CN107553488B - A kind of indoor mobile robot test macro and method - Google Patents
A kind of indoor mobile robot test macro and method Download PDFInfo
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- CN107553488B CN107553488B CN201710778388.1A CN201710778388A CN107553488B CN 107553488 B CN107553488 B CN 107553488B CN 201710778388 A CN201710778388 A CN 201710778388A CN 107553488 B CN107553488 B CN 107553488B
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Abstract
The application proposes a kind of indoor mobile robot test macro and method, the system comprises: first horizontal slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, first upright slide rail and the second upright slide rail are separately positioned on the sliding block of first horizontal slide rail and the sliding block of the second horizontal slide rail, it is mobile in the first horizontal slide rail and second horizontal slide rail with the sliding block, in first horizontal slide rail, second horizontal slide rail, magnetic railings ruler is provided on first upright slide rail and the second upright slide rail, tracker is provided on first upright slide rail and the second upright slide rail, it is mobile that the tracker prolongs sliding rail, the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, the direction angle information of target mobile robot described in laser beam measuring of the inclinator by the laser transmitting being arranged in the target mobile robot.
Description
Technical field
The present invention relates to Indoor Robot fields of measurement, and in particular to a kind of mobile robot test macro and method.
Background technique
Indoor mobile robot has been widely used big component assembling field on site, during the work time, moving machine
Device people can position to itself and posture carry out real-time measurement, current robot location and attitude measurement mainly use track
Supposition method, but since flying track conjecture fado is based on integral operation, measurement error can accumulation at any time gradually amplified, and deposit
In data wander phenomenon, similarly there is different degrees of error in other location technologies.Therefore it needs to determine mobile robot
Position performance is tested, and to obtain localization for Mobile Robot error, the position and attitude for analyzing mobile robot measures problem
Deng.
Currently, relevant industrial robot Performance Testing Technology, the industrial robot not moved suitable for supporting point, such as
Mechanical arm, stacking machine etc. belong to the very restricted situation of activity space.GPS positioning measuring technology is fixed suitable for outdoor mobile robot
Position.For performance measurement and the indoor mobile robot testing system platform of assessment now also in blank.
Summary of the invention
The present invention provides a kind of indoor mobile robot test macro and method, solves indoor mobile robot test and accidentally
The problem of difference is analysed.
In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is as follows:
In a first aspect, the present invention provides a kind of indoor mobile robot test macro, comprising:
First horizontal slide rail, the second horizontal slide rail, the second upright slide rail, magnetic railings ruler, tracker, incline at the first upright slide rail
Angle instrument and laser；
The first horizontal slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail
It is separately positioned on the sliding block of first horizontal slide rail and the sliding block of the second horizontal slide rail, it is sliding in the first level with the sliding block
Rail and second horizontal slide rail are mobile, vertical sliding in first horizontal slide rail, the second horizontal slide rail, the first upright slide rail and second
It is provided with magnetic railings ruler on rail, tracker is provided on the first upright slide rail and the second upright slide rail, the tracker is along sliding
Rail is mobile, and the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, institute
State the mobile machine of target described in laser beam measuring of the inclinator by the laser transmitting being arranged in the target mobile robot
The azimuth information of people.
Preferably, the first horizontal slide rail and the second horizontal slide rail are hard steel sliding rail；First upright slide rail
It is hard aluminium alloy sliding rail with the second upright slide rail.
Preferably, the test macro further include: pedestal, the pedestal are used to support the first horizontal slide rail and institute
State the second horizontal slide rail.
Preferably, the test macro further include: beacon frame, for fixing the localizer beacon of target mobile robot.
Second aspect, the present invention also provides a kind of indoor mobile robot test methods, are applied to indoor mobile robot
Test macro, comprising:
Control tracker follows target mobile robot to be moved to target and moves machine along horizontal slide rail and vertical slide rail
Horizontal position and upright position where the central point of people obtain the target mobile robot using magnetic railings ruler according to predetermined manner
Test coordinate information；
Control inclinator measures the test azimuth information of the target mobile robot according to predetermined manner；
The test coordinate information and the test azimuth information are sent to computer server by communication unit.
Preferably, the predetermined manner includes: periodicity or trigger-type.
The third aspect, the present invention also provides a kind of indoor mobile robot test data processing methods, for every group of test
Coordinate information and test azimuth information, execute following steps:
Electronics of the self-positioning coordinate information in storage of the test coordinate information obtained and target mobile robot will be measured
Coordinate points show and show Measured Coordinates track and self-positioning Grid Track on map；
The test coordinate information is compared with the self-positioning coordinate information, obtains the position of target mobile robot
Set error；
The test azimuth information that measurement obtains is compared with the self-positioning azimuth information of target mobile robot,
Obtain the azimuth angle error of target mobile robot.
Preferably, the location error includes: absolute error and relative error.
Preferably, target mobile robot absolute error is obtained as follows:
AEX=| RX–TX|
AEY=| RY–TY|
AEZ=| RZ–TZ|
Target mobile robot relative error is obtained as follows:
REX=| RX–TX|/TX
REY=| RY–TY|/TY
REZ=| RZ–TZ|/TZ
Wherein, RXFor target Mobile robot self-localization X axis coordinate, TXTo test X axis coordinate, RYFor the mobile machine of target
The self-positioning Y axis coordinate of people, TYTo test Y axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZIt is sat for test Z axis
Mark.
Preferably, target mobile robot azimuth angle error is obtained as follows:
AEθ=| Rθ–Tθ|
Wherein, RθFor target Mobile robot self-localization azimuth, TθTo test azimuth.
Compared to the prior art the present invention, has the following beneficial effects:
Technical solution of the present invention solves indoor mobile robot coordinate by the set of system being made of mechanical, electronics
Measurement problem and its analysis of Positioning Error problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the indoor mobile robot test macro of the embodiment of the present invention；
Fig. 2 is the flow chart of the indoor mobile robot test method of the embodiment of the present invention；
Fig. 3 is the flow chart of the indoor mobile robot test data processing method of the embodiment of the present invention；
Fig. 4 is the flow chart of the indoor mobile robot test method of present example 2；
Fig. 5 is the flow chart of the indoor mobile robot test data processing method of present example 3.
Specific embodiment
To keep goal of the invention of the invention, technical scheme and beneficial effects more clear, with reference to the accompanying drawing to this
The embodiment of invention is illustrated, it should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
As shown in Figure 1, the embodiment of the present invention provides a kind of indoor mobile robot test macro, comprising:
First horizontal slide rail, the second horizontal slide rail, the second upright slide rail, magnetic railings ruler, tracker, incline at the first upright slide rail
Angle instrument and laser；
The first horizontal slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail
It is separately positioned on the sliding block of first horizontal slide rail and the sliding block of the second horizontal slide rail, it is sliding in the first level with the sliding block
Rail and second horizontal slide rail are mobile, vertical sliding in first horizontal slide rail, the second horizontal slide rail, the first upright slide rail and second
It is provided with magnetic railings ruler on rail, tracker is provided on the first upright slide rail and the second upright slide rail, the tracker is along sliding
Rail is mobile, and the coordinate information of target mobile robot is measured by magnetic railings ruler；Inclinator is arranged in target mobile robot, institute
State the mobile machine of target described in laser beam measuring of the inclinator by the laser transmitting being arranged in the target mobile robot
The azimuth information of people.
The first horizontal slide rail and the second horizontal slide rail are hard steel sliding rail；First upright slide rail and second erects
Straight sliding rail is hard aluminium alloy sliding rail.
The test macro further include: pedestal, the pedestal are used to support the first horizontal slide rail and described second
Horizontal slide rail.
The test macro further include: beacon frame, for fixing the localizer beacon of target mobile robot.
The indoor mobile robot test macro of the embodiment of the present invention includes two high-precision sliding rails (forming X, Y-axis), consolidates
Rail cast iron (forming pedestal), aluminium alloy sliding rail (forming Z axis), 4 beacon framves (support frame for stationary machines people's beacon), peace
Fill the support of inclinator and laser sensor；Magnetic railings ruler is mounted on X-axis, Y-axis, on Z axis, and pedestal cylinder iron ensure that reference axis
Straightness and rigidity；Laser sensor can be with automatic fine tuning laser scanning angle；The coordinate value of beacon frame can be demarcated, to obtain
Obtain accurate robot coordinate value.
X, Y-axis sliding rail material category hard steel；Hard aluminium alloy fixed vertical sliding rail, aluminium alloy can mitigate the weight of Z axis
Amount.
As shown in Fig. 2, the embodiment of the present invention also provides a kind of indoor mobile robot test method, applied to above-mentioned room
Interior mobile robot test macro, comprising:
S101, control tracker follow target mobile robot to be moved to target and move along horizontal slide rail and vertical slide rail
Horizontal position and upright position where the central point of robot obtain the target moving machine using magnetic railings ruler according to predetermined manner
The test coordinate information of device people；
S102, control inclinator measure the test azimuth information of the target mobile robot according to predetermined manner；
S103, the test coordinate information and the test azimuth information are sent to computer clothes by communication unit
Business device.
The predetermined manner includes: periodicity or trigger-type.
Target mobile robot is in moving process in the embodiment of the present invention, and tracker, inclinator are moved with the target
Mobile robot is mobile, can periodically acquire corresponding test coordinate information and test azimuth information, for example, every 10 seconds to
Computer server sends the data of one acquisition, and the specific period can send the week of self-positioning data for target mobile robot
Phase is identical or integral multiple.
The embodiment of the present invention can with the corresponding test coordinate information of the acquisition of trigger-type and test azimuth information, such as
When target mobile robot is moved to pre-set calibration position, the data of one acquisition are sent to computer server, or
When person's target mobile robot moving distance reaches preset value, the data of one acquisition are sent to computer server, it is specific real
During applying, two horizontal slide rails can be prolonged, by the length of the range of test and it is wide be divided into 10 parts, be equivalent in test scope
Comprising 100 lattices, when being moved to the center or crosspoint of lattice, collecting test coordinate information and test azimuth letter
It ceases and is sent to computer server.
The embodiment of the present invention can also keep in the test coordinate information that measurement obtains and test azimuth information, test
Cheng Hou is unified that test coordinate information and test azimuth information that all measurement obtains are sent to computer by communication unit
Server.
In the embodiment of the present invention, computer server detects whether to receive the signal of tracker, inclinator, if do not connect
Corresponding signal is received, then return step S101.If receiving corresponding signal, provided in an embodiment of the present invention one is carried out
Kind indoor mobile robot test data processing method, as shown in figure 3, for every group of test coordinate information and test azimuth letter
Breath executes following steps:
S201, the self-positioning coordinate information for testing coordinate information and target mobile robot for obtaining measurement are in storage
Coordinate points show and show Measured Coordinates track and self-positioning Grid Track on electronic map.
S202, the test coordinate information is compared with the self-positioning coordinate information, obtains the mobile machine of target
The location error of people；
S203, the self-positioning azimuth information of the measurement test azimuth information obtained and target mobile robot is carried out
Compare, obtains the azimuth angle error of target mobile robot.
The embodiment of the present invention detects whether to receive new data, such as after calculating location error and azimuth angle error
Have and receive new data, then return step 201.
The location error includes: absolute error and relative error.
Target mobile robot absolute error is obtained as follows:
AEX=| RX–TX|
AEY=| RY–TY|
AEZ=| RZ–TZ|
Target mobile robot relative error is obtained as follows:
REX=| RX–TX|/TX
REY=| RY–TY|/TY
REZ=| RZ–TZ|/TZ
Wherein, RXFor target Mobile robot self-localization X axis coordinate, TXTo test X axis coordinate, RYFor the mobile machine of target
The self-positioning Y axis coordinate of people, TYTo test Y axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZIt is sat for test Z axis
Mark.
Target mobile robot azimuth angle error is obtained as follows:
AEθ=| Rθ–Tθ|
Wherein, RθFor target Mobile robot self-localization azimuth, TθTo test azimuth.
The embodiment of the present invention can measure the Static State Index and dynamic indicator of mobile robot, robot localization coordinate it is quiet
State absolute error refers under robot stationary state, the coordinate points of robot self-localization and the absolute distance of actual coordinate point.
And dynamic absolute error refers under robot motion's state, the coordinate points of robot self-localization and actual coordinate point it is absolute away from
From.
The embodiment of the present invention utilizes precision machinery X-axis, Y-axis and Z axis, makees coordinate label using magnetic railings ruler, using tracker
Coordinate is measured, using the azimuth of inclinator robot measurement,
Computer server connects laser sensor, robot converting interface by communication unit, and passes through Serial Port Line and magnetic
The connection of grid ruler；Obtain data, analysis data etc..Tracker setting can intelligently slide the tested robot of tracking on Z axis sliding block, and
The position coordinates of robot measurement, then transfer data to computer server by wireless module.Computer server pair
The data of upload are counted, analyzed and are reported.
The application of the embodiment of the present invention can be extended to the measurement of indoor various moving object position coordinates.
Example 1
As shown in Figure 1, this example is installed on X using the mechanical part of seven meters of long X-axis, Y-axis and two slidably Z axis
Axis, the magnetic railings ruler of Y-axis and Z axis, two video trackers, an intelligent inclinator, data transmission display subsystem and two Z axis
Slide the electronic section of control subsystem.
Measurement has been carried out to mobile robot positioning system using the system and positioning performance is analyzed, and has provided analysis report
It accuses.By system test, measurement and analytical effect of the system to mobile robot are demonstrated, target has been reached.
The system is capable of coordinate position and the azimuth of automatic measurement mobile robot now, can show electricity on the screen
The position and coordinate of sub- map and robot are able to carry out measurement data analysis, form chart and provide error analysis result.
The system is suitable for the pose measurement of indoor mobile robot, and co-ordinate measurement accuracy is in 3mm hereinafter, angle measurement is smart
Degree is within 0.3 degree.
Example 2
As shown in figure 4, this example illustrates indoor mobile robot test process:
First, control tracker is moved to where the central point of target mobile robot along horizontal slide rail and vertical slide rail
Horizontal position and upright position obtain the test coordinate information of the target mobile robot using magnetic railings ruler；
Then, control inclinator measures the test azimuth information of the target mobile robot；
It is taken finally, the test coordinate information and the test azimuth information are sent to computer by communication unit
Business device；
Computer server detects whether the signal of tracker and inclinator, if so, then continuing to execute measurement test
The step of coordinate information and test azimuth information, otherwise, finish test procedure.
Example 3
As shown in figure 5, this example illustrates indoor mobile robot test data treatment process:
First, by the measurement test coordinate information obtained and the self-positioning coordinate information of target mobile robot in storage
Coordinate points show and show Measured Coordinates track and self-positioning Grid Track on electronic map.
Then, the test coordinate information is compared with the self-positioning coordinate information, obtains the mobile machine of target
The location error of people；
Finally, the self-positioning azimuth information of the measurement test azimuth information obtained and target mobile robot is carried out
Compare, obtains the azimuth angle error of target mobile robot；
Computer server detects whether the new data of tracker and inclinator, if so, then continue to execute display and
The step of calculating error, if it is not, output error analyzes result.
Although disclosed embodiment is as above, its content is only to facilitate understand technical side of the invention
Case and the embodiment used, are not intended to limit the present invention.Any those skilled in the art to which this invention pertains, not
Under the premise of being detached from disclosed core technology scheme, any modification and change can be made in form and details in implementation
Change, but protection scope defined by the present invention, the range that the appended claims that must still be subject to limits.
Claims (10)
1. a kind of indoor mobile robot test macro characterized by comprising
First horizontal slide rail, the second horizontal slide rail, the first upright slide rail, the second upright slide rail, magnetic railings ruler, tracker, inclinator
And laser；
The first horizontal slide rail is arranged in a mutually vertical manner with the second horizontal slide rail, the first upright slide rail and the second upright slide rail difference
Be arranged on the sliding block of first horizontal slide rail and the sliding block of the second horizontal slide rail, with the sliding block in the first horizontal slide rail and
Second horizontal slide rail is mobile, on first horizontal slide rail, the second horizontal slide rail, the first upright slide rail and the second upright slide rail
It is provided with magnetic railings ruler, tracker is provided on the first upright slide rail and the second upright slide rail, the tracker is for surveying
When trying the test coordinate information of mobile robot, target mobile robot is followed to be moved to along horizontal slide rail direction and upright slide rail
Horizontal position and upright position, measure mesh by magnetic railings ruler according to predetermined manner where the central point of the target mobile robot
Mark the test coordinate information of mobile robot；Inclinator is arranged in target mobile robot, and the inclinator is for passing through institute
State the azimuth information of target mobile robot described in the laser beam measuring for the laser transmitting being arranged in target mobile robot.
2. test macro as described in claim 1, it is characterised in that: the first horizontal slide rail and the second horizontal slide rail are hard
Matter steel sliding rail；First upright slide rail and the second upright slide rail are hard aluminium alloy sliding rail.
3. test macro as described in claim 1, it is characterised in that: further include: pedestal, the pedestal are used to support described
One horizontal slide rail and second horizontal slide rail.
4. test macro as described in claim 1, it is characterised in that: further include: beacon frame, for fixing the mobile machine of target
The localizer beacon of people.
5. a kind of indoor mobile robot test method, which is characterized in that be applied to indoor moving machine described in claim 1
People's test macro, comprising:
Control tracker follows target mobile robot to be moved to target and moves machine along horizontal slide rail direction and upright slide rail
Horizontal position and upright position where the central point of people obtain the target mobile robot using magnetic railings ruler according to predetermined manner
Test coordinate information；
Control inclinator measures the test azimuth information of the target mobile robot according to predetermined manner；
The test coordinate information and the test azimuth information are sent to computer server by communication unit.
6. test method as claimed in claim 5, it is characterised in that: the predetermined manner includes: periodicity or trigger-type.
7. a kind of indoor mobile robot test data processing method, it is characterised in that: for every group of test coordinate information and survey
Azimuth information is tried, following steps are executed:
Electronic map of the self-positioning coordinate information in storage of the test coordinate information obtained and target mobile robot will be measured
On to coordinate points carry out show and Measured Coordinates track and self-positioning Grid Track are shown；
The test coordinate information is compared with the self-positioning coordinate information, the position for obtaining target mobile robot is missed
Difference；
The test azimuth information that measurement obtains is compared with the self-positioning azimuth information of target mobile robot, is obtained
The azimuth angle error of target mobile robot；
Wherein, every group of test coordinate information and test azimuth information, comprising: control tracker is along horizontal slide rail direction
Horizontal position and vertical position where following target mobile robot to be moved to the central point of target mobile robot with upright slide rail
It sets, obtains the test coordinate information of the target mobile robot using magnetic railings ruler according to predetermined manner；Control inclinator according to
Predetermined manner measures the test azimuth information of the target mobile robot；By the test coordinate information and the test side
Azimuth angle information is sent to computer server by communication unit.
8. processing method as claimed in claim 7, it is characterised in that: the location error includes: absolute error and misses relatively
Difference.
9. processing method as claimed in claim 8, it is characterised in that: it is absolute to obtain target mobile robot as follows
Error:
AEX=| RX–TX|
AEY=| RY–TY|
AEZ=| RZ–TZ|
Target mobile robot relative error is obtained as follows:
REX=| RX–TX|/TX
REY=| RY–TY|/TY
REZ=| RZ–TZ|/TZ
Wherein, RXFor target Mobile robot self-localization X axis coordinate, TXTo test X axis coordinate, RYCertainly for target mobile robot
Position Y axis coordinate, TYTo test Y axis coordinate, RZFor target Mobile robot self-localization Z axis coordinate, TZTo test Z axis coordinate.
10. processing method as claimed in claim 7, it is characterised in that: obtain target mobile robot side as follows
Parallactic angle error:
AEθ=| Rθ–Tθ|
Wherein, RθFor target Mobile robot self-localization azimuth, TθTo test azimuth.
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| CN108549376A (en) * | 2018-04-16 | 2018-09-18 | 爱啃萝卜机器人技术（深圳）有限责任公司 | A kind of navigation locating method and system based on beacon |
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| CN104406576A (en) * | 2014-12-04 | 2015-03-11 | 浙江吉利汽车研究院有限公司 | Laser positioning device |
| CN106066338A (en) * | 2016-08-04 | 2016-11-02 | 同方威视技术股份有限公司 | The back scattering detection equipment of autonomous and the localization method of method and apparatus |
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN107053219A (en) * | 2017-06-16 | 2017-08-18 | 齐鲁工业大学 | A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20100076599A1 (en) * | 2008-09-20 | 2010-03-25 | Steven Jacobs | Manually driven determination of a region of interest (roi) or a path of interest (poi) for a robotic device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104406576A (en) * | 2014-12-04 | 2015-03-11 | 浙江吉利汽车研究院有限公司 | Laser positioning device |
| CN106323335A (en) * | 2015-07-02 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Reconfigurable indoor mobile robot navigation performance evaluation instrument and evaluation method thereof |
| CN106066338A (en) * | 2016-08-04 | 2016-11-02 | 同方威视技术股份有限公司 | The back scattering detection equipment of autonomous and the localization method of method and apparatus |
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