CN108372518B - Method, device and system for calibrating steering error of robot - Google Patents
Method, device and system for calibrating steering error of robot Download PDFInfo
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- CN108372518B CN108372518B CN201810016515.9A CN201810016515A CN108372518B CN 108372518 B CN108372518 B CN 108372518B CN 201810016515 A CN201810016515 A CN 201810016515A CN 108372518 B CN108372518 B CN 108372518B
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- robot
- fence
- attitude angle
- steering error
- error
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
Abstract
The invention discloses a method, a device and a system for calibrating a steering error of a robot, wherein a rectangular fence is firstly arranged; after the robot drives into the fence, scanning the environment through a laser radar arranged on the robot, monitoring 4 side lines of the fence, and acquiring an initial attitude angle of the robot relative to the fence; controlling the robot to rotate in place by an angle; acquiring a current attitude angle of the robot relative to the fence through a laser radar; and calculating the steering error of the robot according to the initial attitude angle, the current attitude angle and the rotation angle. The invention can calculate the relative position error of the left wheel and the right wheel of the robot according to the steering error, calibrate the relative position error of the wheels, and compensate the error in the subsequent movement process of the robot, thereby reducing the angle error when the robot makes turning movement.
Description
Technical Field
The invention relates to a method, a device and a system for calibrating a steering error of a robot.
Background
The left side wheel and the right side wheel of the multi-wheel mobile robot have relative position errors, the errors can cause that the mobile robot has angle errors when turning, and therefore the relative position errors of the wheels need to be calibrated, and the errors are compensated.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a method, a device and a system for calibrating the steering error of a robot, and aims to solve the problem of angle error when the robot in the prior art makes turning motion.
The purpose of the invention is realized by adopting the following technical scheme:
a robot steering error calibration method comprises the following steps:
a fence setting step, namely setting a rectangular fence;
an initial attitude obtaining step, namely after the robot enters the fence, scanning the environment through a laser radar arranged on the robot, monitoring 4 side lines of the fence, and obtaining an initial attitude angle a1 of the robot relative to the fence;
a rotation step, controlling the robot to rotate by an angle p in situ;
a current attitude obtaining step, namely scanning the environment through a laser radar, monitoring 4 side lines of the fence, and obtaining a current attitude angle a2 of the robot relative to the fence;
and a steering error calculation step, wherein the steering error m of the robot is calculated according to the initial attitude angle a1, the current attitude angle a2 and the rotation angle p:
In addition to the above embodiments, it is preferable that p be 360 degrees.
On the basis of any of the above embodiments, preferably, the robot is provided with a left wheel and a right wheel;
the method further comprises the following steps:
and a relative position error calculation step of calculating a relative position error of the left wheel and the right wheel according to the steering error m of the robot.
On the basis of any of the above embodiments, it is preferable that the method further includes:
a steering error correction step:
scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence;
controlling the robot to rotate in place for N circles;
scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence;
recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
A robot steering error calibration device includes:
the fence setting module is used for setting a rectangular fence;
the initial attitude acquisition module is used for scanning the environment through a laser radar arranged on the robot after the robot drives into the fence, monitoring 4 side lines of the fence and acquiring an initial attitude angle a1 of the robot relative to the fence;
the rotation module is used for controlling the robot to rotate by an angle p in situ;
the current attitude acquisition module is used for monitoring 4 side lines of the fence by scanning the environment through the laser radar and acquiring a current attitude angle a2 of the robot relative to the fence;
and the steering error calculation module is used for calculating the steering error m of the robot according to the initial attitude angle a1, the current attitude angle a2 and the rotation angle p:
In addition to the above embodiments, it is preferable that p be 360 degrees.
On the basis of any of the above embodiments, preferably, the robot is provided with a left wheel and a right wheel;
the device further comprises:
and the relative position error calculation module is used for calculating the relative position error of the left wheel and the right wheel according to the steering error m of the robot.
On the basis of any of the above embodiments, it is preferable that the method further includes:
a steering error correction module to:
scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence;
controlling the robot to rotate in place for N circles;
scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence;
recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
A robot steering error calibration system, comprising:
the robot steering error calibration device in any one of the above embodiments;
the fence is used for providing a calibration site;
lidar installs on the robot, and lidar is used for the scanning environment, monitors 4 sidelines of rail.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a method, a device and a system for calibrating a steering error of a robot, wherein a rectangular fence is firstly arranged; after the robot drives into the fence, scanning the environment through a laser radar arranged on the robot, monitoring 4 side lines of the fence, and acquiring an initial attitude angle of the robot relative to the fence; controlling the robot to rotate in place by an angle; acquiring a current attitude angle of the robot relative to the fence through a laser radar; and calculating the steering error of the robot according to the initial attitude angle, the current attitude angle and the rotation angle. The invention can calculate the relative position error of the left wheel and the right wheel of the robot according to the steering error, calibrate the relative position error of the wheels, and compensate the error in the subsequent movement process of the robot, thereby reducing the angle error when the robot makes turning movement.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1a is a schematic diagram illustrating a change in the attitude of a robot before and after turning according to an embodiment of the present invention;
fig. 1b shows a schematic flow chart of a robot steering error calibration method provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram illustrating a robot steering error calibration apparatus according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of a robot steering error calibration system provided by an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Detailed description of the preferred embodiment
As shown in fig. 1a and fig. 1b, an embodiment of the present invention provides a method for calibrating a steering error of a robot, including:
a fence setting step S101, setting a rectangular fence;
an initial attitude obtaining step S102, after the robot enters the fence, scanning the environment through a laser radar arranged on the robot, monitoring 4 side lines of the fence, and obtaining an initial attitude angle a1 of the robot relative to the fence;
a rotation step S103, controlling the robot to rotate by an angle p in situ;
a current attitude obtaining step S104, namely, scanning the environment through a laser radar, monitoring 4 side lines of the fence, and obtaining a current attitude angle a2 of the robot relative to the fence;
a steering error calculation step S105, which calculates a steering error m of the robot from the initial attitude angle a1, the current attitude angle a2, and the turning angle p:
The embodiment of the invention does not limit the application range, and preferably can be applied to a transformer substation inspection robot or a wheeled robot.
In the embodiment of the present invention, p is not limited, and preferably, p is 360 degrees. When p is 360 degrees, the robot rotates one circle, and m is equal to (a2-a 1).
Preferably, the robot may be provided with left and right wheels; the method may further comprise: a relative position error calculation step S106 calculates a relative position error of the left wheel and the right wheel based on the steering error m of the robot. The embodiment of the invention does not limit the number of the left wheels and the right wheels of the robot applying the method, the number of the left wheels can be 2, the number of the right wheels can be 2, and the method can be applied to the wheel type robot independently driving 4 wheels to steer.
According to the embodiment of the invention, the relative position error of the left wheel and the right wheel of the robot can be calculated according to the steering error, the relative position error of the wheels is calibrated, and the error can be compensated in the subsequent movement process of the robot, so that the angle error of the robot in the turning movement is reduced.
Preferably, the embodiment of the present invention may further include: a steering error correction step: scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence; controlling the robot to rotate in place for N circles; scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence; recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
The advantage of doing so is that the calculation accuracy of robot steering error can be improved according to the cumulative averaging of multiturn error under the condition of rotating multiturn.
In the first embodiment, a method for calibrating a steering error of a robot is provided, and correspondingly, a device for calibrating a steering error of a robot is also provided. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
Detailed description of the invention
As shown in fig. 2, an embodiment of the present invention provides a robot steering error calibration apparatus, including:
a fence setting module 201, configured to set a rectangular fence;
the initial attitude obtaining module 202 is configured to, after the robot enters the fence, scan the environment through a laser radar installed on the robot, monitor 4 edge lines of the fence, and obtain an initial attitude angle a1 of the robot relative to the fence;
the rotating module 203 is used for controlling the robot to rotate by an angle p in situ;
the current attitude obtaining module 204 is configured to monitor 4 edge lines of the fence through laser radar scanning of the environment, and obtain a current attitude angle a2 of the robot relative to the fence;
a steering error calculation module 205, configured to calculate a steering error m of the robot according to the initial attitude angle a1, the current attitude angle a2, and the turning angle p:
In the embodiment of the present invention, p is not limited, and preferably, p is 360 degrees.
Preferably, the robot may be provided with left and right wheels; the apparatus may further include: and a relative position error calculation module 206, configured to calculate a relative position error of the left wheel and the right wheel according to the steering error m of the robot.
According to the embodiment of the invention, the relative position error of the left wheel and the right wheel of the robot can be calculated according to the steering error, the relative position error of the wheels is calibrated, and the error can be compensated in the subsequent movement process of the robot, so that the angle error of the robot in the turning movement is reduced.
Preferably, the embodiment of the present invention may further include: a steering error correction module to: scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence; controlling the robot to rotate in place for N circles; scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence; recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
Detailed description of the preferred embodiment
As shown in fig. 3, an embodiment of the present invention provides a robot steering error calibration system, including:
the robot steering error calibration apparatus 301 in the second embodiment;
a fence 302 for providing a calibration site;
and the laser radar 303 is installed on the robot and used for scanning the environment and monitoring 4 side lines of the fence.
According to the embodiment of the invention, the relative position error of the left wheel and the right wheel of the robot can be calculated according to the steering error, the relative position error of the wheels is calibrated, and the error can be compensated in the subsequent movement process of the robot, so that the angle error of the robot in the turning movement is reduced.
The present invention has been described in terms of its practical application, and it is to be understood that the above description and drawings are only illustrative of the presently preferred embodiments of the invention and are not to be considered as limiting, since all changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. Although the present invention has been described to a certain extent, it is apparent that appropriate changes in the respective conditions may be made without departing from the spirit and scope of the present invention. It is to be understood that the invention is not limited to the described embodiments, but is to be accorded the scope consistent with the claims, including equivalents of each element described. Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (7)
1. A method for calibrating robot steering error is characterized by comprising the following steps:
a fence setting step, namely setting a rectangular fence;
an initial attitude obtaining step, namely after the robot enters the fence, scanning the environment through a laser radar arranged on the robot, monitoring 4 side lines of the fence, and obtaining an initial attitude angle a1 of the robot relative to the fence;
a rotation step, controlling the robot to rotate by an angle p in situ;
a current attitude obtaining step, namely scanning the environment through a laser radar, monitoring 4 side lines of the fence, and obtaining a current attitude angle a2 of the robot relative to the fence;
and a steering error calculation step, wherein the steering error m of the robot is calculated according to the initial attitude angle a1, the current attitude angle a2 and the rotation angle p:
further comprising:
a steering error correction step:
scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence;
controlling the robot to rotate in place for N circles;
scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence;
recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
2. The method for calibrating the steering error of the robot according to claim 1, wherein p is 360 degrees.
3. The robot steering error calibration method according to claim 1 or 2, wherein the robot is provided with a left wheel and a right wheel;
the method further comprises the following steps:
and a relative position error calculation step of calculating a relative position error of the left wheel and the right wheel according to the steering error m of the robot.
4. A robot steering error calibration device is characterized by comprising:
the fence setting module is used for setting a rectangular fence;
the initial attitude acquisition module is used for scanning the environment through a laser radar arranged on the robot after the robot drives into the fence, monitoring 4 side lines of the fence and acquiring an initial attitude angle a1 of the robot relative to the fence;
the rotation module is used for controlling the robot to rotate by an angle p in situ;
the current attitude acquisition module is used for monitoring 4 side lines of the fence by scanning the environment through the laser radar and acquiring a current attitude angle a2 of the robot relative to the fence;
and the steering error calculation module is used for calculating the steering error m of the robot according to the initial attitude angle a1, the current attitude angle a2 and the rotation angle p:
further comprising:
a steering error correction module to:
scanning an environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a first attitude angle b1 of the robot relative to the fence;
controlling the robot to rotate in place for N circles;
scanning the environment through a laser radar, monitoring 4 side lines of the fence, and acquiring a second attitude angle b2 of the robot relative to the fence;
recalculating the steering error m' of the robot according to the first attitude angle b1, the second attitude angle b2 and the number of turns N:
5. The robot steering error calibration device of claim 4, wherein p is 360 degrees.
6. A robot steering error calibration arrangement according to claim 4 or 5, characterized in that the robot is provided with a left wheel and a right wheel;
the device further comprises:
and the relative position error calculation module is used for calculating the relative position error of the left wheel and the right wheel according to the steering error m of the robot.
7. A robot steering error calibration system, comprising:
the robot steering error calibration apparatus of any one of claims 4-6;
the fence is used for providing a calibration site;
lidar installs on the robot, and lidar is used for the scanning environment, monitors 4 sidelines of rail.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016515.9A CN108372518B (en) | 2018-01-08 | 2018-01-08 | Method, device and system for calibrating steering error of robot |
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| CN201810016515.9A CN108372518B (en) | 2018-01-08 | 2018-01-08 | Method, device and system for calibrating steering error of robot |
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| CN108372518A CN108372518A (en) | 2018-08-07 |
| CN108372518B true CN108372518B (en) | 2020-07-31 |
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| CN109571467B (en) * | 2018-11-23 | 2020-09-18 | 北京控制工程研究所 | Method and device for calibrating motion model of double-wheel differential robot and odometer system |
| CN111515916A (en) * | 2020-04-29 | 2020-08-11 | 广州高新兴机器人有限公司 | Method and device for calibrating errors of front steering system of robot |
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| JPH10240342A (en) * | 1997-02-28 | 1998-09-11 | Minolta Co Ltd | Autonomous traveling vehicle |
| JP5487756B2 (en) * | 2009-06-26 | 2014-05-07 | 富士通株式会社 | Robot control apparatus, robot control program, and robot control method |
| DE102014200100B4 (en) * | 2013-01-15 | 2018-04-05 | Ford Global Technologies, Llc | Steering angle error correction |
| CN106926900B (en) * | 2017-03-28 | 2023-04-25 | 歌尔科技有限公司 | Steering control method and device and double-wheel robot |
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Address after: Room 802, building 8, 1818-2, Wenyi West Road, Yuhang District, Hangzhou, Zhejiang 310000 Patentee after: Zhejiang Lishi industrial Interconnection Technology Co.,Ltd. Address before: Room 802, building 8, 1818-2, Wenyi West Road, Yuhang District, Hangzhou, Zhejiang 310000 Patentee before: ZHEJIANG LISHI ROBOT TECHNOLOGY Co.,Ltd. |