CN108562889B - Laser radar coordinate correction method - Google Patents
Laser radar coordinate correction method Download PDFInfo
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- CN108562889B CN108562889B CN201810806676.8A CN201810806676A CN108562889B CN 108562889 B CN108562889 B CN 108562889B CN 201810806676 A CN201810806676 A CN 201810806676A CN 108562889 B CN108562889 B CN 108562889B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
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Abstract
The invention discloses a laser radar coordinate correction method, which comprises the following steps of installing an auxiliary positioning mark on a wall body and arranging an auxiliary positioning mark central position reference line on the ground; accurately finding a trolley movement central point, aligning the trolley movement central point with the reference line, and rotating the trolley to enable the laser radar central line to deviate from a certain angle alpha; measuring related data in projections on the same horizontal plane, and calculating to obtain the angular deviation beta of the laser radar central line and the trolley movement central line; correcting the movement center line of the trolley according to the angle deviation beta and aligning the movement center line of the trolley with the reference line of the center position of the auxiliary positioning mark, so that the laser radar deviates from the reference line of the center position of the auxiliary positioning mark by a certain angle theta to obtain the relative position of the center point of the laser radar and the center point of the auxiliary positioning mark at the moment; and measuring related data, and calculating the offset between the center point of the laser radar and the movement center point of the trolley. The method can correct the error of the relative position between the center line of the laser radar and the center line of the AGV trolley.
Description
Technical Field
The invention relates to the field of laser navigation of AGV (automatic guided vehicle), in particular to a laser radar coordinate correction method.
Background
For laser navigation AGV, the mounted position of laser radar can't be pinpointed when installing laser radar, can lead to by laser radar and dolly movement center point's certain angle deviation of production like this, cause to calculate dolly movement center point position in-process according to laser radar and have great error, influence follow-up AGV's navigation positioning and motion control.
Disclosure of Invention
The invention aims to provide a laser radar coordinate correction method, which can eliminate calculation errors caused by the installation angle of a laser radar.
The invention discloses a laser radar coordinate correction method, which comprises the following steps:
step one, mounting an auxiliary positioning mark on a wall body which is at a certain height from the ground;
step two, arranging an auxiliary positioning mark central position reference line on the ground corresponding to the auxiliary positioning mark installation position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an auxiliary positioning mark central position reference line, and rotating the trolley to enable the laser radar to deviate from the auxiliary positioning mark central position reference line by a certain angle alpha;
measuring the distance S from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, the distance X from the center point of the laser radar to the angular bisector reference line of the triangular plate and the distance Y from the center point of the triangular plate to the 0-degree line of the laser radar, and calculating to obtain the angular deviation beta between the center line of the laser radar and the movement center line of the trolley;
step five, correcting the movement center line of the trolley according to the angle deviation beta in the step five, aligning the movement center line of the trolley with the reference line of the central position of the auxiliary positioning mark, and enabling the laser radar to deviate from the reference line of the central position of the auxiliary positioning mark by a certain angle theta to obtain the relative position of the central point of the laser radar and the central point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular mark to the movement center point of the trolley at the moment, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
Further, according to the laser radar coordinate correction method, the auxiliary positioning mark is a triangular plate, and the reference line of the center position of the auxiliary positioning mark is a triangular plate angular bisector reference line.
Furthermore, the laser radar coordinate correction method of the invention is characterized in that the triangular plate comprises two connected rectangular plates, one long edge of each rectangular plate is fixedly connected to the wall body, and the distance between the other edge of each rectangular plate and the wall body is equal.
Further, according to the laser radar coordinate correction method, the rectangular plates are equal in size and symmetrically arranged, and the angular bisector reference line of the triangular plate is perpendicular to the wall surface.
Further, the laser radar coordinate correcting method of the invention,
the method comprises the following steps that firstly, a set square is installed on a wall body which is a certain height away from the ground, the distance between two edges of the set square and the wall body is measured, and the distances between the two edges of the set square and the wall body are adjusted to be equal;
step two, arranging a triangular plate angular bisector reference line on the ground corresponding to the triangular plate mounting position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an angular bisector reference line, and rotating the trolley to enable the laser radar central line to deviate from the triangular plate angular bisector reference line by a certain angle alpha;
measuring the distance S from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, the distance X from the center point of the laser radar to the angular bisector reference line of the triangular plate and the distance Y from the center point of the triangular plate to the 0-degree line of the laser radar, and calculating to obtain the angular deviation beta between the center line of the laser radar and the movement center line of the trolley;
step five, correcting the movement center line of the trolley according to the angular deviation beta in the step four, aligning the movement center line of the trolley with the angular bisector reference line of the triangular plate, deviating the center line of the laser radar from the angular bisector reference line of the triangular plate by a certain angle theta, and calculating to obtain the relative position of the center point of the laser radar and the center point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
Furthermore, in the third step, the laser emitting device is adopted to accurately find the movement center point of the trolley, and the movement center point of the trolley is aligned to the angular bisector reference line.
Further, the laser radar coordinate correction method of the present invention is repeated for a plurality of times, and an average value of the offset calculation in the horizontal direction over a period of time is taken as a horizontal offset parameter, and an average value of the offset calculation in the vertical direction over a period of time is taken as a vertical offset parameter.
Further, the value ranges of the alpha and the theta are both 1.22 degrees to 88.78 degrees.
Has the advantages that: the invention adopts the auxiliary positioning mark, particularly the set square, to accurately position the installation position of the laser radar and correct the error of the relative position between the central line of the laser radar and the moving central line of the AGV trolley. The relative position of the laser radar central point and the trolley movement central point can be accurately calculated, so that the accuracy of the AGV subsequent positioning navigation and movement control is ensured.
Drawings
FIG. 1 is a schematic diagram of X and Y calculation in a laser radar coordinate correction method of the present invention.
1. The laser radar system comprises a triangular plate, 2, a triangular plate angular bisector reference line, 3, a trolley movement central line, 4, a trolley movement central point, 5, a laser radar central point, 6 and a laser radar central line.
Detailed Description
The invention discloses a laser radar coordinate correction method, which comprises the following steps:
step one, mounting an auxiliary positioning mark on a wall body which is at a certain height from the ground; preferably, the height of the auxiliary positioning mark is adapted to the height of the laser radar, and the scanning height of the laser radar is guaranteed to be located in the middle of the auxiliary positioning mark.
Step two, arranging an auxiliary positioning mark central position reference line on the ground corresponding to the auxiliary positioning mark installation position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an auxiliary positioning mark central position reference line, and rotating the trolley to enable the laser radar to deviate from the auxiliary positioning mark central position reference line by a certain angle alpha;
measuring the distance S from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, the distance X from the center point of the laser radar to the angular bisector reference line of the triangular plate and the distance Y from the center point of the triangular plate to the 0-degree line of the laser radar, and calculating to obtain the angular deviation beta between the center line of the laser radar and the movement center line of the trolley;
step five, correcting the movement center line of the trolley according to the angle deviation beta in the step five, aligning the movement center line of the trolley with the reference line of the central position of the auxiliary positioning mark, and enabling the laser radar to deviate from the reference line of the central position of the auxiliary positioning mark by a certain angle theta to obtain the relative position of the central point of the laser radar and the central point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular mark to the movement center point of the trolley at the moment, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
The auxiliary positioning mark can be a reflecting plate with high reflectivity, or a panel made of other common materials without special reflection requirements, such as rigid plastics, metal and the like, and can be in the shape of an arc, a rectangle or an L, or a plate or formed by splicing the two plates, preferably formed by splicing the two plates to form a certain included angle. The laser radar scans the auxiliary positioning mark to form a line segment or two line segment contour lines forming a certain included angle. The central position reference line can be a vertical line which is led out from the central point of the line segment and is vertical to the wall surface or an angular bisector of two line segments forming a certain included angle.
Further, according to the laser radar coordinate correction method, the auxiliary positioning mark is a triangular plate, and the reference line of the center position of the auxiliary positioning mark is a triangular plate angular bisector reference line.
Furthermore, the laser radar coordinate correction method of the invention is characterized in that the triangular plate comprises two connected rectangular plates, one long edge of each rectangular plate is fixedly connected to the wall body, and the distance between the other edge of each rectangular plate and the wall body is equal.
Further, according to the laser radar coordinate correction method, the rectangular plates are equal in size and symmetrically arranged, and the angular bisector reference line of the triangular plate is perpendicular to the wall surface.
Further, the laser radar coordinate correcting method of the invention,
the method comprises the following steps that firstly, a set square is installed on a wall body which is a certain height away from the ground, the distance between two edges of the set square and the wall body is measured, and the distances between the two edges of the set square and the wall body are adjusted to be equal;
step two, arranging a triangular plate angular bisector reference line on the ground corresponding to the triangular plate mounting position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an angular bisector reference line, and rotating the trolley to enable the laser radar central line to deviate from the triangular plate angular bisector reference line by a certain angle alpha;
measuring the distance S from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, the distance X from the center point of the laser radar to the angular bisector reference line of the triangular plate and the distance Y from the center point of the triangular plate to the 0-degree line of the laser radar, and calculating to obtain the angular deviation beta between the center line of the laser radar and the movement center line of the trolley
Step five, correcting the movement center line of the trolley according to the angular deviation beta in the step four, aligning the movement center line of the trolley with the angular bisector reference line of the triangular plate, deviating the center line of the laser radar from the angular bisector reference line of the triangular plate by a certain angle theta, and calculating to obtain the relative position of the center point of the laser radar and the center point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
Furthermore, the laser radar coordinate correction method is a laser radar coordinate correction method, and in the third step, the laser emitting device is adopted to accurately find the movement center point of the trolley, and the movement center point of the trolley is aligned to the angular bisector reference line.
Furthermore, the laser radar coordinate correction method is repeatedly carried out for many times, and the calculated average value in a period of time is taken as a parameter.
Further, the value ranges of the alpha and the theta are both 1.22 degrees to 88.78 degrees. The laser radar system comprises a triangular plate, 2, a triangular plate angular bisector reference line, 3, a trolley movement central line, 4, a trolley movement central point, 5, a laser radar central point, 6 and a laser radar central line.
As shown in fig. 1, a specific example of a measurement and calculation method of a laser radar coordinate correction method of the present invention is as follows, aligning a trolley movement center point 4 to a point on an angular bisector reference line 2, and rotating the trolley to make an included angle α between a laser radar center line (90 ° line) 6 and a triangular plate angular bisector reference line 2 be 5 °, at this time, a coordinate X of a laser radar center point 5 is a distance from the laser radar center point to the triangular plate angular bisector reference line 2, and Y is a distance from a triangular mark point to a laser radar 0 ° line; measuring the distance s from the central point of the set square to the movement central point 4 of the trolley, and calculating the angle deviation beta; correcting a trolley movement center point 4 according to the angle deviation beta and aligning the trolley movement center point to a triangular plate angular bisector reference line 2, deviating a laser radar center line 6 from the triangular plate angular bisector reference line by a certain angle theta, and calculating to obtain the relative position of the laser radar center point and the triangular plate center point; and measuring the distance from the central point of the triangular plate to the central point 4 of the trolley in the projection on the same horizontal plane, and calculating the offset X of the central point 5 of the laser radar and the central point 4 of the trolley in the horizontal direction and the offset Y in the vertical direction. In order to make the correction more accurate, the correction may be repeated a plurality of times, and the average value of the offset calculation in the horizontal direction over a period of time is taken as the horizontal offset parameter, and the average value of the offset calculation in the vertical direction over a period of time is taken as the vertical offset parameter.
Has the advantages that: the invention adopts the auxiliary positioning mark, particularly the set square, to accurately position the installation position of the laser radar and correct the error of the relative position between the central line of the laser radar and the moving central line of the AGV trolley. The relative position of the laser radar central point and the trolley movement central point can be accurately calculated, so that the accuracy of the AGV subsequent positioning navigation and movement control is ensured.
Claims (8)
1. A laser radar coordinate correction method is characterized by comprising the following steps:
step one, mounting an auxiliary positioning mark on a wall body which is at a certain height from the ground;
step two, arranging an auxiliary positioning mark central position reference line on the ground corresponding to the auxiliary positioning mark installation position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an auxiliary positioning mark central position reference line, and rotating the trolley to enable the laser radar to deviate from the auxiliary positioning mark central position reference line by a certain angle alpha;
measuring the distance S from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, the distance X from the center point of the laser radar to the angular bisector reference line of the triangular plate and the distance Y from the center point of the triangular plate to the 0-degree line of the laser radar, and calculating to obtain the angular deviation beta between the center line of the laser radar and the movement center line of the trolley;
step five, correcting the movement center line of the trolley according to the angle deviation beta in the step five, aligning the movement center line of the trolley with the reference line of the central position of the auxiliary positioning mark, and enabling the laser radar to deviate from the reference line of the central position of the auxiliary positioning mark by a certain angle theta to obtain the relative position of the central point of the laser radar and the central point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular mark to the movement center point of the trolley at the moment, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
2. The lidar coordinate correction method according to claim 1, wherein the auxiliary locator is a triangular plate, and the auxiliary locator center position reference line is a triangular plate angular bisector reference line.
3. The lidar coordinate correction method of claim 2, wherein the set square comprises two connected rectangular plates, one long side of each rectangular plate is fixedly connected to the wall body, and the other sides of the rectangular plates are equidistant from the wall body.
4. The lidar coordinate correction method according to claim 3, wherein the rectangular plates are equal in size and symmetrically arranged, and the triangular plate angular bisector reference line is arranged perpendicular to the wall surface.
5. Lidar coordinate correction method according to any of claims 1 to 4, characterized by a lidar coordinate correction method,
the method comprises the following steps that firstly, a set square is installed on a wall body which is a certain height away from the ground, the distance between two edges of the set square and the wall body is measured, and the distances between the two edges of the set square and the wall body are adjusted to be equal;
step two, a triangular plate angular bisector reference line is arranged on the ground corresponding to the installation position;
accurately finding a trolley movement central point, aligning the trolley movement central point to an angular bisector reference line, and rotating the trolley to enable the laser radar central line to deviate from the triangular plate angular bisector reference line by a certain angle alpha;
step five, correcting the movement center line of the trolley according to the angular deviation beta in the step four, aligning the movement center line of the trolley with the angular bisector reference line of the triangular plate, deviating the center line of the laser radar from the angular bisector reference line of the triangular plate by a certain angle theta, and calculating to obtain the relative position of the center point of the laser radar and the center point of the auxiliary positioning mark at the moment;
and step six, measuring the distance from the center point of the triangular plate to the movement center point of the trolley in the projection on the same horizontal plane, and calculating the offset of the center point of the laser radar and the movement center point of the trolley in the horizontal direction and the offset of the center point of the laser radar in the vertical direction.
6. The lidar coordinate correction method of claim 5, wherein in step three, the laser transmitter is used to accurately find the center point of the trolley movement, and the center point of the trolley movement is aligned with the angular bisector reference line.
7. The lidar coordinate correction method according to claim 1, wherein the calculation is repeated a plurality of times, and an average value of the horizontal direction shift amounts over a period of time is taken as a horizontal shift parameter, and an average value of the vertical direction shift amounts over a period of time is taken as a vertical shift parameter.
8. The lidar coordinate correction method according to claim 1, wherein α and θ each have a value ranging from 1.22 ° to 88.78 °.
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| CN109725303B (en) * | 2018-12-04 | 2021-07-02 | 北京万集科技股份有限公司 | Coordinate system correction method and device, and storage medium |
| CN111352090B (en) * | 2018-12-21 | 2023-06-27 | 保定市天河电子技术有限公司 | Laser radar integrated with attitude system and control method |
| CN109696663B (en) * | 2019-02-21 | 2021-02-09 | 北京大学 | Vehicle-mounted three-dimensional laser radar calibration method and system |
| CN110221313B (en) * | 2019-06-18 | 2021-04-16 | 广东嘉腾机器人自动化有限公司 | Laser radar installation position correction method of AGV (automatic guided vehicle) and AGV |
| CN112147598A (en) * | 2019-06-27 | 2020-12-29 | 武汉爱速达机器人科技有限公司 | Laser calibration method based on right-angle wall surface |
| CN112230256B (en) * | 2019-07-15 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Autonomous robot, positioning calibration method and device thereof, and storage medium |
| CN110353577B (en) * | 2019-08-09 | 2020-12-08 | 小狗电器互联网科技（北京）股份有限公司 | Laser radar point cloud data distortion removal method and sweeping device |
| CN111257895B (en) * | 2020-01-17 | 2022-03-25 | 华南农业大学 | Non-contact type agricultural implement offset error self-adaptive compensation method and system and tractor |
| CN111381244B (en) * | 2020-03-05 | 2022-10-28 | 三一机器人科技有限公司 | Vehicle positioning enhancement method and device, vehicle and readable storage medium |
| CN111505607B (en) * | 2020-04-28 | 2022-06-24 | 劢微机器人科技(深圳)有限公司 | Laser radar installation angle correction system and installation angle correction method thereof |
| CN111538035B (en) * | 2020-05-29 | 2022-08-30 | 三一机器人科技有限公司 | Positioning method, device and system |
| CN111624566B (en) * | 2020-07-30 | 2021-04-16 | 北汽福田汽车股份有限公司 | Radar installation angle calibration method and device |
| CN112034422B (en) * | 2020-09-04 | 2024-02-09 | 苏州华兴源创科技股份有限公司 | AGV-based laser positioning system and method |
| CN112388602B (en) * | 2020-11-19 | 2022-01-25 | 斯坦德机器人（深圳）有限公司 | Calibration method, device and equipment of mobile robot |
| CN112748422B (en) * | 2020-12-23 | 2024-04-16 | 广东嘉腾机器人自动化有限公司 | AGV laser radar installation position verification method |
| CN113654530B (en) * | 2021-06-30 | 2024-03-22 | 苏州艾吉威机器人有限公司 | Terminal positioning method based on laser sensor |
| CN113311844B (en) * | 2021-07-28 | 2021-11-12 | 福勤智能科技（昆山）有限公司 | Servo control method and device, computer equipment and storage medium |
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