CN108890640A - A kind of robot device's calibration method based on synchronous superposition technology - Google Patents
A kind of robot device's calibration method based on synchronous superposition technology Download PDFInfo
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- CN108890640A CN108890640A CN201810429057.1A CN201810429057A CN108890640A CN 108890640 A CN108890640 A CN 108890640A CN 201810429057 A CN201810429057 A CN 201810429057A CN 108890640 A CN108890640 A CN 108890640A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
A kind of robot device's calibration method based on synchronous superposition technology proposed in the present invention, main contents include：It obtains the relationship between posture conversion, movement and solution parameter, offline robot-synchronous superposition (SLAM) equipment Alignment, adjusted in line position, its process is, first obtain the relative position and direction between robot and SLAM device, then horizontal rotation, vertical rotary are considered respectively, are travelled forward and are solved the relationship between parameter, then it is calibrated using bidirectional rotation and is calibrated using moving horizontally with the auxiliary information of the height of SLAM equipment, be finally used in the relative position between line position calibration method calibration machine people and SLAM equipment.The present invention reduces the dynamic error occurred during navigation, improves the precision of navigator fix by adjusting the relative position and direction of robot and equipment to keep equipment-robot external environmental information consistency.
Description
Technical field
The present invention relates to robot navigation field, more particularly, to a kind of based on synchronous superposition technology
Robot device's calibration method.
Background technique
With the progress of science and technology and the development of intelligence control system, robot technology achieves huge progress.Machine
The fast lifting of device people's technology is the development band of the new high-tech industries such as automatic industrial, intelligent household electrical appliance, the following supermarket
Carry out bigger possibility.However, robot navigation's technology is one of the bottleneck of present robot development.Many ground robots are usually
Need independently to execute task in various scenes, such as domestic robot (sweeping robot), logistic storage robot (are used for
Warehouse picking and subregion arrangement of goods), meal delivery robot etc., these robots require to create ground in complete graphics communication
Figure, while autonomous positioning and navigation are carried out using map.Existing robot navigation's technology is not accounted for robot motion certainly
By limitation autonomous positioning and calibration can not be carried out under off-line state, therefore so that error is gradually increased when robot navigation
Limit their application.
The invention proposes a kind of robot device's calibration methods based on synchronous superposition technology, first obtain
Relative position and direction between robot and SLAM device, then respectively consider horizontals rotation, vertical rotary, travel forward and
The relationship between parameter is solved, then calibrated using bidirectional rotation and is believed using moving horizontally with the auxiliary of the height of SLAM equipment
Breath calibration is finally used in the relative position between line position calibration method calibration machine people and SLAM equipment.The present invention passes through tune
The relative position and direction of whole robot and equipment, to keep equipment-robot external environmental information consistency, reduction is led
The dynamic error occurred between voyage schedule improves the precision of navigator fix.
Summary of the invention
Aiming at the problem that can not carry out autonomous positioning and calibration under off-line state, the purpose of the present invention is to provide one kind
Robot device's calibration method based on synchronous superposition technology first obtains the phase between robot and SLAM device
To position and direction, horizontal rotation, vertical rotary are then considered respectively, travels forward and solves the relationship between parameter, then
It is calibrated using bidirectional rotation and is calibrated using moving horizontally with the auxiliary information of the height of SLAM equipment, be finally used in line position school
Relative position between quasi- method calibration machine people and SLAM equipment.
To solve the above problems, the present invention provides a kind of robot device school based on synchronous superposition technology
Quasi- method, main contents include：
(1) posture conversion is obtained；
(2) move and solve the relationship between parameter；
(3) offline robot-synchronous superposition equipment Alignment；
(4) it is adjusted in line position.
Wherein, real-time three-dimensional sensing device is known as " SLAM dress by the synchronous superposition (SLAM) technology
It sets "；SLAM equipment has the function of sensing, mapping external environment and real-time estimation self-position and posture；Due to robot sheet
Body only knows internal state, and the position and direction in environment must be obtained by SLAM equipment；Camera and robot
Calibration between arm is referred to as hand-eye calibration；
In systems, the robot frame for having used map coordinates system, " SLAM equipment " coordinate system, SLAM equipment to be installed
" head " coordinate system and contact floor robot part " foot " coordinate system；For convenience, company of SLAM equipment institute
The coordinate system of the robot frame connect is known as " head "；
Handle 6-DoF (freedom degree) parameter of a unknown rotation and translation；The direction that robot advances is set as x, it will
The vertical direction of robot is set as z；tx, ty, tzIt is the translation parameters along x, y, z axis, and rolls, tilts, rotating and enclose respectively
Around the rotation parameter of axis x, y, z.
Wherein, the described acquisition posture conversion, firstly, explaining robot for calculating calibration parameter and SLAM equipment
The method of conversion；In order to obtain the relative position and direction between robot and SLAM device, need to carry out position and direction
Conversion, and obtain the difference converted between former and later two position and direction parameters；Posture 1 is enabled to become head and SLAM equipment
Initial posture, and posture 2 is enabled to become the posture after their transition；Enable M1headAnd M1sdRespectively 4 × 4 matrixes respectively indicate each
The position and posture of robot and SLAM equipment at posture 1；M2headAnd M2sdRespectively in the local coordinate of posture 24 ×
4 positions and posture matrix；These matrixes are observed values；
A indicates head from posture 1 to the conversion of posture 2, A=M1head -1M2head；B indicates the conversion of SLAM equipment, B=
M1sd -1M2sd；If X is 4 × 4 unknown matrixes, the relative position and direction between robot and sensor are indicated,By " head " at posture 2 and " SLAM equipment " at posture 1, there are two conversions；The former calculates AX by matrix
It indicates, the latter is indicated by XB；It as a result is all identical in two coordinate conversions, therefore AX=XB is set up.
Further, the relationship between the movement and solution parameter considers horizontal rotation, vertical rotary, transports forward
The movement of dynamic three types；Enable RAAnd RB3 × 3 spin matrix components respectively in A and B, kAAnd kBRespectively RAAnd RBIn
Indicate the unit vector of rotary shaft；If tAAnd tBFor D translation component of a vector；Had according to AX=XB：
kA=RkB (1)
RAt+tA=RtB+t (2)
Firstly, considering the constraint obtained from equation (1)；Give one group of kAAnd kB, determination includes the 3-DoF rotation ginseng in R
In number, in addition to kA2-DoF rotation parameter except around vector；Then, consider the constraint obtained from equation (2)；Equation (2)
It can convert as follows：
(1-RA) t=tA-RtB (3)
When rotary machine people, and consider t decomposing kAComponent and two unit vector t1And t2The case where, it and kAIt is orthogonal,
And meeting mutually orthogonal, the t in equation (3) is in kAThere is certain freedom degree, and due to (1-R on directionA)kA=0, so
In t1And t2There is constraint on direction.
Further, the movement of the three types, including horizontal rotation, vertical rotary and travel forward；
(1) it rotates horizontally：When robot rotates horizontally, rotary shaft is directed toward the direction z；In the case of rotation, equation (1)
In kAInstruct z-axis, can obtain around z-axis rotate other than parameter, that is, roll and tilt；In the case where translation parameters, base
T is mainly used in the constraint of equation (3)xAnd ty；
(2) vertical rotary：In the case where being similar to horizontal rotation, the vertical direction of vertical oscillation neck in robot
In the case that (it is assumed that rotating around y-axis) is rotated, two that can be rolled and be rotated from equation (1) join
Number can also obtain Transformation Parameters t from equation (3)xAnd tz；
(3) it travels forward：Move linearly robot RAWhen ≈ I, equation (2) becomes tA=RtB；Therefore, when robot advances
When, constraint is applied to rotation parameter inclination and rotation.
Wherein, the offline robot-synchronous superposition equipment Alignment, to two kinds of robot into
Row calibration, respectively：Using bidirectional rotation carry out calibrate and using move horizontally with the auxiliary information of the height of SLAM equipment into
Row calibration；Consider to execute the complicated position including rotation and translation and the complex situations of posture conversion simultaneously.
Further, the auxiliary information of the height of the SLAM equipment is calibrated, and is difficult to obtain t in usezMachine
In the case where device people, for the component on the remaining direction z, it cannot be constrained by individual horizontal position and posture conversion,
Therefore z parameter is calculated using the height of the SLAM equipment from ground；If n is the normal vector on floor, h be SLAM equipment from
The height on ground；N and h can be observed from the environmental map of SLAM equipment；If b is the vector from " head " to " foot ", if o is
From " SLAM equipment " to the parallel component of the vector on " head "；O indicate " the SLAM equipment " that is parallel in the plane on ground and
The displacement of " foot ", o=hn-R-1t+b；Therefore no=n (hn-R-1T+b the residue in floor perpendicular direction can)=0 be limited
Time tz。
Further, the complex situations, according to equation (3), t uses the translational component t of robot headAWith SLAM
The translational motion components R t of equipmentBBetween difference obtain；Now, when position and posture conversion in simultaneously rotation and translation
When, it may appear that the accumulated error between the ranging and robot of SLAM equipment；This accumulated error is directly and according to tAAnd RtBIt
The error for the t that difference calculates is related；Therefore, this accumulated error and the accurate calibration of execution in order to prevent, it is necessary to make robot
Translational motion is (that is, tALength) minimize.
Wherein, described to adjust in line position, online position calibration method is used between calibration machine people and SLAM equipment
Relative position, the shape of the information, robot that make external environment is consistent with device location；Even if calibration is off-line execution in advance
, but there are several dynamic factors to will lead to malposition of the positioning datum during navigation；When navigating operation, SLAM equipment
It may misplace；The precision of Inertial Measurement Unit (IMU) or robot encoder encodes when will lead to mistake or linear joint
The time lag of device also results in biggish error.
Further, the error, in the error as caused by above-mentioned reason, especially when device is mounted on high position
When, the axis of rolling and sloping shaft rotation in error will lead to biggish position error；In on-line calibration method, SLAM device and machine
Parameter between device people is modified under the premise of ground based on robot vertical；In specific calculate, basis first
The external environmental information that SLAM equipment obtains finds out the ground normal vector of the robot positioned before calibration by SLAM equipment and hangs down
Directly in the vector of robot ground level；Then the calibration additional to the coordinate conversion application between robot and equipment rotates, with
Just two vector matchings.
Detailed description of the invention
Fig. 1 is a kind of system frame of robot device's calibration method based on synchronous superposition technology of the present invention
Frame figure.
Fig. 2 is a kind of real generation of robot device's calibration method based on synchronous superposition technology of the present invention
Relationship between boundary and coordinate system.
Fig. 3 is a kind of acquisition appearance of robot device's calibration method based on synchronous superposition technology of the present invention
Gesture conversion.
Fig. 4 be a kind of movement of robot device's calibration method based on synchronous superposition technology of the present invention with
Relationship between restricted parameters.
Fig. 5 is a kind of online position of robot device's calibration method based on synchronous superposition technology of the present invention
Set adjustment.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
It mutually combines, invention is further described in detail in the following with reference to the drawings and specific embodiments.
Fig. 1 is a kind of system frame of robot device's calibration method based on synchronous superposition technology of the present invention
Frame figure.Main includes obtaining posture conversion, moves and solve the relationship between parameter, offline robot-synchronization positioning and map
Equipment Alignment is constructed, is adjusted in line position.
Offline robot-synchronous superposition equipment Alignment, is calibrated to two kinds of robot, point
It is not：Calibrate using bidirectional rotation and be calibrated using moving horizontally with the auxiliary information of the height of SLAM equipment；Together
When consider execute include rotation and translation complicated position and posture conversion complex situations.
It is difficult to obtain t in usezRobot in the case where, cannot be by individual for the component on the remaining direction z
Horizontal position and posture conversion calculate z parameter using the height of the SLAM equipment from ground to constrain it；If n is
The normal vector on floor, h are the height of SLAM equipment from the ground；N and h can be observed from the environmental map of SLAM equipment；
If b is the vector from " head " to " foot ", if o is the parallel component of the vector from " SLAM equipment " to " head "；O expression is parallel to
The displacement of " SLAM equipment " and " foot " in the plane on ground, o=hn-R-1t+b；Therefore no=n (hn-R-1T+b)=0
The remaining time t in floor perpendicular direction can be limitedz。
T uses the translational component t of robot headAWith the translational motion components R t of SLAM equipmentBBetween difference obtain
?；Now, when the rotation and translation simultaneously in position and posture conversion, it may appear that between the ranging and robot of SLAM equipment
Accumulated error；This accumulated error is directly and according to tAAnd RtBDifference calculate t error it is related；Therefore, in order to prevent this
Kind accumulated error simultaneously executes accurate calibration, it is necessary to make robot translational motion (that is, tALength) minimize.
Fig. 2 is a kind of real generation of robot device's calibration method based on synchronous superposition technology of the present invention
Relationship between boundary and coordinate system.Real-time three-dimensional sensing device is known as " SLAM device "；SLAM equipment has sensing, mapping outer
The function of portion's environment and real-time estimation self-position and posture；Since internal state is only known by robot itself, and must lead to
Cross the position and direction in SLAM equipment acquisition environment；Calibration between camera and robot arm is referred to as hand-eye calibration；
In systems, the robot frame for having used map coordinates system, " SLAM equipment " coordinate system, SLAM equipment to be installed
" head " coordinate system and contact floor robot part " foot " coordinate system；For convenience, company of SLAM equipment institute
The coordinate system of the robot frame connect is known as " head "；
Handle 6-DoF (freedom degree) parameter of a unknown rotation and translation；The direction that robot advances is set as x, it will
The vertical direction of robot is set as z；tx, ty, tzIt is the translation parameters along x, y, z axis, and rolls, tilts, rotating and enclose respectively
Around the rotation parameter of axis x, y, z.
Fig. 3 is a kind of acquisition appearance of robot device's calibration method based on synchronous superposition technology of the present invention
Gesture conversion.Firstly, explaining the method for calculating the robot of calibration parameter and the conversion of SLAM equipment；In order to obtain robot
Relative position and direction between SLAM device, need to carry out the conversion of position and direction, and obtain and convert former and later two
Difference between position and direction parameter；It enables posture 1 become the initial posture on head and SLAM equipment, and posture 2 is enabled to become it
Posture after transition；Enable M1headAnd M1sdRespectively 4 × 4 matrixes respectively indicate each robot and SLAM equipment in posture 1
The position at place and posture；M2headAnd M2sd4 × 4 positions and posture matrix respectively in the local coordinate of posture 2；These squares
Battle array is observed value；
A indicates head from posture 1 to the conversion of posture 2, A=M1head -1M2head；B indicates the conversion of SLAM equipment, B=
M1sd -1M2sd；If X is 4 × 4 unknown matrixes, the relative position and direction between robot and sensor are indicated,By " head " at posture 2 and " SLAM equipment " at posture 1, there are two conversions；The former calculates AX by matrix
It indicates, the latter is indicated by XB；It as a result is all identical in two coordinate conversions, therefore AX=XB is set up.
Fig. 4 be a kind of movement of robot device's calibration method based on synchronous superposition technology of the present invention with
Relationship between restricted parameters.Consider horizontal rotation, the movement of vertical rotary, the three types to travel forward；Enable RAAnd RBRespectively
For 3 × 3 spin matrix components in A and B, kAAnd kBRespectively RAAnd RBThe middle unit vector for indicating rotary shaft；If tAAnd tBFor
D translation component of a vector；Had according to AX=XB：
kA=RkB (1)
RAt+tA=RtB+t (2)
Firstly, considering the constraint obtained from equation (1)；Give one group of kAAnd kB, determination includes the 3-DoF rotation ginseng in R
In number, in addition to kA2-DoF rotation parameter except around vector；Then, consider the constraint obtained from equation (2)；Equation (2)
It can convert as follows：
(1-RA) t=tA-RtB (3)
When rotary machine people, and consider t decomposing kAComponent and two unit vector t1And t2The case where, it and kAIt is orthogonal,
And meeting mutually orthogonal, the t in equation (3) is in kAThere is certain freedom degree, and due to (1-R on directionA)kA=0, so
In t1And t2There is constraint on direction.
Wherein, the movement of the three types includes horizontal rotation, vertical rotary and travels forward；
(1) it rotates horizontally：When robot rotates horizontally, rotary shaft is directed toward the direction z；In the case of rotation, equation (1)
In kAInstruct z-axis, can obtain around z-axis rotate other than parameter, that is, roll and tilt；In the case where translation parameters, base
T is mainly used in the constraint of equation (3)xAnd ty；
(2) vertical rotary：In the case where being similar to horizontal rotation, the vertical direction of vertical oscillation neck in robot
In the case that (it is assumed that rotating around y-axis) is rotated, two that can be rolled and be rotated from equation (1) join
Number can also obtain Transformation Parameters t from equation (3)xAnd tz；
(3) it travels forward：Move linearly robot RAWhen ≈ I, equation (2) becomes tA=RtB；Therefore, when robot advances
When, constraint is applied to rotation parameter inclination and rotation.
Fig. 5 is a kind of online position of robot device's calibration method based on synchronous superposition technology of the present invention
Set adjustment.Online position calibration method makes the letter of external environment for the relative position between calibration machine people and SLAM equipment
Breath, the shape of robot are consistent with device location；Even if calibration is off-line execution in advance, but has several dynamic factors will lead to
Malposition of the positioning datum during navigation；When navigating operation, SLAM equipment may misplace；Inertial Measurement Unit
(IMU) when or the precision of robot encoder will lead to mistake or linear joint the time lag of encoder also result in compared with
Big error.
In the error as caused by above-mentioned reason, especially when device is mounted on high position, the axis of rolling and sloping shaft rotation
Error in turning will lead to biggish position error；In on-line calibration method, the parameter between SLAM device and robot is base
It modifies under the premise of ground in robot vertical；In specific calculate, first according to the outside of SLAM equipment acquisition
Environmental information finds out the ground normal vector of the robot positioned before calibration by SLAM equipment and perpendicular to robot ground level
Vector；Then the calibration additional to the coordinate conversion application between robot and equipment rotates, so as to two vector matchings.
For those skilled in the art, the present invention is not limited to the details of above-described embodiment, without departing substantially from essence of the invention
In the case where mind and range, the present invention can be realized in other specific forms.In addition, those skilled in the art can be to this hair
Bright to carry out various modification and variations without departing from the spirit and scope of the present invention, these improvements and modifications also should be regarded as of the invention
Protection scope.Therefore, it includes preferred embodiment and all changes for falling into the scope of the invention that the following claims are intended to be interpreted as
More and modify.
Claims (10)
1. a kind of robot device's calibration method based on synchronous superposition technology, which is characterized in that mainly include
Obtain posture conversion (one)；Relationship (two) between movement and solution parameter；Offline robot-synchronous superposition is set
Standby calibration (three)；(4) are adjusted in line position.
2. based on synchronous superposition described in claims 1 (SLAM) technology, which is characterized in that by real-time three-dimensional
Sensing device is known as " SLAM device "；SLAM equipment has sensing, mapping external environment and real-time estimation self-position and posture
Function；Since internal state is only known by robot itself, and the position and side in environment must be obtained by SLAM equipment
To；Calibration between camera and robot arm is referred to as hand-eye calibration；
In systems, the robot frame for having used map coordinates system, " SLAM equipment " coordinate system, SLAM equipment to be installed
" foot " coordinate system of the robot part on " head " coordinate system and contact floor；For convenience, SLAM equipment is connected
Robot frame coordinate system be known as " head "；
Handle 6-DoF (freedom degree) parameter of a unknown rotation and translation；The direction that robot advances is set as x, by machine
The vertical direction of people is set as z；tx, ty,tzIt is the translation parameters along x, y, z axis, and rolling, tilt, rotating is around axis respectively
The rotation parameter of x, y, z.
3. converting (one) based on acquisition posture described in claims 1, which is characterized in that firstly, explaining for calculating calibration
The method of the conversion of the robot and SLAM equipment of parameter；In order to obtain the relative position and side between robot and SLAM device
To, need to carry out the conversion of position and direction, and obtain convert former and later two position and direction parameters between difference；Enable appearance
Gesture 1 becomes the initial posture on head and SLAM equipment, and posture 2 is enabled to become the posture after their transition；Enable M1headAnd M1sdRespectively
For 4 × 4 matrixes, the position and posture of each robot and SLAM equipment at posture 1 are respectively indicated；M2headAnd M2sdRespectively
4 × 4 positions and posture matrix in the local coordinate of posture 2；These matrixes are observed values；
A indicates head from posture 1 to the conversion of posture 2, A=M1head -1M2head；B indicates the conversion of SLAM equipment, B=M1sd - 1M2sd；If X is 4 × 4 unknown matrixes, the relative position and direction between robot and sensor are indicated,By " head " at posture 2 and " SLAM equipment " at posture 1, there are two conversions；The former is calculated by matrix
AX indicates that the latter is indicated by XB；It as a result is all identical in two coordinate conversions, therefore AX=XB is set up.
4. based on movement described in claims 1 and solving the relationship (two) between parameter, which is characterized in that consider horizontal rotation
Turn, the movement of vertical rotary, the three types to travel forward；Enable RAAnd RB3 × 3 spin matrix components respectively in A and B, kA
And kBRespectively RAAnd RBThe middle unit vector for indicating rotary shaft；If tAAnd tBFor D translation component of a vector；Had according to AX=XB：
kA=RkB (1)
RAt+tA=RtB+t (2)
Firstly, considering the constraint obtained from equation (1)；Give one group of kAAnd kB, determination includes the 3-DoF rotation parameter in R
In, in addition to kA2-DoF rotation parameter except around vector；Then, consider the constraint obtained from equation (2)；Equation (2) can
To convert as follows：
(1-RA) t=tA-RtB (3)
When rotary machine people, and consider t decomposing kAComponent and two unit vector t1And t2The case where, it and kAIt is orthogonal and full
Foot is mutually orthogonal, and the t in equation (3) is in kAThere is certain freedom degree, and due to (1-R on directionA)kA=0, so in t1
And t2There is constraint on direction.
5. the movement based on three types described in claims 4, which is characterized in that including horizontal rotation, vertical rotary and
It travels forward；
(1) it rotates horizontally：When robot rotates horizontally, rotary shaft is directed toward the direction z；In the case of rotation, in equation (1)
kAInstruct z-axis, can obtain around z-axis rotate other than parameter, that is, roll and tilt；In the case where translation parameters, based on side
The constraint of journey (3) is mainly used in txAnd ty；
(2) vertical rotary：In the case where being similar to horizontal rotation, vertical direction (this of vertical oscillation neck in robot
In assume to rotate around y-axis) be rotated in the case where, two parameters that can be rolled and be rotated from the equation (1),
Transformation Parameters t can also be obtained from equation (3)xAnd tz；
(3) it travels forward：Move linearly robot RAWhen ≈ I, equation (2) becomes tA=RtB；Therefore, when robot advances,
Constraint is applied to rotation parameter inclination and rotation.
6. feature exists based on offline robot described in claims 1-synchronous superposition equipment Alignment (three)
In being calibrated to two kinds of robot, respectively：Calibration is carried out using bidirectional rotation and use moves horizontally and SLAM
The auxiliary information of the height of equipment is calibrated；Consider to execute the complicated position for including rotation and translation simultaneously and posture is converted
Complex situations.
7. the auxiliary information based on the height of SLAM equipment described in claims 6 is calibrated, which is characterized in that using
It is difficult to obtain tzRobot in the case where, for the component on the remaining direction z, individual horizontal position and posture cannot be passed through
Conversion calculates z parameter using the height of the SLAM equipment from ground to constrain it；If n is the normal vector on floor,
H is the height of SLAM equipment from the ground；N and h can be observed from the environmental map of SLAM equipment；If b be from " head " to
The vector of " foot ", if o is the parallel component of the vector from " SLAM equipment " to " head "；O expression is parallel in the plane on ground
" SLAM equipment " and " foot " displacement, o=hn-R-1t+b；Therefore no=n (hn-R-1T+b floor can)=0 be limited
The remaining time t of vertical directionz。
8. based on complex situations described in claims 6, which is characterized in that according to equation (3), t uses robot head
Translational component tAWith the translational motion components R t of SLAM equipmentBBetween difference obtain；Now, when in position and posture conversion
In simultaneously rotation and translation when, it may appear that the accumulated error between the ranging and robot of SLAM equipment；This accumulated error is straight
It connects and according to tAAnd RtBDifference calculate t error it is related；Therefore, this accumulated error and accurate school is executed in order to prevent
It is quasi-, it is necessary to make robot translational motion (that is, tALength) minimize.
9. based on (four) are adjusted in line position described in claims 1, which is characterized in that online position calibration method is used for school
The shape of relative position between quasi- robot and SLAM equipment, the information, robot that make external environment is consistent with device location；
Even if calibration is off-line execution in advance, but there have several dynamic factors to will lead to positioning datum to be out of alignment during navigation
Really；When navigating operation, SLAM equipment may misplace；The precision of Inertial Measurement Unit (IMU) or robot encoder can be led
The time lag of encoder when mistake or linear joint is caused to also result in biggish error.
10. based on error described in claims 9, which is characterized in that in the error as caused by above-mentioned reason, especially when
When device is mounted on high position, the error in the axis of rolling and sloping shaft rotation will lead to biggish position error；On-line calibration side
In method, the parameter between SLAM device and robot is modified under the premise of ground based on robot vertical；Having
During body calculates, the external environmental information obtained first according to SLAM equipment finds out the robot positioned before calibration by SLAM equipment
Ground normal vector and vector perpendicular to robot ground level；Then application is converted to the coordinate between robot and equipment
Additional calibration rotation, so as to two vector matchings.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112161634A (en) * | 2020-08-13 | 2021-01-01 | 盐城工学院 | RTB-based (real time bus-based) line control chassis map construction and simultaneous positioning method |
| CN112836004A (en) * | 2021-03-05 | 2021-05-25 | 上海有个机器人有限公司 | Method and system for creating robot positioning map, computer equipment and storage medium |
| CN117047784A (en) * | 2023-10-11 | 2023-11-14 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
-
2018
- 2018-05-08 CN CN201810429057.1A patent/CN108890640A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112161634A (en) * | 2020-08-13 | 2021-01-01 | 盐城工学院 | RTB-based (real time bus-based) line control chassis map construction and simultaneous positioning method |
| CN112836004A (en) * | 2021-03-05 | 2021-05-25 | 上海有个机器人有限公司 | Method and system for creating robot positioning map, computer equipment and storage medium |
| CN117047784A (en) * | 2023-10-11 | 2023-11-14 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
| CN117047784B (en) * | 2023-10-11 | 2024-01-26 | 大扬智能科技(北京)有限公司 | Method and device for determining position of robot for picking goods and robot system |
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