CN107030686A - Self-movement robot system and its direction calibration method - Google Patents
Self-movement robot system and its direction calibration method Download PDFInfo
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- CN107030686A CN107030686A CN201610079541.7A CN201610079541A CN107030686A CN 107030686 A CN107030686 A CN 107030686A CN 201610079541 A CN201610079541 A CN 201610079541A CN 107030686 A CN107030686 A CN 107030686A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A kind of self-movement robot system and its direction calibration method, the self-movement robot system includes pedestal and self-movement robot, the self-movement robot is provided with angular transducer and control unit, the pedestal and the self-movement robot be respectively equipped with can polarized light-emitting emitter and reception device, the reception device is provided with polarizer, after the polarised light that the emitter is sent is received by reception device, the intensity and/or Strength Changes for the signal that control unit can be received according to reception device, calibrate the direction of clean robot.The present invention is capable of the emitter and corresponding reception device of polarized light-emitting by setting, the intensity and/or Strength Changes for the signal that control unit is received according to reception device, the direction of self-movement robot is calibrated, its calibration accuracy is high, and direction accurate positioning, cost simple to operate and used are low.
Description
Technical field
The present invention relates to a kind of self-movement robot system and its direction calibration method, belong to little Jia
Electric manufacturing technology field.
Background technology
Existing planning type self-movement robot, is generally divided into using absolute coordinate system and relative seat
Mark system two ways carries out location navigation work.
For the alignment system using absolute coordinate system, such as, robot is caught by video camera etc.
Obtain on ceiling or other positions the image with station location marker, and according to the image captured
Its current location is correspondingly measured, this alignment system requires that system quickly handles mass data,
Cost can be caused higher using the system.
And for the alignment system using relative coordinate system, such as, robot passes through a traveling
Range sensor and an angular transducer are calculated the relative position of machine, but with machine
The repetition rotation process of people, this positioning method can produce accumulative detecting error, it is therefore desirable to every
Every a period of time, primary calibration is carried out.Robot for example disclosed in CN1330274C patents
Cleaner coordinates compensation method, it on robot cleaner by setting multiple range sensors
And apart from d1 and d2 to calibrate it return to pedestal according to the detecting plate of range sensor to pedestal
Pose, the mode cost of this alignment pose is higher and adjustment process is complex is difficult behaviour
Control.
The content of the invention
The technical problems to be solved by the invention are that there is provided one kind in view of the shortcomings of the prior art
Self-movement robot system and its direction calibration method, the hair of polarized light-emitting is capable of by setting
Injection device and corresponding reception device, the intensity for the signal that control unit is received according to reception device
And/or Strength Changes, the direction of self-movement robot is calibrated, its calibration accuracy is high, direction positioning
Accurately, simple to operate and cost used is low.
The technical problems to be solved by the invention are achieved by the following technical solution：
The present invention provides a kind of self-movement robot system, including pedestal and self-movement robot,
The self-movement robot is provided with angular transducer and control unit, the self-movement robot system
System also include can polarized light-emitting emitter and reception device, the reception device is provided with
Polarizer, after the polarised light that the emitter is sent is received by reception device, control unit can
The intensity and/or Strength Changes of the signal received according to reception device, calibrate the side of clean robot
To；Wherein, the emitter is arranged on pedestal, and the reception device is correspondingly arranged at certainly
In mobile robot；It is described to receive or the emitter is arranged on self-movement robot
Device is correspondingly arranged on pedestal.
For the ease of calibration, during original state, the polarizer set in the reception device it is inclined
The plane of polarization for the polarised light that shaking direction is sent with emitter is parallel to each other.
It is preferred that, the reception device is located at the top of self-movement robot, the emitter
Positioned at the pedestal, quilt after the polarised light that the emitter is sent reflects through ceiling or baffle plate
The reception device is received.Or, the emitter is located at the top of self-movement robot,
The reception device is located at the pedestal, the polarised light that the emitter is sent through ceiling or
Received, also distinguished on the pedestal and self-movement robot by the reception device after baffle plate reflection
Provided with communication unit.Or, the reception device is located at the top of self-movement robot, described
Emitter is just to the reception device on the pedestal, and it is inclined that the emitter is sent
The light that shakes directly is received by the reception device.Or, it is described from mobile that the pedestal includes carrying
The base of robot, the emitter is arranged on the base, and the reception device is located at
The bottom of self-movement robot, the polarised light that the emitter is sent directly is filled by described receive
Put reception.
For the ease of calibration, during original state, the polarizer set in the reception device it is inclined
The plane of polarization for the polarised light that shaking direction is sent with emitter is mutually perpendicular to.
The present invention also provides the self-movement robot system that a kind of polarised light is received after reflection
Direction calibration method, the direction calibration method includes：Step 1：The self-movement robot is returned
The pedestal is returned, the self-movement robot receives the polarised light that the emitter is sent, institute
The offset for stating angular transducer record is θ1, wherein 0 °≤θ1360 ° of ＜；Step 2：
Described control unit control self-movement robot turns clockwise 360 °, and it is maximum to record light intensity
Value I0When anglec of rotation θ2；Step 3：Described control unit passes through polarizer according to polarised light
Light intensity changing rule and anglec of rotation θ afterwards2Calibrate the angle skew of the angular transducer record
Measure θ1。
Further, the step 3 includes：Step 31：Anglec of rotation θ2Including θ21And θ22, wherein θ21And θ22Between differ 180 °, described control unit is according to anglec of rotation θ21With
θ22Calculate that the self-movement robot returns to the actual angle offset of pedestal, as a result including θ21 Correction=360 ° of-θ21, θ22 corrections=360 ° of-θ22；Step 32：Described control unit, which is chosen, is located at 0 °
~90 ° (including 0 °) or 270 °~360 ° of θ21 correctionsOr θ22 correctionsIt is used as accurate θCorrection；
Step 33：Described control unit is according to θCorrectionCalibrate the angle skew of the angular transducer record
Measure θ1。
Further, the step 33 is：Described control unit records the angular transducer
Offset θ1It is corrected to θCorrection, i.e. θ1=θCorrection；Or described control unit control is certainly
Mobile robot rotate counterclockwise θCorrectionAfterwards, the offset angular transducer recorded
θ1It is corrected to 0 °, i.e. θ1=0 °
The present invention also provides a kind of polarised light the not reflected self-movement robot system directly received
The direction calibration method of system, the direction calibration method includes：Step 10：It is described from moving machine
Device people returns to the pedestal, and the self-movement robot receives the polarization that the emitter is sent
Light, the offset of the angular transducer record is θ1, wherein 0 °≤θ1360 ° of ＜；
Step 20：The polarised light light intensity I that described control unit is received according to reception device calculates reality
Border offset θ3；Step 30：Described control unit controls self-movement robot dextrorotation
Turn θ4Simultaneously cycle afterwards, record light intensity change；Step 40：Described control unit is according to above-mentioned light intensity
The offset θ of the change calibration angular transducer record1。
Further, the offset θ actually calculated in the step 203Including θ31、
θ32、θ33And θ34, wherein, θ31≤θ32＜ θ33≤θ34, 0 °≤θ31≤ 90 °, 270 °
≤θ34360 ° of ＜ or θ31=θ34=0 ° and θ32=θ33=180 °.
Further, if the light intensity recorded in step 30, which becomes to turn to, first becomes strong, the step
Control unit described in 40 chooses θ34It is used as the offset of angular transducer after calibration, i.e. θ1=θ34；First died down if the light intensity recorded in the step 30 becomes to turn to, the step 40
Described in control unit choose θ31It is used as the offset of angular transducer after calibration, i.e. θ1=
θ31。
In summary, it is capable of the emitter of polarized light-emitting in the present invention by setting and corresponding
Reception device, the intensity and/or intensity of the signal that control unit is received according to reception device become
Change, calibrate the direction of self-movement robot, its calibration accuracy is high, direction accurate positioning, operation
Cost simple and used is low.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 is the structural representation of self-movement robot system embodiment one of the present invention；
Fig. 2 is the first structure schematic diagram of self-movement robot system embodiment two of the present invention；
Fig. 3 is the second structural representation of self-movement robot system embodiment two of the present invention.
Embodiment
Self-movement robot system of the present invention is included on pedestal and self-movement robot, the pedestal
Provided with emitter, emitter is provided with polarizer, emitter is sent polarised light,
The self-movement robot is equipped with angular transducer, control unit and reception device, the angle
Sensor is used for detecting to be set in the angle change in self-movement robot walking process, reception device
Have and connect with identical polarizer on emitter, the polarised light that emitter is sent by reception device
After receipts, the intensity and/or Strength Changes of the signal that control unit is received according to reception device, calibration
The direction of self-movement robot.It should be noted that the emitter can also be arranged on certainly
In mobile robot, corresponding reception device is arranged on pedestal, is now needed in the pedestal
With communication unit is set respectively on self-movement robot so that be arranged on the reception device on pedestal
The polarized light signal received can be transferred in the control unit of self-movement robot, but this
Planting implementation of the change of position on technical scheme influences very little, therefore following only set with pedestal is launched
Device, self-movement robot is done further in case of setting reception device to the technical program
Description.
For the ease of calibration, it is preferred that during original state, what is set in the reception device is inclined
The plane of polarization of polarised light that the polarization direction of piece and emitter send of shaking is parallel to each other or phase
It is mutually vertical.Sent out below with the polarization direction of the polarizer set in reception device and emitter
Exemplified by the plane of polarization of the polarised light gone out is parallel to each other, illustrate the mistake of self-movement robot calibrating direction
Journey.In addition, the deviation angle θ of self-movement robot recording method, can be with 0 °≤θ ＜
360 ° of mode is represented, but is not excluded for other metering methods, such as π of 0≤θ ＜ 2 etc..
Generally, self-movement robot returns to pedestal, and now self-movement robot can be received
Sent to emitter polarised light (guiding self-movement robot returns to pedestal and belongs to prior art,
Will not be repeated here), due to the error of guide device, the home position of self-movement robot with just
Beginning, position compared, the angular deviation that can have 10 ° or so, i.e., actual angle offset θ is at 10 °
Or 350 ° or so.Now the offset of the angular transducer record is θ1, wherein
0°≤θ1360 ° of ＜, specifically, when the offset that angular transducer is recorded is θ1For
Negative value or during more than or equal to 360 °, control unit is to θ1It is modified, revised θ1 amendment
=θ1± 360 ° of * n, wherein n are integer.Because angular transducer itself has certain precision to miss
Difference, after being walked for a long time by self-movement robot, its measured value will constantly accumulate this
Trueness error so that θ1With θ and differ, i.e., angular transducer can not be recorded correctly from moving
The actual angle offset of mobile robot.
Embodiment one
Fig. 1 is the structural representation of self-movement robot system embodiment one of the present invention.Such as Fig. 1
It is shown, return to pedestal 100, the pedestal after self-movement robot 200 works a period of time
The polarised light that 100 emitter 110 is sent is after ceiling or the reflection of baffle plate 120 by positioned at certainly
The reception device 210 at the top of mobile robot 200 is received.When connecing for self-movement robot 200
It is false after the polarised light that the emitter 110 that receiving apparatus 210 receives the pedestal 100 is sent
If the actual angle offset of self-movement robot 200 is θ, the angle of angular transducer record
Offset is θ1, wherein 0 °≤θ1360 ° of ＜, described control unit control self-movement robot
200 are turned clockwise 360 ° (can also be rotated by 360 ° counterclockwise), and now angular transducer is recorded
Offset θ1Constantly increase, until increasing to after 360 °, offset returns to 0 °,
Rotated with the continuation of self-movement robot 200, offset continues to increase to θ1, this mistake
Cheng Zhong, the reception device 210 of self-movement robot 200 feeds back to the light intensity signal of polarised light
Control unit, control unit records light intensity for maximum I0When anglec of rotation θ2, for example,
Assuming that self-movement robot 200 is returned after pedestal 100, the angle skew of angular transducer record
Measure as 15 °, described control unit control self-movement robot 200 has turned clockwise 170 °
When reception device 210 receive the largest light intensity of polarised light, the now angle of angular transducer record
Spend offset θ1For 185 °, anglec of rotation θ2For 170 °.Due to the characteristic of polarised light, from
Mobile robot 200 turns clockwise during 360 °, and light intensity is maximum I0When angle
Offset θ2There are two (θ21And θ22, wherein | θ22-θ21|=180 °), i.e., corresponding to it is first
Parallel two positions in beginning direction, and corresponding actual angle offset is 0 ° and 180 °, is reflected
When the guide means guide self-movement robot 200 returns to initial position, actual angle
Offset θ is at 10 ° or at 350 ° or so, below to self-movement robot in the present embodiment
200 calibration process is described in detail：
Described control unit is according to anglec of rotation θ2Calibrate the angle of the angular transducer record
Offset θ1。
Described control unit is according to anglec of rotation θ21And θ22Calculate that the self-movement robot is returned to
The actual angle offset of pedestal, as a result including θ21 corrections=360 ° of-θ21, θ22 corrections=360 °-
θ22.θ after correction is drawn21 correctionsWith the θ after correction22 correctionsAfterwards, control unit is according to θ21 corrections
And θ22 correctionsConcrete numerical value, select one as calibration after angle sensor record angle offset
Measure θCalibration, specific criterion is that control unit chooses the θ after correction21 correctionsOr the θ after correction22 CorrectionIn be located at a value in the range of 0 °~10 ° (including 0 °) or 350 °~360 ° as from
Mobile robot returns to the actual angle offset θ of pedestalCorrection, i.e., angular transducer is recorded
Offset is θ1It is modified to θCorrection, so that calibration is completed, or, described control unit is also
Self-movement robot rotate counterclockwise can be controlled (if above-mentioned is rotation counterclockwise when being rotated by 360 °
Turn, be then to turn clockwise herein) θCorrectionAfterwards (or the 360- θ that turn clockwiseCorrection), by institute
State the offset θ of angular transducer record1It is corrected to 0 °, i.e. θ1=0 °.
In order to improve the compatibility of the system of self-movement robot 200, prevent guide device from making
Into actual angle offset θ it is excessive when, the system of self-movement robot 200 can not travel direction
Calibration, control unit is in θ21 correctionsAnd θ22 correctionsAmong choose θCorrectionWhen, control unit chooses correction
θ afterwards21 correctionsOr the θ after correction22 correctionsIn be located at 0 °~90 ° (including 0 °) or 270 °
A value in~360 ° returns to the actual angle offset θ of pedestal as self-movement robotSchool Just。
Embodiment two
Fig. 2 is the first structure schematic diagram of self-movement robot system embodiment two of the present invention；Figure
3 be the second structural representation of self-movement robot system embodiment two of the present invention.As Fig. 2 is combined
Shown in Fig. 3, it is the emitter hair of the pedestal in the present embodiment with the difference of embodiment one
The polarised light gone out is directly received by the reception device of self-movement robot, not by reflection, Fig. 2
Described in pedestal 101 include the base that carries the self-movement robot 201, the transmitting dress
Put 111 to be arranged on the base, after self-movement robot 201 returns to pedestal 101, partially
The reception device 211 that the light that shakes is arranged on the bottom of self-movement robot 201 is received；Institute in Fig. 3
The polarised light directly transmitting of the transmitting of emitter 112 of pedestal 102 is stated to ground, is treated from mobile
Robot is returned after pedestal 102, and polarised light is arranged on connecing for the top of self-movement robot 202
Receiving apparatus 212 is received.Due to it is no by reflection, the energy of polarised light almost do not lose and
And the influence that varying environment is brought is smaller, in the case where the operating power of emitter is determined,
The largest light intensity for the polarised light that the reception device can be received is a constant I1.Below to this reality
The calibration process for applying self-movement robot in example is described in detail：
When the emitter that the reception device of self-movement robot receives the pedestal send it is inclined
Shake after light, it is assumed that the actual angle offset of self-movement robot is θ3, angular transducer record
Offset be θ1, wherein 0 °≤θ1360 ° of ＜, self-movement robot reception device connects
The polarised light light intensity received is I, and control unit can be inferred that by polarization according to Malus' law
The light intensity changing rule of piece is I=I1*(cosθ3)2(I at this1Pass through polarization for reception device
The largest light intensity that piece is received), actual angle offset θ can be calculated3Numerical value, but should
Actual angle offset θ3Include up to four results, such as θ3Including θ31、θ32、θ33With
θ34, wherein, θ31≤θ32＜ θ33≤θ34, 0 °≤θ31≤ 90 °, 270 °≤θ34360 ° of ＜
Or θ31=θ34=0 ° and θ32=θ33=180 °.
Further, control unit control self-movement robot turns clockwise smaller angle θ4
(preferably, 0 °≤θ5≤ 10 °) simultaneously cycle afterwards, record light intensity change.Due to actual angle
Offset θ3At 10 ° or at 350 ° or so, so if light intensity, which becomes to turn to, first becomes strong, then
Control unit judges the actual angle offset θ of self-movement robot3In 270 °~360 ° (bags
Include 270 °) in the range of, i.e., described control unit chooses θ34It is used as angular transducer after calibration
Offset, the offset θ that the angular transducer is recorded1It is modified to θ34, such as
Fruit light intensity, which becomes to turn to, first to die down, then control unit judges the actual angle skew of self-movement robot
Measure θ3In the range of 0 °~90 ° (including 0 °), i.e., described control unit chooses θ31Make
For the offset of angular transducer after calibration, the angle that the angular transducer is recorded is inclined
Shifting amount θ1It is modified to θ31。
It should be noted that the polarization direction of the polarizer set in original state reception device
The plane of polarization of the polarised light sent with emitter can be set to be mutually perpendicular to or other known angles
Degree, those skilled in the art is only needed after being made an amendment to the program in control unit, can also be real
The process of the direction calibration of existing self-movement robot, for example, corresponding to orthogonal situation,
Scheme in embodiment one can be modified, the light for the polarised light that reception device is received
Strong angle value when being minimum value as angle correction sensor record offset benchmark,
Detailed process refers to said process, will not be repeated here.
The emitter and corresponding receive for being capable of polarized light-emitting in the present invention by setting are filled
Put, the intensity and/or Strength Changes of the signal that control unit is received according to reception device, calibration is certainly
The direction of mobile robot, its calibration accuracy is high, direction accurate positioning, simple to operate and institute
It is low with cost.
Claims (13)
1. a kind of self-movement robot system, including pedestal and self-movement robot, the self-movement robot is provided with angular transducer and control unit, it is characterized in that, the self-movement robot system also include can polarized light-emitting emitter and reception device, the reception device be provided with polarizer, after the polarised light that the emitter is sent is received by reception device, the intensity and/or Strength Changes for the signal that control unit can be received according to reception device, calibrate the direction of clean robot；
Wherein, the emitter is arranged on pedestal, and the reception device is correspondingly arranged on self-movement robot；Or the emitter is arranged on self-movement robot, the reception device is correspondingly arranged on pedestal.
2. self-movement robot system as claimed in claim 1, it is characterized in that, during original state, the plane of polarization for the polarised light that the polarization direction and emitter (110,111,112) of the polarizer set on the reception device (210,211,212) are sent is parallel to each other.
3. self-movement robot system as claimed in claim 2, it is characterized in that, the reception device (210) is located at the top of self-movement robot (200), the emitter (100) is located at the pedestal, and the polarised light that the emitter is sent is received after being reflected through ceiling or baffle plate (120) by the reception device.
4. self-movement robot system as claimed in claim 2, it is characterized in that, the emitter is located at the top of self-movement robot, the reception device is located at the pedestal, the polarised light that the emitter is sent is received after ceiling or baffle plate reflection by the reception device, and communication unit is further respectively had on the pedestal and self-movement robot.
5. self-movement robot system as claimed in claim 2, it is characterized in that, the reception device (212) is located at the top of self-movement robot (202), the emitter (112) is just to the reception device on the pedestal, and the polarised light that the emitter is sent directly is received by the reception device.
6. self-movement robot system as claimed in claim 2, it is characterized in that, the pedestal (101) includes carrying the base of the self-movement robot, the emitter (111) is arranged on the base, the reception device (211) is located at the bottom of self-movement robot (201), and the polarised light that the emitter is sent directly is received by the reception device.
7. self-movement robot system as claimed in claim 1, it is characterised in that during original state, the plane of polarization for the polarised light that polarization direction and the emitter of the polarizer set in the reception device are sent is mutually perpendicular to.
8. a kind of direction calibration method of self-movement robot system as claimed in claim 3, it is characterised in that the direction calibration method includes：
Step 1：The self-movement robot returns to the pedestal, and the self-movement robot receives the polarised light that the emitter is sent, and the offset of the angular transducer record is θ1, wherein 0 °≤θ1360 ° of ＜；
Step 2：Described control unit control self-movement robot turns clockwise 360 °, and records light intensity for maximum I0When anglec of rotation θ2；
Step 3：Described control unit passes through the light intensity changing rule and anglec of rotation θ after polarizer according to polarised light2Calibrate the offset θ of the angular transducer record1。
9. the direction calibration method of self-movement robot system as claimed in claim 8, it is characterised in that the step 3 includes：
Step 31：Anglec of rotation θ2Including θ21And θ22, wherein θ21And θ22Between differ 180 °, described control unit is according to anglec of rotation θ21And θ22Calculate that the self-movement robot returns to the actual angle offset of pedestal, as a result including θ21 Correction=360 ° of-θ21, θ22 Correction=360 ° of-θ22；
Step 32：Described control unit, which is chosen, is located at 0 °~90 ° (including 0 °) or 270 °~360 ° of θ21 CorrectionOr θ22 CorrectionIt is used as accurate θCorrection；
Step 33：Described control unit is according to θCorrectionCalibrate the offset θ of the angular transducer record1。
10. the direction calibration method of self-movement robot system as claimed in claim 9, it is characterised in that the step 33 is：
The offset θ that described control unit records the angular transducer1It is corrected to θCorrection, i.e. θ1=θCorrection；Or
Described control unit control self-movement robot rotate counterclockwise θCorrectionAfterwards, the offset θ angular transducer recorded1It is corrected to 0 °, i.e. θ1=0 °.
11. a kind of direction calibration method of self-movement robot system as described in claim 5 or 6, it is characterised in that the direction calibration method includes：
Step 10：The self-movement robot returns to the pedestal, and the self-movement robot receives the polarised light that the emitter is sent, and the offset of the angular transducer record is θ1, wherein 0 °≤θ1360 ° of ＜；
Step 20：The polarised light light intensity I that described control unit is received according to reception device calculates actual angle offset θ3；
Step 30：Described control unit control self-movement robot turns clockwise θ4Simultaneously cycle afterwards, record light intensity change；
Step 40：Described control unit changes according to above-mentioned light intensity calibrates the offset θ that the angular transducer is recorded1。
12. the direction calibration method of self-movement robot system as claimed in claim 11, it is characterised in that the offset θ actually calculated in the step 203Including θ31、θ32、θ33And θ34, wherein, θ31≤θ32＜ θ33≤θ34, 0 °≤θ31≤ 90 °, 270 °≤θ34360 ° of ＜ or θ31=θ34=0 ° and θ32=θ33=180 °.
13. the direction calibration method of self-movement robot system as claimed in claim 12, it is characterised in that if the light intensity recorded in step 30, which becomes to turn to, first becomes strong, control unit described in the step 40 chooses θ34It is used as the offset of angular transducer after calibration, i.e. θ1=θ34；First died down if the light intensity recorded in the step 30 becomes to turn to, control unit described in the step 40 chooses θ31It is used as the offset of angular transducer after calibration, i.e. θ1=θ31。
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| CN103631267A (en) * | 2012-08-24 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | An intelligent robot and a method for moving the same to the brightest position |
| CN104029207A (en) * | 2013-03-08 | 2014-09-10 | 科沃斯机器人科技(苏州)有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN104369197A (en) * | 2013-08-16 | 2015-02-25 | 维尔瑞尔逊瑞达克逊科技有限公司 | External system capable of increasing automation precision |
| CN205466217U (en) * | 2016-02-04 | 2016-08-17 | 科沃斯机器人有限公司 | From mobile robot system |
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