CN108107882A - Service robot automatic Calibration and detecting system based on optical motion tracking - Google Patents
Service robot automatic Calibration and detecting system based on optical motion tracking Download PDFInfo
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- CN108107882A CN108107882A CN201611048827.5A CN201611048827A CN108107882A CN 108107882 A CN108107882 A CN 108107882A CN 201611048827 A CN201611048827 A CN 201611048827A CN 108107882 A CN108107882 A CN 108107882A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
Abstract
The invention discloses a kind of service robot automatic Calibrations and detecting system based on optical motion tracking, realize robot automatic Calibration and detection, can reduce the artificial participation in service robot calibration and detection process using the system, improve efficiency.The system has extraordinary versatility, for different robots, it is only necessary to which the system can be convenient to use by inputting the calibration action of corresponding parameter model and setting.
Description
Technical field
The present invention relates to the automatic Calibrations and detection field of service robot more particularly to a kind of optical motion that is based on to track
Service robot automatic Calibration and detecting system.
Background technology
The process of adjustment robot kinematics or kinetic parameter is generally termed Robot calibration.Due to robotic part
Abrasion caused by during processing, the error generated in assembling process or use so that the actual value of robot model's parameter and
It is had differences between nominal value, and the presence of model error can cause follow-up behaviour decision making and the error of motion control.It is so logical
Often before robot dispatches from the factory or works, a degree of detection and calibration can be all carried out to robot to improve control essence
Degree ensures the normal operation of robot.
Current scaling method mainly includes two kinds of extrinsic calibration and self-calibration.Self-calibration is mainly superfluous using robot itself
Remaining sensor information is solved and optimized to parameter to establish the restriction relation between model parameter.This method
Advantage be that need not increase external measurement devices, but be limited to the error and locality of self-sensor device information, be generally designated
As a result precision is limited.Extrinsic calibration method obtains the actual measured value of device to be calibrated using external measurement devices, utilizes simultaneously
Parameter model calculates desired value, by comparing the error minimized between measured value and desired value, so as to solving to obtain model
The actual value of parameter.External equipment can obtain the global information of error very little, therefore the results contrast of extrinsic calibration method is accurate.
But due to the difference of external testing tool, corresponding calibration process is also different.And existing extrinsic calibration method often needs
Manual measurement parameter or manual intervention is wanted to demarcate flow, the detection and calibration of robot can not be automatically performed, thus it is less efficient.
In addition, the robot system in actual motion, due to mechanical wear or external force effect, the structure of itself can be continuous
It changes, causes the decline of robot performance.So it needs periodically to do robot system performance detection and parameter recalibration.
Performance detection can be with the performance change of monitoring system, and constantly the parameter of robot system is marked again on this basis
Fixed and calibration, can adaptive system mechanism variation.The result of performance detection, which provides, simultaneously examines robot system
Disconnected foundation, it can be found that the defects of system design or parts defective, so as to ensure the actual performance of robot system
It disclosure satisfy that the demand of design.
A big classification of the service robot as robot, although purpose of design and application scenario are different from traditional work
Industry robot, but service robot is still a set of extremely complex electric mechanical mechanism in itself.One typical service-delivery machine
People usually possesses the modules such as perception, decision-making, control, movement, operation.The normal operation of these modules and collaborative work are dependent on
Numerous systematic parameters.And these systematic parameters need to obtain by detection and calibration process.
Simultaneously service robot application and popularization have the characteristics that some itself again：(1) quantity required is huge：With labor
Service-delivery machine Man's Demands will be continuously improved in the increase of power cost, society, and the quantity of service robot is it is possible that quick-fried
Fried formula increases, and the efficiency of the detection in corresponding service robot generation manufacturing process and calibration link is universal at present
It is relatively low, the huge applications demand of service robot can not be met.(2) Costco Wholesale is low：Since ordinary populace is to service robot
The ability to bear of cost is limited, so the processing and assembling of part can not usually use expensive high-precision technique, therefore more
Parameter calibration and the performance detection in production later stage are relied on to correct and harmonize.These application characteristics of service robot add
The demand of the calibration detecting system good to high degree of automation, versatility during its manufacturing and use.
However, traditional calibration and detecting system requirement related personnel possess abundant background knowledge and experience, and grasp
Make cumbersome, depend critically upon artificial participation, therefore large batch of service robot cannot be met and manufactured.
The content of the invention
The object of the present invention is to provide the service robot automatic Calibrations and detecting system tracked based on optical motion, realize
Service robot demarcates the automation with detection, so as to improve efficiency.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of service robot automatic Calibration and detecting system based on optical motion tracking, including：
Optical motion tracking systems MCS as external testing tool, can carry out pose to service robot to be calibrated
Tracking, measured data are transferred to calibration server as externally measured data；
Service robot to be calibrated for being run according to predetermined way, and records related data, institute by internal sensor
The data of record are transferred to calibration server as internal measurements；
Modeling unit for establishing the kinematics model of service robot to be calibrated, and is transferred to calibration server；Movement
Learning the variable of model description includes：Parameter to be calibrated, the variable comprising service robot internal measurements include server
Functional relation between the variable and these variables of the externally measured data of device people；
Calibration server for collecting externally measured data and internal measurements, and passes through internal measurements and mould
Type relation to calculate desired value, and determines movement by minimizing the error sum of squares between desired value and actual measured value
Learn parameter to be calibrated in model；
Performance detection unit, for updating the model of service robot using the motion module for having determined that parameter to be calibrated
Parameter；Then, the error between the desired value of model and externally measured data after updating is compared, whether detection calibration result meets
Testing requirements.
It is also included in the calibration server：MCS Bridge units, NTP time synchronizations unit and ROS Bridge are mono-
Member；
The MCS Bridge units, the format conversion of the externally measured data for MCS systems to be sent take into calibration
Form needed for business device；
ROS Bridge units, the format conversion of the internal measurements for service robot to be sent are serviced into calibration
Form needed for device；
NTP time synchronization units, it is synchronous for the clock be responsible between MCS systems and service robot.
Service robot recorded data to be calibrated is transferred to calibration server as internal measurements to be included：
If internal measurements amount is more than threshold value, then it is assumed that data volume is larger, and internal measurements will be stored in be calibrated
In off-line data unit in service robot；If internal measurements amount is not less than threshold value, then it is assumed that data volume is smaller, internal
Measurement data is by network transmission to the ROS Bridge units in calibration server.
Parameter calibration problem is described as：
Y=f (q, x, p)；
Wherein, q is internal measurements, and x is externally measured data, and p is parameter to be calibrated in kinematics model, and f is
Functional relation accords with；
Above formula is non-thread equation, and parameter to be calibrated is obtained using the method for non-linear solution；
Alternatively, obtain its linearisation using differential：
Δ y (q, x, p)=Ψ (q, x, p) Δs p；
In above formula, Δ p=pr- p, prFor nominal value, Δ y is function changing value, and Ψ (q, x, y) is the Ya Ke on variable p
Compare matrix；
Again parameter to be calibrated is obtained by solving above formula.
As seen from the above technical solution provided by the invention, robot automatic Calibration and detection are realized, utilizes this
System can reduce the artificial participation in service robot calibration and detection process, improve efficiency.The system has extraordinary
Versatility, for different robots, it is only necessary to which the calibration action for inputting corresponding parameter model and setting can be convenient
Use the system.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this
For the those of ordinary skill in field, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of service robot automatic Calibration based on optical motion tracking provided in an embodiment of the present invention and detection
The schematic diagram of system；
Fig. 2 is a kind of service robot automatic Calibration based on optical motion tracking provided in an embodiment of the present invention and detection
The course of work schematic diagram of system；
Fig. 3 is the moving model schematic diagram of service robot provided in an embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, belongs to protection scope of the present invention.
Fig. 1 is a kind of service robot automatic Calibration based on optical motion tracking provided in an embodiment of the present invention and detection
The schematic diagram of system；As shown in Figure 1, the system mainly includes：Optical motion tracking systems (MCS), service robot to be calibrated,
Modeling unit, calibration server and performance detection unit；Wherein：
MCS systems as external testing tool, can carry out service robot to be calibrated posture tracking, measured
To data be transferred to calibration server as externally measured data；
Service robot to be calibrated for being run according to predetermined way, and records related data, institute by internal sensor
The data of record are transferred to calibration server as internal measurements；
Modeling unit for establishing the kinematics model of service robot to be calibrated, and is transferred to calibration server；Movement
Learning the variable of model description includes：Parameter to be calibrated, the variable comprising service robot internal measurements include server
Functional relation between the variable and these variables of the externally measured data of device people；
Calibration server for collecting externally measured data and internal measurements, and passes through internal measurements and mould
Type relation to calculate desired value, and determines movement by minimizing the error sum of squares between desired value and actual measured value
Learn parameter to be calibrated in model；
Performance detection unit, for updating the model of service robot using the motion module for having determined that parameter to be calibrated
Parameter；Then, compare update after model desired value (numerical value being calculated again according to model i.e. more after new model) and
Whether the error between externally measured data, detection calibration result meet testing requirements.
It will be understood by those skilled in the art that the data of MCS system one-shot measurements include up to 6 DOF, i.e., rigid body is in three-dimensional
The position in space and posture (x, y, z, roll, pitch, yaw), but different applications may can only use the number of partial dimensional
According to, such as the odometer calibration in following Example, because robot is in ground translation, only x coordinate, y-coordinate, machine
Towards yaw, this three-dimensional data is used people.Therefore, it is an outside specific to the externally measured data in practice herein
Measured value.
It is configured for different robot, one-shot measurement can obtain externally measured value under the configuration and corresponding model is pre-
Time value can thus calculate a residual error under being currently configured.
Further, also included in the calibration server：MCS Bridge units, NTP time synchronizations unit and ROS
Bridge units；
The MCS Bridge units, the format conversion of the externally measured data for MCS systems to be sent take into calibration
Form needed for business device；
ROS Bridge units, the format conversion of the internal measurements for service robot to be sent are serviced into calibration
Form needed for device；
NTP time synchronization units, it is synchronous for the clock be responsible between MCS systems and service robot.
Further, service robot recorded data to be calibrated is transferred to calibration server as internal measurements
Including：
If internal measurements amount is more than threshold value, then it is assumed that data volume is larger, and internal measurements will be stored in be calibrated
In off-line data unit in service robot；If internal measurements amount is not less than threshold value, then it is assumed that data volume is smaller, internal
Measurement data is by network transmission to the ROS Bridge units in calibration server.
In addition, parameter calibration problem is described as：
Y=f (q, x, p)；
Wherein, q is internal measurements, and x is externally measured data, and p is parameter to be calibrated in kinematics model, and f is
Functional relation accords with；
Above formula is non-thread equation, and parameter to be calibrated is obtained using the method for non-linear solution；
Alternatively, obtain its linearisation using differential：
Δ y (q, x, p)=Ψ (q, x, p) Δs p；
In above formula, Δ p=pr- p, prFor known nominal value, Δ y is function changing value, and Ψ (q, x, y) is on variable p
Jacobian matrix, obtain parameter to be calibrated by solving above formula.
In order to make it easy to understand, it is described in detail below for the course of work of above system.
It is illustrated in figure 2, the course of work schematic diagram of system shown in Figure 1.From the point of view of from Fig. 2, calibration server is main
Input includes：(1) model：What model defined is the kinematics model of robot to be calibrated, and the variable of model description is main
It is divided into three classes：Parameter to be calibrated, the variable comprising robot interior measurement data, the change for including the externally measured data of robot
Functional relation between amount and these variables.(2) data：The data of input are largely divided into as two classes：One kind is externally measured
Data, the data measured by MCS；In addition one kind is the measurement data of server machine people's internal sensor.The output master of system
If the actual value of parameter to be solved in kinematics model.
It will be understood by those skilled in the art that usual manner realization may be employed in the kinematics model that modeling unit is established；
In addition, during the externally measured data of MCS system acquisitions, robot can be placed in measured zone and complete pre-designed one
Set acts, then carries out posture tracking by MCS systems, and then measures corresponding data.
Also have format conversion unit (MCS Bridge units and ROS Bridge units), Ke Yifen inside calibration server
Not internal, externally measured data carry out format conversion, to meet the requirement of calibrated and calculated；In addition, the outside needed for calibration detection
Measurement and internal measurements must be the data that synchronization generates, but since MCS systems and service robot are mutual
Isolated system, so being additionally provided with NTP time synchronizations module in calibration server to be responsible for keeping MCS systems and service robot
Clock it is synchronous.
Further, since the difference of service robot measurement data amount, the mode for being transferred to calibration server are also different；Simply
For, if data volume is less, then can be sent to directly by network in a manner of on-line normalization in calibration server
ROS Bridge units；If data volume is more, corresponding measurement is stored temporarily in service robot local, end to be measured
Calibration server is sent to by the way of transmitting offline afterwards.
Calibration server carries out parameter to be calibrated in kinematics model according to these data combination calibration algorithms received
Calculating, to calculate its actual value.
After calibration server calculates the actual value of parameter to be calibrated, it is also necessary to performance detection is carried out, to detect calibration
As a result the requirement of detection whether is met
The service robot of detection to be calibrated can be sequentially entered above-mentioned system by the said program based on the embodiment of the present invention
System, the system can collect required measurement data automatically.Robot completes pre-designed a set of dynamic in measured zone
Make, system obtains relevant data and solves parameter according to calibration algorithm, and then completes calibration detection process.In the system at it
Operational process can be automatically performed the calibration Detection task of batch without manually participating in.
Said program of the embodiment of the present invention can be applied to service robot batch production process, separate unit/set complex machines
The assembling production process of people or other hardware system manufacturing processes for having calibration demand；It can also be applied to existing service-delivery machine
People's system or the performance detection of other hardware systems and upgrading renewal process；It can also be applied to removable unloading system, self-assembly systems
Wait the automatic Calibration of related systems.
Illustratively, above system proposed by the present invention can be realized and applied to a kind of moving operation service robot
In the calibration of chassis.The MCS systems that the system uses are made of the intelligent infrared camera of 12 built-in FPGA processing chips, can be right
(20m in its coverage2Test zone) mark point carries out lasting posture tracking, capture precision and be up to 0.1mm.MCS systems
System can provide high-frequency for automatic calibration system, and accurate externally measured data, measurement data is transferred to by the network switch
Calibration server inside LAN, the sensing data of robot interior are real-time transmitted to calibration server also by network.
Robot enters test zone and is run according to preset arc trajectory, the corresponding pose measurement information of system recorder people
And encoder data, using the model of differential gear, it can accurately obtain the diameter of the chassis left and right wheels of robot and wheel spacing.
In the example, the chassis driving mechanism model of robot as shown in figure 3, its pose by two front driving wheels exercise group
It closes.
If the rotating speed of left and right sidesing driving wheel is respectively ωLAnd ωR, the current angular speed of robot be ω, linear velocity v, according to
Model then has：
Wherein parameter matrix C is parameter to be calibrated, can be expressed as：
In above formula, b is the distance between two driving wheels, rLAnd rRFor the radius of two driving wheels in left and right.
According to both the above formula, can obtain：
Wherein (xk,yk,θk),(xk+1,yk+1,θk+1) it is respectively that (x directions are sat for the robot pose at k moment and k+1 moment
Mark, y directions coordinate, towards θ), T is the sampling interval, wkFor the angular speed at robot k moment, vkFor the linear speed at robot k moment
Degree.
Using the variation of N number of sampling period inner machine people's direction, following thread relationship can be established：
Wherein θ0And θ0For the direction of initial time (0 moment) and finish time (n-hour) robot, wL,iAnd wR,iFor i when
Carve the rotating speed during (I, i+1), Φ for left and right sidesing driving wheelθFor coefficient vector.
It performs P sampling process and records corresponding data, you can obtain：
Wherein Φθ,pFor the coefficient vector that pth time sampling process obtains, the linear relationship established according to above formula, you can solve
Go out the C in parameter matrix C2,1And C2,2。
Similarly, the relational expression of N sampling period inner machine people's change in location can be utilized, can be solved in parameter matrix C
C1,1And C1,2, above-mentioned C1,1、C1,2、C2,1、C2,2For the element of four positions in parameter matrix C (2*2).Wherein x0,xNDuring to originate
Carve the x coordinate of (0 moment) and finish time (n-hour) robot, y0,yNIt it is initial time (0 moment) and finish time (during N
Carve) y-coordinate of robot, ΦxyFor coefficient vector.
After calibration starts, mark point is fixed in robot and pitch of the laps is run into Calibration Field, we set data
Times of collection, system automatic data collection simultaneously calculate odometer relevant parameter Matrix C according to relationship model.
Further according to the model in the odometer relevant parameter update service robot calculated, and performance detection is carried out, with
Whether detection calibration result meets the requirements.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can readily occur in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (4)
1. a kind of service robot automatic Calibration and detecting system based on optical motion tracking, which is characterized in that including：
Optical motion tracking systems MCS, as external testing tool, service robot to be calibrated can be carried out pose with
Track, measured data are transferred to calibration server as externally measured data；
Service robot to be calibrated for being run according to predetermined way, and records related data by internal sensor, is recorded
Data be transferred to calibration server as internal measurements；
Modeling unit for establishing the kinematics model of service robot to be calibrated, and is transferred to calibration server；Kinematics mould
The variable of type description includes：Parameter to be calibrated, the variable comprising service robot internal measurements include service robot
Functional relation between the variable of externally measured data and these variables；
Calibration server for collecting externally measured data and internal measurements, and passes through internal measurements and model pass
System, to calculate desired value, and determines kinematics mould by minimizing the error sum of squares between desired value and actual measured value
Parameter to be calibrated in type；
Performance detection unit, for being joined using the motion module for having determined that parameter to be calibrated to update the model of service robot
Number；Then, the error between the desired value of model and externally measured data after updating is compared, whether detection calibration result meets inspection
Survey requirement.
2. a kind of service robot automatic Calibration and detecting system based on optical motion tracking according to claim 1,
It is characterized in that, it is also included in the calibration server：MCS Bridge units, NTP time synchronizations unit and ROS Bridge
Unit；
The MCS Bridge units, for the format conversion of externally measured data that sends MCS systems into calibration server
Required form；
ROS Bridge units, for the format conversion of internal measurements that sends service robot into calibration server institute
Need form；
NTP time synchronization units, it is synchronous for the clock be responsible between MCS systems and service robot.
3. a kind of service robot automatic Calibration and detection system based on optical motion tracking according to claim 1 or 2
System, which is characterized in that service robot recorded data to be calibrated is transferred to calibration server bag as internal measurements
It includes：
If internal measurements amount is more than threshold value, then it is assumed that data volume is larger, and internal measurements will be stored in service to be calibrated
In off-line data unit in robot；If internal measurements amount is not less than threshold value, then it is assumed that data volume is smaller, internal measurement
Data are by network transmission to the ROS Bridge units in calibration server.
4. a kind of service robot automatic Calibration and detection system based on optical motion tracking according to claim 1 or 2
System, which is characterized in that parameter calibration problem is described as：
Y=f (q, x, p)；
Wherein, q is internal measurements, and x is externally measured data, and p is parameter to be calibrated in kinematics model, and f is function
Relation character；
Above formula is non-thread equation, and parameter to be calibrated is obtained using the method for non-linear solution；
Alternatively, obtain its linearisation using differential：
Δ y (q, x, p)=Ψ (q, x, p) Δs p；
In above formula, Δ p=pr- p, prFor nominal value, Δ y is function changing value, and Ψ (q, x, y) is the Jacobi square on variable p
Battle array；
Again parameter to be calibrated is obtained by solving above formula.
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| CN113110409A (en) * | 2019-12-25 | 2021-07-13 | 北京极智嘉科技股份有限公司 | Self-driven robot and parameter calibration method |
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| CN105094130A (en) * | 2015-07-29 | 2015-11-25 | 广东省自动化研究所 | AGV (Automatic Guided Vehicle) navigation method and device constructed by laser guidance map |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108982116A (en) * | 2018-06-27 | 2018-12-11 | 北京艾瑞思机器人技术有限公司 | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium |
| CN108982116B (en) * | 2018-06-27 | 2020-07-03 | 北京旷视机器人技术有限公司 | Transport vehicle and chassis parameter calibration method, device and computer readable medium thereof |
| CN113110409A (en) * | 2019-12-25 | 2021-07-13 | 北京极智嘉科技股份有限公司 | Self-driven robot and parameter calibration method |
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