CN108303036B - Robot wheel diameter calibration method - Google Patents
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- CN108303036B CN108303036B CN201810062871.4A CN201810062871A CN108303036B CN 108303036 B CN108303036 B CN 108303036B CN 201810062871 A CN201810062871 A CN 201810062871A CN 108303036 B CN108303036 B CN 108303036B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000003384 imaging method Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 238000003909 pattern recognition Methods 0.000 claims description 4
- 238000012795 verification Methods 0.000 abstract 2
- 238000004364 calculation method Methods 0.000 description 11
- 238000010276 construction Methods 0.000 description 4
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention relates to a robot wheel diameter calibration method, which comprises the following steps: (1) the robot moves to the initial point of the calibration area and sets an initial mileage; (2) the robot starts to drive forwards from the starting point by a distance L, and the robot records the distance LThe number of revolutions N of the person's drive wheel rotation; (3) adjusting the view angle and the focal length of the robot at the position with the distance L to obtain a calibration target image; (4) processing the obtained calibration target image through an image processing algorithm to obtain a calibration target imaging height h; (5) obtaining the measurement distance D between the robot and the calibration target Hd/H from the imaging height H of the calibration target, wherein H is the height of the calibration target; (6) subtracting the measured distance D from the distance S from the initial point of the calibration area to the calibration target to obtain the driving distance L of the robot which is S-D; (7) calculating the diameter of the wheel diameter of the robot according to the revolution number N and the running distance L
The method enables the robot to carry out wheel diameter verification at any time in the driving process, and improves the accuracy of wheel diameter verification.
Description
Technical Field
The invention relates to the field of wheel diameter calibration, in particular to a robot wheel diameter calibration method.
Background
At present, most robots move in a roller mode, and the robots need to know the driving mileage of the robots because the robots need to be accurately positioned when performing tasks. In the robot design, the usual method of calculating the mileage is the product of the circumference of the wheel and the number of wheel revolutions. Under the condition that the diameter of the roller is kept unchanged, the processing mode has certain positioning precision. In actual use, however, the wheel diameter of the roller is continuously reduced due to friction with a field or a track, so that the mileage calculation is inaccurate due to the change of the diameter of the roller in the use process of the robot, and the problem becomes more obvious as the service time of the robot is longer. The mainstream practice in the robot industry at present is to calibrate the position by using an RFID or other auxiliary devices after a certain distance is separated, rewrite the mileage, eliminate the influence of the mileage in the previous calibration point on the calculation of the next mileage, and reduce the accumulated error distance, but the method has the following disadvantages:
1. the method of using the mileage calibration cannot fundamentally solve the problem of the mileage calculation error, and only reduces the accumulated distance of the error;
2. the positioning precision can only be millimeter level by using a mileage calibration mode, and higher precision cannot be provided;
3. a large number of RFID cards are required to be installed in a mileage calibration mode such as RFID, and the engineering construction amount is large;
4. the use of mileage calibration cannot provide accurate continuous mileage accuracy, and only can ensure accuracy within calibration points.
Disclosure of Invention
The invention aims to provide a robot wheel diameter calibration method, so that the robot can perform wheel diameter calibration at any time in the driving process, and the accuracy of the wheel diameter calibration is improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
a robot wheel diameter calibration method comprises the following steps:
(1) the robot moves to the initial point of the calibration area and sets an initial mileage;
(2) the robot starts to travel forward for a distance L from a starting point, and the rotating number N of the driving wheel of the robot in the distance L is recorded;
(3) adjusting the view angle and the focal length of the robot at the position with the distance L to obtain a calibration target image, wherein the calibration target is designed in a cross external plus circular ring mode;
(4) processing the obtained calibration target image through an image processing algorithm to obtain a calibration target imaging height h;
(5) according to the convex lens imaging principle, obtaining the measurement distance D between the robot and the calibration target Hd/H from the imaging height H of the calibration target, wherein H is the height of the calibration target;
(6) subtracting the measured distance D from the distance S from the initial point of the calibration area to the calibration target to obtain the driving distance L of the robot which is S-D;
(7) calculating the diameter of the wheel diameter of the robot according to the revolution number N and the running distance L
The invention has the beneficial effects that: in the method, the measurement precision of the calibration target is controlled to be um, so that the calculation of the wheel diameter can be controlled to be within um, and the calibration precision is improved;
in practical use, wheel diameter calibration is performed once before each task is executed, and the accurate value of the wheel diameter is used for mileage calculation during the task execution, so that no accumulated error exists;
because the real value of the wheel diameter is used, the calculation accuracy of the mileage is high, so that a large number of position calibration devices such as RFID cards do not need to be arranged on the running track or the running path of the robot, and only one position calibration device needs to be arranged at the initial calibration point, so that the engineering construction amount is reduced, and the construction cost is reduced;
because a large number of RFID cards are not needed, the same real initial point is uniformly used in each task execution period, the whole mileage is continuous without jumping, the continuous positioning precision is ensured, and the precision of wheel diameter checking is improved.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the setting of the step (1) is performed by setting an initial mileage through an RF id card.
Further, the specific process of the step (4) is as follows:
(41) carrying out gray level processing on the obtained calibration target image to obtain a gray level image;
(42) carrying out sharpening processing on the gray level picture;
(43) removing a non-cross target area in the sharpened picture according to a pattern recognition principle, extracting a calibration target contour and nominally calibrating the target area;
(44) comparing whether the cross area in the picture is consistent with the nominal calibration target area or not, and if so, entering the next step; if not, returning to the step (3) to obtain the calibration target image again;
(45) cutting and storing a cross area in the picture;
(46) removing horizontal lines and circular lines in the cut picture to obtain vertical lines in the picture;
(47) and calculating the number of the pixel points occupied by the vertical lines to obtain the height h of the calibration target image.
The beneficial effect of adopting the further scheme is that: a clearer height h for imaging the calibration target is obtained.
Drawings
FIG. 1 is a schematic view of the convex lens imaging of the present invention;
FIG. 2 is a flow chart of a calibration method according to the present invention;
FIG. 3 is a wheel diameter calibration target of the present invention;
FIG. 4 is a schematic view of a wheel diameter calibration implementation of the present invention;
FIG. 5 is a flow chart of an image processing algorithm of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, according to the principle of convex lens imaging, when the object distance is greater than 2 times the focal length, an inverted and reduced real image is formed on the other side of the lens. Object distance among the imaging system, apart from, the object height, the imaging height satisfies relation H/D ═ H/D, and wherein H is by the formation of image object height, and H is the imaging height, and D is the formation of image object distance, and D is the image distance of formation of image, and the image distance is exactly the focus of camera lens.
Since the distance D is known and the object height H is known in the visible light imaging system, if the imaging height H can be measured, the object distance D can be measured by calculation, and the distance between the imaging object and the focal point can be measured.
The pixel size in a camera imaging system is a standard cell size, with a size on the um scale, with an error within a few tenths of a micron. In the implementation of the method, the imaging height based on the number of the pixel points is obtained by using a specific image processing algorithm in the image processing, and the object distance obtained by calculation can be accurate to the um level because the imaging height is accurate to the um.
As shown in fig. 2 to 4, the present invention provides a robot wheel diameter calibration method, which includes the following steps:
(1) the robot moves to the initial point of the calibration area, and an initial mileage is set through an RF ID card; the robot moves to the initial point of a calibration area before wheel diameter calibration is carried out, the initial mileage of the robot is uniformly set by methods such as an RF (radio frequency) ID (identification) card and the like, and the influence of accumulated errors of other mileage on wheel diameter calibration is eliminated;
(2) the robot starts to travel forward for a distance L from a starting point, and the rotating number N of the driving wheel of the robot in the distance L is recorded;
(3) adjusting the view angle and the focal length of the robot at the position with the distance L to obtain a calibration target image, wherein the calibration target is designed in a cross external plus circular ring mode;
(4) processing the obtained calibration target image through an image processing algorithm to obtain a calibration target imaging height h;
(5) according to the convex lens imaging principle, obtaining the measurement distance D between the robot and the calibration target Hd/H from the imaging height H of the calibration target, wherein H is the height of the calibration target;
(6) subtracting the measured distance D from the distance S from the initial point of the calibration area to the calibration target to obtain the driving distance L of the robot which is S-D;
(7) calculating the diameter of the wheel diameter of the robot according to the revolution number N and the running distance L
As shown in fig. 5, the step (4) processes the acquired calibration target image through an image processing algorithm to obtain a calibration target imaging height h; the image processing algorithm comprises the following specific processes:
(41) carrying out gray level processing on the obtained calibration target image to obtain a gray level image;
(42) carrying out sharpening processing on the gray level picture;
(43) removing a non-cross target area in the sharpened picture according to a pattern recognition principle, extracting a calibration target contour and nominally calibrating the target area;
(44) comparing whether the cross area in the picture is consistent with the nominal calibration target area or not, and if so, entering the next step; if not, returning to the step (3) to obtain the calibration target image again;
(45) cutting and storing a cross area in the picture;
(46) removing horizontal lines and circular lines in the cut picture to obtain vertical lines in the picture;
(47) and calculating the number of the pixel points occupied by the vertical lines to obtain the height h of the calibration target image.
When the image processing algorithm is started, image acquisition is executed, the image is subjected to gray processing, a color image is converted into a black and white image, then the image is subjected to sharpening processing, and the line contour is made clearer so as to facilitate later line processing.
And removing a non-cross target area in the sharpened picture by using a pattern recognition principle, and excluding interference of other external images. And then extracting the outline, finding the image without the interference into a calibration target area through image extraction, then extracting the calibration target through image cutting, finally removing the horizontal line and the external ring in the calibration target, only leaving the vertical line in the obtained image, and calculating the number of pixel points occupied by the vertical line to obtain the vertical line imaging height of the calibration target. The case where the picture does not have a calibration target needs to be considered in the algorithm, thus introducing communication and control feedback with the robot.
According to the method, the measurement accuracy of the calibration target is controlled within um, so that the wheel diameter can be controlled within um, and the problem that the positioning accuracy of a mileage calibration mode can only be millimeter level and higher accuracy cannot be provided is solved.
In practical use, wheel diameter calibration is performed once before each task is executed, and the mileage calculation uses the accurate value of the wheel diameter during the task execution, so that no accumulated error exists, and the problem that the mileage calibration cannot fundamentally solve the error of the mileage calculation and only reduces the accumulated error distance is solved.
Because the real value of the wheel diameter is used, the calculation accuracy of the mileage is high, so that position calibration equipment such as a large number of RFID cards does not need to be arranged on a running track or a running path of the robot, only one calibration starting point needs to be arranged, and the problems that a large number of RFID cards need to be installed in a mileage calibration mode such as RFID and the construction amount is large are solved.
Because a large number of RFID cards are not needed, the same real initial point is uniformly used in each task execution period, the whole mileage is continuous without jumping, and the continuous positioning precision is ensured, so that the problem that the accuracy of the continuous whole-course mileage cannot be provided by using mileage calibration, and the accuracy in two calibration points can only be ensured is solved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. A robot wheel diameter calibration method is characterized by comprising the following steps:
(1) the robot moves to the initial point of the calibration area and sets an initial mileage;
(2) the robot starts to travel forward for a distance L from a starting point, and the rotating number N of the driving wheel of the robot in the distance L is recorded;
(3) adjusting the view angle and the focal length of the robot at the position with the distance L to obtain a calibration target image, wherein the calibration target is designed in a cross external plus circular ring mode;
(4) processing the obtained calibration target image through an image processing algorithm to obtain a calibration target imaging height h, wherein the specific process is as follows;
(41) carrying out gray level processing on the obtained calibration target image to obtain a gray level image;
(42) carrying out sharpening processing on the gray level picture;
(43) removing a non-cross target area in the sharpened picture according to a pattern recognition principle, extracting a calibration target contour and nominally calibrating the target area;
(44) comparing whether the cross area in the picture is consistent with the nominal calibration target area or not, and if so, entering the next step; if not, returning to the step (3) to obtain the calibration target image again;
(45) cutting and storing a cross area in the picture;
(46) removing horizontal lines and circular lines in the cut picture to obtain vertical lines in the picture;
(47) calculating the number of the pixel points occupied by the vertical lines to obtain the height h of the calibration target image;
(5) according to the convex lens imaging principle, obtaining the measurement distance D between the robot and the calibration target which is Hd/H from the imaging height H of the calibration target, wherein H is the height of the calibration target, and D is the physical distance from the focus of the lens to the image sensor;
(6) subtracting the measured distance D from the distance S from the initial point of the calibration area to the calibration target to obtain the driving distance L of the robot which is S-D;
(7) calculating the diameter of the wheel diameter of the robot according to the revolution number N and the running distance L
2. The robot wheel diameter calibration method according to claim 1, wherein the set initial mileage of the step (1) is set by an RFID card.
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| CN201810062871.4A CN108303036B (en) | 2018-01-23 | 2018-01-23 | Robot wheel diameter calibration method |
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| CN201810062871.4A CN108303036B (en) | 2018-01-23 | 2018-01-23 | Robot wheel diameter calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2007156576A (en) * | 2005-11-30 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | Method and device for adjusting odometry(wheel range finder) parameter for traveling carrier |
| CN101357644B (en) * | 2008-09-08 | 2010-12-15 | 北京交通大学 | Locomotive wheel diameter automatic calibration system and method based on satellite positioning |
| JP2011118585A (en) * | 2009-12-02 | 2011-06-16 | Nippon Sharyo Seizo Kaisha Ltd | Automated guided vehicle |
| KR20130070130A (en) * | 2011-12-19 | 2013-06-27 | 엘에스산전 주식회사 | Mesuring apparatus and mesuring method of train wheel wear |
| CN103707903B (en) * | 2013-12-05 | 2016-08-17 | 北京交控科技股份有限公司 | A kind of Automatic train wheel diameter bearing calibration |
| CN105437261B (en) * | 2016-01-04 | 2017-09-22 | 杭州亚美利嘉科技有限公司 | Robot tire wear method for early warning and device |
| CN105573322B (en) * | 2016-01-04 | 2019-01-04 | 杭州亚美利嘉科技有限公司 | A kind of method and device of robot wheel footpath compensation |
| CN205537582U (en) * | 2016-04-27 | 2016-08-31 | 河北德普电器有限公司 | Tyre wear self system of robot |
| CN106643725B (en) * | 2016-11-21 | 2019-11-22 | 浙江大学 | A kind of robot localization air navigation aid based on floor tile contour line |
| CN107085430A (en) * | 2017-05-24 | 2017-08-22 | 深圳优地科技有限公司 | A kind of optimization method of wheeled robot parameter adjustment, device and system |
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Address after: B501, Building F2, TCL Science Park, No. 1001, Zhongshanyuan Road, Shuguang Community, Xili Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee after: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 518108 301 of Fengyun science and technology mansion, Fifth Industrial Zone, Nanshan District North Ring Road, Shenzhen, Guangdong. Patentee before: LAUNCH DIGITAL TECHNOLOGY Co.,Ltd. Country or region before: China |