骤。
本发明计算机可读存储介质具体实施方式与上述机器人标定方法对应的各实施例的实施原理基本相同，上述方法实施例的技术特征在本实施例中均能对应适用，在此不作累述。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。
 工业实用性
本发明的机器人标定方法、设备及存储介质，通过搭建通用化的标定场景，提供简洁清晰的运行软件和/或运行程序、以及可批量使用的标定资源，能实现对机器人标定流程和标定步骤的标准化，降低机器人标定的门槛和机器人的标定成本。因此，具有工业实用性。

Claims (10)

  1. 一种机器人标定方法，，所述机器人标定方法包括：
    根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；
    基于搭建的所述标定场景，执行所述机器人的标定操作事件；
    所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
  2. 如权利要求1所述的机器人标定方法，其中，所述根据机器人的标定需求，获取机器人标定所需的标定场景信息，包括：
    根据机器人所需标定的参数信息，获取标定所述参数信息时所需使用的材料信息和工具信息；
    根据获取的所述材料信息和工具信息，获取机器人标定所需的标定场景信息。
  3. 如权利要求1所述的机器人标定方法，其中，所述根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景，包括：
    根据获取的所述标定场景信息，调用根据所述标定场景信息预先设置的场景搭建步骤操作信息；
    基于所述场景搭建步骤操作信息，搭建对机器人进行标定时所需的标准的标定场景。
  4. 如权利要求1所述的机器人标定方法，其中，所述基于搭建的所述标定场景，执行所述机器人的标定操作事件，包括：
    在搭建的所述标定场景中，基于用户操作显示界面，显示标定步骤操作信息，供用户基于所述标定步骤操作信息，触发所述标定操作事件的执行；
    或者：
    在搭建的所述标定场景中，自动执行所述机器人的标定操作事件；同时，基于所述用户操作显示界面，实时显示所述标定操作事件的执行过程。
  5. 如权利要求1所述的机器人标定方法，其中，所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看，包括：
    针对自动判断标定结果的情况，所述标定操作事件执行完成时，基于用户操作显示界面，直接显示标定成功或者标定失败的标定结果信息；或者，显示所述标定结果信息对应的图片或者三维点云图；
    针对非自动判断标定结果的情况，所述标定操作事件执行完成时，基于所述用户操作显示界面，显示所述标定操作事件对应的执行结果，供用户查看并判断所述标定操作事件的执行结果是标定成功或者标定失败。
  6. 如权利要求1至5任一项所述的机器人标定方法，其中，所述根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景，包括：
    根据机器人针对激光里程计内参标定的标定需求，获取机器人标定所需的包含地面材料的标定场景信息；
    根据获取的所述标定场景信息，搭建带有运行轨迹和/或包括已标记起始位置的标记信息的地面材料，并基于搭建的所述地面材料，设置针对所述地面材料的四周围挡环境。
  7. 如权利要求6所述的机器人标定方法，其中，所述基于搭建的所述标定场景，执行所述机器人的标定操作事件，包括：
    基于搭建的带有轨迹和/或所述标记信息的地面材料，获取所述标定操作事件对应的预设标定操作步骤，使得进行标定的机器人：沿着所述地面材料对应的轨迹和/或所述标记信息，按照所述预设标定操作步骤，执行对应的所述标定操作事件。
  8. 一种机器人标定装置，所述机器人标定装置包括场景搭建模块、标定执行模块和结果反馈模块，其中：
    所述场景搭建模块，设置为，用于：根据机器人的标定需求，获取机器人标定所需的标定场景信息；并根据获取的所述标定场景信息，搭建对机器人进行标定时所需的标定场景；
    所述标定执行模块，设置为：基于搭建的所述标定场景，执行所述机器人的标定操作事件；
    所述结果反馈模块，设置为：所述标定操作事件执行完成时，反馈所述标定操作事件的执行结果，供用户查看。
  9. 一种电子设备，所述电子设备包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的机器人标定程序，所述机器人标定程序被所述处理器运行时，执行如权利要求1至7中任一项所述的机器人标定方法。
  10. 一种计算机可读存储介质，所述存储介质上存储有机器人标定程序，所述机器人标定程序可以被一个或者多个处理器执行，以实现如权利要求1至7中任一项所述的机器人标定方法的步骤。
PCT/CN2021/104567 2020-07-17 2021-07-05 机器人标定方法、设备及存储介质 WO2022012365A1 (zh)

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