CN106556341B - A kind of shelf pose deviation detecting method and system based on characteristic information figure - Google Patents
A kind of shelf pose deviation detecting method and system based on characteristic information figure Download PDFInfo
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- CN106556341B CN106556341B CN201610876629.1A CN201610876629A CN106556341B CN 106556341 B CN106556341 B CN 106556341B CN 201610876629 A CN201610876629 A CN 201610876629A CN 106556341 B CN106556341 B CN 106556341B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The present invention provides a kind of shelf pose deviation detecting method and system based on characteristic information figure, and step 1 installs view camera, step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system in robot；Step 3 has the figure of characteristic information in bottom shelf setting, measures coordinate of the graphic feature point under shelf coordinate system；Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point；Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in coordinate in robot coordinate system；Step 6 calculates pose deviation of the shelf relative to robot.The present invention passes through the pose deviation of phase machine testing shelf.Entire implementation process is convenient and efficient, at low cost because camera price is low and does not have to that the shelf of substantial amounts are transformed.
Description
Technical field
The present invention relates to warehouse shelf detection, in particular to a kind of shelf pose separate-blas estimation based on characteristic information figure
Method and system.
Background technique
For modern warehouse material management system, fast and accurately automated material sorting is one more and more clear
And the trend that can not avoid.Mobile robot is an important component part in automated material sorting system, it is by pressing
Default process jacking shelf, Transport cargo rack put down shelf to realize that the automatic dispatching of shelf is carried.However it is carried in robot
During the entire process of shelf, because top is put and robot motion has error, will lead to the positions of shelf, slowly to deviate it pre-
If position, when the position of deviation be greater than certain threshold value when, robot will be unable to again normal Transport cargo rack, this will lead to it is entire from
The failure of dynamicization sorting system.
On the one hand the existing technology for avoiding shelf deviation from amplifying passes through the movement for accurately controlling robot, on the one hand pass through
Matched limiting device is made on robot lifting body and shelf to restrict shelf and deviate predeterminated position.Limiting device makes goods
Frame and the offset of robot pose will not dissipate, and accurate motion planning and robot control makes the offset of robot and predeterminated position will not
Diverging, so that shelf can be stablized within the scope of the acceptable deviation of default pose.But need to design processing limiting device,
Process-cycle is long, at high cost and because to install limiting device, and shelf needs are modified, and the versatility of shelf is one and asks greatly
The case where deviation of topic, limiting device tolerance is limited, causes limiting device to fail greatly very much there are deviation.
In warehouse automation Material Sorting, need to the pose deviation to shelf detect.For a warehouse, material
Arrangement, classification, to store and distribute be an extremely important and complicated thing, especially bulk storage plant, when the type of material
With quantity all it is big to a certain extent after, how to ensure that this thing is normal and orderly carry out becoming extremely difficult.Traditional is artificial
Sorting mode can not increasingly adapt to the management in modernization warehouse, instead establish in information-based and industrialization base
Automated sorting on plinth.It is even complete from manual type to semi-artificial semi-automatic mode for the management of modern warehouse materials
The conversion of automated manner has been the trend that can not be reversed.Warehouse automatic material sorting system generally comprises material data
Maintenance management, the traffic scheduling of mobile robot, moveable robot movement and its execute control, it is seen that mobile robot is entire
It is played a very important role in system.
The general work process of mobile robot is to receive dispatch command, move to specified pose, jacking shelf, movement
To object pose, put down shelf.In whole flow process, robot is in addition to that will guarantee that oneself is accurately mobile according to instruction and stops
It leans on, it is necessary to guarantee that shelf are placed within the scope of the allowable error of default pose.However, because the movement and stop of robot are
There is random error, this error will lead to the variation that shelf park pose, and after repeatedly parking for a long time, shelf may be inclined
Allowable error range from default pose, so as to cause the failure of subsequent handling.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of shelf pose separate-blas estimation side based on characteristic information figure
Method, which comprises the steps of:
Step 1 installs view camera in robot, makes the optical axis of view camera upward；
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system；
Step 3 has the figure of characteristic information in bottom shelf setting, and measurement pattern characteristic point is under shelf coordinate system
Coordinate；
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point；
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in machine
Coordinate in people's coordinate system；
Step 6, according to coordinate of multiple graphic feature points under shelf coordinate system and the seat in robot coordinate system
Mark calculates pose deviation of the shelf relative to robot.
Further, in step 2, mapping relations refer to the homography matrix H of camera, the mathematical meaning of homography matrix H
It is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in reference planes
Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in reference planes；
For homogeneous coordinates.
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and
Then coordinate under robot coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H.
Further, in step 6, shelf are calculated relative to the pose deviation of robot by following formula:
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into
In formula 3, x is calculated by least square method1, x2, x3, x4, then to x3, x4It normalizes, according to anti-triangulation calculation after normalization
D θ out；
In formula, x1=dx, x2=dy, x3=cosd θ, x4=sind θ,It is characterized a little under shelf coordinate system
Coordinate,It is characterized the coordinate a little under robot coordinate system,Pose deviation for shelf relative to robot.
The invention also discloses a kind of shelf pose offset detection system based on characteristic information figure, including robot,
What is be installed on it is upper depending on camera, shelf and the figure for having characteristic information for being set to bottom shelf；There is the figure of characteristic information
Including two dimensional code, four angle points of two dimensional code are as graphic feature point.
Further, the quantity of two dimensional code is 9.
Further, bottom shelf sticks two dimensional code.
Further, bottom shelf pastes any number of two dimensional code.
Beneficial effects of the present invention are as follows:
1, the present invention is in robot by installing view camera, and the figure of known features information is pasted on shelf, leads to
Cross the pose deviation of phase machine testing shelf.Entire implementation process is convenient and efficient, because camera price is low and does not have to quantity Pang
Big shelf are transformed, therefore at low cost
2, only characteristic information figure need to be pasted in bottom shelf, and does not have to be transformed shelf, therefore system versatility is good
3, to the characteristic information figure quantity pasted in bottom shelf, there is no limit can theoretically stick entire goods to the present invention
Frame bottom, camera need to only sweep to any number of figure can the pose deviation to shelf calculate, as long as therefore theoretically
Camera, which can sweep to bottom shelf, to correct back predeterminated position for shelf
Detailed description of the invention
Fig. 1 is the two-dimension code pattern that bottom shelf is affixed in one embodiment of the present of invention.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments.
The invention discloses a kind of shelf pose deviation detecting method based on characteristic information figure, includes the following steps:
Step 1 installs view camera in robot, make regard camera optical axis upward, thus with bottom shelf plane
Vertically；
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system；
Wherein mapping relations refer to the homography matrix H of camera, and mathematical meaning is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in reference planes
Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in reference planes.Its
InFor homogeneous coordinates.
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and
Then coordinate under robot coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H.
Wherein the calibration process of homography matrix H is, under robot off working state, there are four bottom shelf patch tools
The figure of characteristic point can directly extract the pixel of characteristic point by program after robot jacks shelf from the figure of camera
Coordinate, coordinate of the characteristic point under robot coordinate system can direct labor's measurements.By the pixel coordinate of the characteristic point measured and
The homography matrix that coordinate under robot coordinate system substitutes into open source vision library opencv calculates in function, and homography can be obtained
Matrix H, calibration are completed.
Step 3 has the figure of characteristic information in bottom shelf setting, and measurement pattern characteristic point is under shelf coordinate system
Coordinate,
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point；
By the data access program of camera, then program is examined the figure in image according to the camera image of acquisition
It surveys, obtains the pixel coordinate of characteristic point in figure.
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in machine
Coordinate in people's coordinate system；
Step 6, according to coordinate of multiple graphic feature points under shelf coordinate system and the seat in robot coordinate system
Mark calculates pose deviation of the shelf relative to robot.Wherein shelf pass through following formula relative to the pose deviation of robot
Be calculated: the pose in the present invention refers to position and orientation, because being two-dimensional space, specifically refers to x, y-coordinate and side
To angle (directions of shelf).
Some characteristic point in the two-dimensional space measured according to above-mentioned steps, the coordinate under robot coordinate system areIts coordinate under shelf coordinate system isPose of the shelf coordinate system under robot coordinate system is expressed asThat is pose deviation of the shelf relative to robot.Then obtained by theorem in Euclid space coordinate transform (formula 3)
Above formula can be write as
Allow x1=dx, x2=dy, x3=cosd θ, x4=sind θ, then have
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into
In formula 5, x is calculated by linear least square1, x2, x3, x4, so that dx is obtained, and dy, the value of sind θ and cosd θ.
After calculating, because of x3 2+x4 2=cos2dθ+sin2θ=1 d, then to x3, x4It normalizes, normalizing equation is
D θ is gone out according to anti-triangulation calculation after normalization.
To obtainPose deviation of the shelf relative to robot is obtained.
Robot can in real time estimate itself pose, after it detects that shelf are relative to itself pose,
Robot can calculate accurate pose of the shelf in warehouse map, can put shelf by adjusting the pose of itself
It is put into preset pose up.
The invention also discloses a kind of shelf pose offset detection system based on characteristic information figure, including robot,
What is be installed on it is upper depending on camera, shelf and the figure for having characteristic information for being set to bottom shelf.As shown in Figure 1, at one
In embodiment, the figure for having characteristic information includes two dimensional code, and four angle points of two dimensional code are as graphic feature point.Implement at one
In example, the quantity of two dimensional code is 9, and 9 two dimensional codes press certain regular distribution, and theoretically camera only needs to scan to a two dimension
Code can calculate the pose deviation of shelf.Because camera fields of view is limited, in order to obtain sufficiently large separate-blas estimation range, the implementation
Example has pasted 9 two dimensional codes, if range is not enough, can paste more two dimensional codes.In one embodiment, it is pasted in bottom shelf
Full two dimensional code, then camera only needs to detect that any one two dimensional code of bottom shelf can calculate the pose deviation of shelf.
The above, it is to the above embodiments according to the technical essence of the invention not to limit invention
Any trickle amendment, equivalent replacement and improvement, all should be included in the scope of protection of the technical solution of the present invention.
Claims (5)
1. a kind of shelf pose deviation detecting method based on characteristic information figure, which comprises the steps of:
Step 1 installs view camera in robot, makes the optical axis of view camera upward；
Step 2, the mapping relations between calibration for cameras pixel coordinate system and robot coordinate system；
Step 3 has the figure of characteristic information, seat of the measurement pattern characteristic point under shelf coordinate system in bottom shelf setting
Mark；
Step 4, after robot jacks shelf, upper view camera scanning figure obtains the pixel coordinate of graphic feature point；
Step 5, by the mapping relations in step 2, the pixel coordinate that graphic feature point is calculated is mapped in robot seat
Coordinate in mark system；
Step 6 is led to according to coordinate of multiple graphic feature points under shelf coordinate system and the coordinate in robot coordinate system
It crosses theorem in Euclid space coordinate transform and least square method calculates pose deviation of the shelf relative to robot；
In step 2, mapping relations refer to the homography matrix H of camera, and the mathematical meaning of homography matrix H is:
Wherein, the plane after selecting robot to jack shelf where bottom shelf is reference planes,For in the reference planes
Certain puts the pixel coordinate in camera imaging plane,For certain coordinate of point under robot coordinate system in the reference planes；For homogeneous coordinates；
The scaling method of H are as follows: obtain in reference planes four or more pixel coordinates of the point in camera imaging plane and in machine
Then coordinate under people's coordinate system calls the homography matrix in open source vision library opencv to calculate function and obtains H；
In step 6, shelf are calculated relative to the pose deviation of robot by following formula:
Coordinate of the multiple characteristic points that will test under shelf coordinate system and the coordinate in robot coordinate system substitute into formula 3
In, x is calculated by linear least square1, x2, x3, x4, then to x3, x4It normalizes, is gone out after normalization according to anti-triangulation calculation
D θ, to obtain
The formula 3 is theorem in Euclid space coordinate transform formula:
Further write as formula 4:
In formula, x1=dx, x2=dy, x3=cosd θ, x4=sind θ,It is characterized the coordinate a little under shelf coordinate system,It is characterized the coordinate a little under robot coordinate system,Pose deviation for shelf relative to robot.
2. a kind of shelf pose offset detection system based on characteristic information figure, which is characterized in that using such as claim 1 institute
The shelf pose deviation detecting method based on characteristic information figure stated, including robot, the upper view camera, the shelf that are installed on it
And it is set to the figure for having characteristic information of bottom shelf；The figure for having characteristic information includes two dimensional code, two dimensional code
Four angle points are as graphic feature point；The robot in real time estimates itself pose, detects shelf relative to certainly
After the pose of body, the robot calculates accurate pose of the shelf in warehouse map, will by adjusting the pose of itself
It is gone on shelf presence to preset pose.
3. detection system as claimed in claim 2, which is characterized in that the quantity of the two dimensional code is 9.
4. detection system as claimed in claim 2, which is characterized in that the bottom shelf sticks two dimensional code.
5. detection system as claimed in claim 2, which is characterized in that the bottom shelf pastes any number of two dimensional code.
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