CN108982116A - Transport vehicle and its chassis parameter calibration method, device and computer-readable medium - Google Patents
Transport vehicle and its chassis parameter calibration method, device and computer-readable medium Download PDFInfo
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- CN108982116A CN108982116A CN201810680662.6A CN201810680662A CN108982116A CN 108982116 A CN108982116 A CN 108982116A CN 201810680662 A CN201810680662 A CN 201810680662A CN 108982116 A CN108982116 A CN 108982116A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The present invention provides a kind of transport vehicle and its chassis parameter calibration methods, device and computer-readable medium, it is related to the technical field of intelligent transport vehicle, attitude data when performance objective moves repeatedly between multiple calibration points including acquisition transport vehicle, wherein, attitude data indicates the positional relationship between transport vehicle and multiple calibration points, attitude data includes: the data that transport vehicle acquires after reaching any calibration point, transport vehicle rotates the data acquired after predetermined angle in all or part of calibration point, the data that transport vehicle is acquired before the starting calibration point movement that each target moves；It is demarcated based on chassis parameter of the attitude data to transport vehicle, wherein, chassis parameter includes: radius of wheel coefficient and/or two axles spread ratio, and it is lower that the present invention alleviates stated accuracy when demarcating in the prior art to the chassis parameter of AGV, and the technical problem that efficiency is poor.
Description
Technical field
The present invention relates to the technical fields of intelligent transport vehicle, more particularly, to a kind of transport vehicle and its chassis parameter calibration side
Method, device and computer-readable medium.
Background technique
AGV (Automated Guided Vehicle, automated guided vehicle) is widely applied in electric business, intelligence at present
The fields such as factory.Based on the AGV of differential driving method, realize that part is fixed by dead reckoning method (dead-rocking)
Position, realizes Global localization by equidistant two dimensional code or the beacon of other forms.The accuracy of the chassis AGV parameter determines
The precision of local positioning, to influence Global localization.
The chassis AGV parameter, the main radius including wheel, the distance between axles between two-wheeled, the concentricity of two-wheeled, two-wheeled hang down
Straight degree etc., verticality and concentricity can be guaranteed by Design of Mechanical Structure and installation accuracy, to the precision shadow of local positioning
It rings little.The radius and two-wheeled distance between axles of wheel directly affect the precision of dead reckoning, are that the chassis AGV parameter calibration is most important
Two parameters.
At present to the calibration of this two parameter, relate generally to two methods: one is the diameters and two-wheeled of direct measurement wheel
Distance between axles, another kind are that AGV is allowed to run a certain distance and angle, measure its range ability and angle, then calculate wheel
Radius and two-wheeled distance between axles.Both methods requires artificially to measure, in the case that the special existing straight trip of AGV has rotation again,
It is almost hardly accessible for measurements true displacement and angle value, error is big.It is manufactured otherwise for large batch of AGV, time-consuming and laborious, chassis
Parameter calibration is exactly a bottleneck problem.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of transport vehicle and its chassis parameter calibration methods, device and meter
Calculation machine readable medium, stated accuracy is lower when being demarcated in the prior art to the chassis parameter of AGV with alleviating, and efficiency compared with
The technical problem of difference.
In a first aspect, the embodiment of the invention provides a kind of transport chassis parameter calibration methods, comprising: obtain transport vehicle
Attitude data when performance objective moves repeatedly between multiple calibration points, wherein the attitude data indicates the transport vehicle
With the positional relationship between the multiple calibration point, the attitude data includes: that transport vehicle acquires after reaching any calibration point
Data, transport vehicle is all or part of calibration point rotates the data acquired after predetermined angle, transport vehicle is moved in each target
Starting calibration point movement before acquire data；It is demarcated based on chassis parameter of the attitude data to the transport vehicle,
Wherein, the chassis parameter includes: radius of wheel coefficient and/or two axles spread ratio.
Further, the multiple calibration point is two calibration points；Transport vehicle is obtained to hold repeatedly between multiple calibration points
Attitude data when row target moves includes: to obtain transport vehicle to execute between described two calibration points when each target moves
Attitude data obtains multiple groups attitude data, wherein execute the primary target movement be the transport vehicle by a calibration point before
It goes to another calibration point, and rotates predetermined angle in another described calibration point；Based on the attitude data to described
It includes: to be marked based on chassis parameter of the multiple groups attitude data to the transport vehicle that the chassis parameter of transport vehicle, which carries out calibration,
It is fixed.
Further, attitude data packet when transport vehicle executes the movement of each target between described two calibration points is obtained
It includes: obtaining the transport vehicle and keep straight on by the first calibration point to before the second calibration point, in the number of first calibration point acquisition
According to (x1i,y1i,θ1i), wherein first calibration point is starting calibration point when executing the movement of each target, second mark
Fixed point is another calibration point in described two calibration points, x1iAnd y1iThe respectively described transport vehicle center with described first
Calibration point is the distance between x-axis and y-axis in the first coordinate system of origin, θ1iIndicate the transport vehicle and first coordinate system
Angle between middle y-axis；Obtain the data (x that the transport vehicle acquires after reaching second calibration point2i,y2i,θ2i), x2i
And y2iThe respectively described transport vehicle center and using second calibration point as in the second coordinate system of origin between x-axis and y-axis
Distance, θ2iIndicate the angle in the transport vehicle and second coordinate system between y-axis；The transport vehicle is obtained described second
Calibration point rotates the data (x acquired after the predetermined angle3i,y3i,θ3i), x3iAnd y3iThe respectively described transport vehicle center and institute
State the distance between x-axis and y-axis in the second coordinate system, θ3iIt indicates in the transport vehicle and second coordinate system between y-axis
Angle；Wherein, y-axis is overlapped with y-axis in second coordinate system in first coordinate system, and i is described in the transport vehicle executes
The number of target movement.
Further, carrying out calibration based on chassis parameter of the multiple groups attitude data to the transport vehicle includes: to every
The group attitude data is normalized, and obtains data after the normalized；Utilize number after normalized
According to building target residual equation, wherein the target residual equation is about radius of wheel coefficient and two axles spread ratio
Residual equation；It is demarcated by chassis parameter of the target residual equation to the transport vehicle.
Further, the attitude data described in every group is normalized, and obtains data after the normalized
Include: to be normalized using following formula attitude data described in every group:
WithWherein, Δ1i、
Δ2i、Δ3iAnd Δ4iFor data after the normalized, S is the distance between described two calibration points.
It further, include: to utilize formula using data building target residual equation after normalizedConstruct the target residual equation, wherein Δ1i、Δ2i、Δ3iWith
Δ4iFor data after the normalized, w is rotation error weight, kbFor two axles spread ratio, krFor radius of wheel system
Number, N are the transport vehicle number that performance objective moves between described two calibration points.
Further, by chassis parameter of the target residual equation to the transport vehicle carry out calibration include: according to
Error sum of squares minimum principle carries out derivation to the target residual equation, obtains the chassis parameter calibration of the transport vehicle
As a result, wherein the calibration result are as follows:
Further, identification information is provided on the multiple calibration point；It is anti-between multiple calibration points to obtain transport vehicle
Attitude data when multiple performance objective movement includes: that performance objective moves repeatedly between the multiple calibration point when the transport vehicle
When, if the transport vehicle meets goal condition, the picture number of identification information of the acquisition comprising corresponding calibration point position
According to the goal condition are as follows: the transport vehicle reaches any calibration point, the transport vehicle calibration point rotation predetermined angle it
Afterwards, before the transport vehicle is located at the starting calibration point and is ready to carry out the target movement；By to described image data into
Row analysis, obtains the distance between the center of the transport vehicle and the corresponding calibration point, and by the center of the transport vehicle and
The distance between described corresponding calibration point is used as the attitude data.
Second aspect, the embodiment of the invention also provides a kind of transport chassis parameter calibration methods, comprising: obtains single
Member, for obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data, wherein the posture number
According to the positional relationship indicated between the transport vehicle and the multiple calibration point, the attitude data includes: that transport vehicle reaches
The data that acquire after any calibration point, transport vehicle rotate the data acquired after predetermined angle, transport in all or part of calibration point
The data that vehicle is acquired before the starting calibration point movement that each target moves；Parameter calibration unit, for being based on the posture number
It is demarcated according to the chassis parameter to the transport vehicle, wherein the chassis parameter includes: radius of wheel coefficient and/or two-wheeled
Distance between axles coefficient.
The third aspect the embodiment of the invention also provides a kind of transport vehicle, including memory, processor and is stored in described
On memory and the computer program that can run on the processor, the processor are realized when executing the computer program
Method described in any one of above-mentioned first aspect.
Fourth aspect, the embodiment of the invention also provides a kind of non-volatile program codes that can be performed with processor
Computer-readable medium, said program code make the processor execute the above-mentioned described in any item methods of first aspect.
In embodiments of the present invention, first obtain transport vehicle between multiple calibration points repeatedly performance objective move when appearance
State data；Then, it is demarcated based on chassis parameter of the attitude data to the transport vehicle.Employed in compared with the existing technology
Artificial measurement method, pass through appearance when performance objective moves repeatedly between multiple calibration points using transport vehicle in the present embodiment
State data, it will be able to which the automatic Calibration for realizing transport chassis parameter is alleviated and carried out in the prior art to the chassis parameter of AGV
Stated accuracy is lower when calibration, and the technical problem that efficiency is poor, to realize the technology of the chassis parameter automatic Calibration of AGV
Effect, method provided by the present invention improve the precision and efficiency of the chassis AGV parameter calibration.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of a kind of electronic equipment provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart for transporting chassis parameter calibration method according to an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of automatic Calibration environment according to an embodiment of the present invention；
Fig. 4 is a kind of flow chart for optionally transporting chassis parameter calibration method according to an embodiment of the present invention；
Fig. 5 is the movement schematic diagram that a kind of transport vehicle according to an embodiment of the present invention rotates in place 180 degree；
Fig. 6 is a kind of schematic diagram for transporting chassis parameter calibration device according to an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1:
Firstly, describing the electronic equipment 100 for realizing the embodiment of the present invention referring to Fig.1, which can be used
In the transport chassis parameter calibration method of operation various embodiments of the present invention.
As shown in Figure 1, electronic equipment 100 includes one or more processors 102, one or more memories 104, input
Device 106, output device 108 and vision system 110, the connection that these components pass through bus system 112 and/or other forms
The interconnection of mechanism (not shown).It should be noted that the component and structure of electronic equipment 100 shown in FIG. 1 are only exemplary, rather than limit
Property processed, as needed, the electronic equipment also can have other assemblies and structure.
The processor 102 can use digital signal processor (DSP), field programmable gate array (FPGA), can compile
At least one of journey logic array (PLA) and ASIC (Application Specific Integrated Circuit) are hard
Part form realizes that the processor 102 can be central processing unit (CPU) or have data-handling capacity and/or refer to
The processing unit of the other forms of executive capability is enabled, and can control other components in the electronic equipment 100 to execute
Desired function.
The memory 104 may include one or more computer program products, and the computer program product can be with
Including various forms of computer readable storage mediums, such as volatile memory and/or nonvolatile memory.It is described volatile
Property memory for example may include random access memory (RAM) and/or cache memory (cache) etc..It is described non-easy
The property lost memory for example may include read-only memory (ROM), hard disk, flash memory etc..On the computer readable storage medium
It can store one or more computer program instructions, processor 102 can run described program instruction, described below to realize
The embodiment of the present invention in the client functionality (realized by processor) and/or other desired functions.In the calculating
Various application programs and various data can also be stored in machine readable storage medium storing program for executing, such as the application program is used and/or produced
Raw various data etc..
The input unit 106 can be the device that user is used to input instruction, and may include keyboard, mouse, wheat
One or more of gram wind and touch screen etc..
The output device 108 can export various information (for example, image or sound) to external (for example, user), and
It and may include one or more of display, loudspeaker etc..
The vision system 110 is for carrying out Image Acquisition, wherein photographic device data collected pass through calculation processing
Obtain later transport vehicle between multiple calibration points repeatedly performance objective move when attitude data, then, be based on attitude data
The chassis parameter of the transport vehicle is demarcated, acquired image data can be stored in the memory by vision system
For the use of other components in 104.
Illustratively, the electronic equipment for realizing transport chassis parameter calibration method according to an embodiment of the present invention can
To be implemented as intelligent transport vehicle.
Embodiment 2:
According to embodiments of the present invention, a kind of embodiment for transporting chassis parameter calibration method is provided, needs to illustrate
It is that step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions,
Also, although logical order is shown in flow charts, and it in some cases, can be to be different from sequence execution herein
Shown or described step.
Fig. 2 is a kind of flow chart for transporting chassis parameter calibration method according to an embodiment of the present invention, as shown in Fig. 2,
This method comprises the following steps:
Step S202, obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data, wherein
The attitude data indicates the positional relationship between the transport vehicle and the multiple calibration point, and the attitude data includes: fortune
Defeated vehicle acquires after all or part of calibration point rotates predetermined angle in the data that acquire after reaching any calibration point, transport vehicle
The data that data, transport vehicle are acquired before the starting calibration point movement that each target moves；
Step S204 is demarcated, wherein the chassis based on chassis parameter of the attitude data to the transport vehicle
Parameter includes: radius of wheel coefficient and/or two axles spread ratio.
In embodiments of the present invention, first obtain transport vehicle between multiple calibration points repeatedly performance objective move when appearance
State data；Then, it is demarcated based on chassis parameter of the attitude data to the transport vehicle.Employed in compared with the existing technology
Artificial measurement method, pass through appearance when performance objective moves repeatedly between multiple calibration points using transport vehicle in the present embodiment
State data, it will be able to which the automatic Calibration for realizing transport chassis parameter is alleviated and carried out in the prior art to the chassis parameter of AGV
Stated accuracy is lower when calibration, and the technical problem that efficiency is poor, to realize the technology of the chassis parameter automatic Calibration of AGV
Effect, method provided by the present invention improve the precision and efficiency of the chassis AGV parameter calibration.
It should be noted that in the present embodiment, the quantity of multiple calibration points can be 2 or more, in the present embodiment not
It is specifically limited.Identification information is previously provided at each calibration point, wherein the identification information can be two-dimensional code data, should
The center of two-dimensional code data is the calibration point.
Embodiment 3:
In the present embodiment, explanation is introduced by taking two calibration points as an example in multiple calibration points.It is possible, firstly, to build automatic
Demarcate environment, wherein the automatic Calibration environment includes two calibration points.Specifically, it can use the horizontal laser of cross and straight
Ruler is in two Marker points (mark point) of level ground label, the two Marker points are at a distance of the distance between S, two calibration points
S error is less than 3mm.As shown in figure 3, two Marker points are respectively Qr1 and Qr2.On mark point Qr1 and Qr2, it is respectively set
There is identification information (for example, two-dimensional code data), wherein the center of the two-dimensional code data is mark point.
Based on this, as shown in figure 4, above-mentioned steps S202, transport vehicle performance objective repeatedly between multiple calibration points is obtained
Attitude data when movement includes the following steps:
Step S2021 obtains attitude data when transport vehicle executes the movement of each target between described two calibration points,
Obtain multiple groups attitude data, wherein executing the primary target movement is in addition the transport vehicle is proceeded to by a calibration point
One calibration point, and predetermined angle is rotated in another described calibration point；
Based on this, above-mentioned steps S204 carries out calibration packet based on chassis parameter of the attitude data to the transport vehicle
Include following steps:
Step S2041 is demarcated based on chassis parameter of the multiple groups attitude data to the transport vehicle.
In the present embodiment, execute the movement of target are as follows: transport vehicle AGV by Qr1 (alternatively, Qr2) proceed to Qr2 (or
Person Qr1), and rotated at Qr2 (or Qr1).For example, transport vehicle AGV proceeds to Qr2 by Qr1, and rotates in Qr2；Under execution
When target movement, transport vehicle AGV proceeds to Qr1 by Qr2, and rotates in Qr1.Transport vehicle AGV is in mark point Qr1 and Qr2
Between execute target movement repeatedly, target moves corresponding one group of attitude data.According to the motion mode in Qr1 and
After moving repeatedly between Qr2, multiple groups attitude data is obtained.After obtaining multiple groups attitude data, so that it may be based on multiple groups appearance
State data demarcate the chassis parameter of transport vehicle.
In an optional embodiment of the present embodiment, step S2021, obtain transport vehicle described two calibration points it
Between execute each target movement when attitude data include the following steps:
Step S11 obtains the transport vehicle and keeps straight on by the first calibration point to before the second calibration point, in first mark
Pinpoint the data (x of acquisition1i,y1i,θ1i), wherein first calibration point is starting calibration when executing the movement of each target
Point, second calibration point are another calibration point in described two calibration points, x1iAnd y1iThe respectively described transport vehicle center
With using first calibration point as the distance between x-axis and y-axis in the first coordinate system of origin, θ1iIndicate the transport vehicle and institute
State the angle in the first coordinate system between y-axis；
Step S12 obtains the data (x that the transport vehicle acquires after reaching second calibration point2i,y2i,θ2i), x2i
And y2iThe respectively described transport vehicle center and using second calibration point as in the second coordinate system of origin between x-axis and y-axis
Distance, θ2iIndicate the angle in the transport vehicle and second coordinate system between y-axis；
Step S13 obtains the transport vehicle and rotates the data (x acquired after predetermined angle in second calibration point3i,
y3i,θ3i), x3iAnd y3iThe distance between x-axis and y-axis in the respectively described transport vehicle center and second coordinate system, θ3iTable
Show the angle in the transport vehicle and second coordinate system between y-axis；Wherein, y-axis and described the in first coordinate system
Y-axis is overlapped in two coordinate systems, and i is the number that the transport vehicle executes the target movement, and i successively takes 1 to N, N to hold for transport vehicle
The total degree of row target movement.
Based on above-mentioned steps S11 to step S13, transport vehicle is between two calibration points (Qr1 and Qr2 as shown in Figure 3)
When moving repeatedly, the process description for obtaining above-mentioned multiple groups attitude data is as follows:
Assuming that the automatic Calibration environment of transport vehicle AGV is calibration environment as shown in Figure 3.Firstly, tester manually will
Transport vehicle AGV is pushed into any one mark point in Qr1 and Qr2, for example, mark point Qr1, to guarantee the vision of transport vehicle AGV
System can scan the two-dimensional code data at mark point Qr1.Later, the calibrating procedure for starting transport vehicle AGV, so that transport vehicle
AGV executes above-mentioned steps S11 to step S13.After calibrating procedure starting, transport vehicle AGV can be automatically rotated to proper angle,
The headstock of transport vehicle AGV can be towards the two-dimensional code data of another calibration point, for example, towards the two-dimensional code data at Qr2.
It should be noted that in the present embodiment, the vision system of defeated vehicle AGV is mounted on the center of defeated vehicle AGV, and
The camera of vision system is down-set.
Later, transport vehicle AGV will be kept straight on by mark point Qr1 to mark point Qr2.At this point, mark point Qr1 is above-mentioned first
Calibration point, mark point Qr2 are above-mentioned second calibration point.S11 is it is found that when transport vehicle AGV is by mark point Qr1 through the above steps
Before straight trip to mark point Qr2, attitude data (x is acquired in mark point Qr111,y11,θ11).Wherein, x11And y11Indicate transport vehicle
AGV when carrying out the movement of first time target, in the central point of transport vehicle AGV and the first coordinate system of mark point Qr1 x-axis and y-axis it
Between distance, as shown in Figure 3；θ11Indicate the angle between the headstock and y-axis of transport vehicle AGV.
Later, transport vehicle AGV keeps straight on to mark point Qr2, by step S12 it is found that transport vehicle AGV reaches mark point
After Qr2, attitude data (x is acquired21,y21,θ21), wherein x21And y21Indicate transport vehicle AGV straight trip to mark point Qr2 it
Afterwards with the distance between x-axis and y-axis in the second coordinate system, θ21Indicate the angle in transport vehicle and the second coordinate system between y-axis.
By step S13 it is found that transport vehicle AGV is after reaching mark point Qr2, predetermined angle is rotated in mark point Qr2
(for example, rotation 180 degree), and after rotating predetermined angle, acquire attitude data (x31,y31,θ31).Wherein, x31And y31Table
Show transport vehicle AGV mark point Qr2 rotate predetermined angle after in the second coordinate system between x-axis and y-axis at a distance from, θ31It indicates
Angle in transport vehicle and second coordinate system between y-axis.
As can be seen from the above description, (x11,y11,θ11)、(x21,y21,θ21) and (x31,y31,θ31) it is first group of posture number
According to later.
In transport vehicle AGV when executing second of target movement, will be kept straight on by mark point Qr2 to mark point Qr1, and marking
Remember that point Qr1 rotates predetermined angle.At this point, mark point Qr2 is above-mentioned first calibration point, mark point Qr1 is above-mentioned second mark
Fixed point.Detailed process is same as described above, and details are not described herein again, after executing second of target movement, will obtain second
Group attitude data (x12,y12,θ12)、(x22,y22,θ22) and (x32,y32,θ32)。
After in transport vehicle AGV, performance objective is moved repeatedly between two calibration points as procedure described above, it will obtain more
Group attitude data.Under normal circumstances, it can control transport vehicle AGV and execute 4-6 target movement repeatedly in two calibration points, thus
Obtain 4-6 group attitude data.
After obtaining multiple groups attitude data according to above-mentioned described mode, so that it may based on multiple groups attitude data to fortune
The chassis parameter of defeated vehicle is demarcated.
In another optional embodiment of the present embodiment, step S2041, based on the multiple groups attitude data to institute
The chassis parameter for stating transport vehicle carries out calibration and includes the following steps:
Step S21, the attitude data described in every group are normalized, and obtain data after the normalized；
Step S22 constructs target residual equation using data after normalized, wherein the target residual equation
For the residual equation about radius of wheel coefficient and two axles spread ratio；
Step S23 is demarcated by chassis parameter of the target residual equation to the transport vehicle.
Inventors discovered through research that meeting following relationship: (S-y between chassis parameter and multiple groups attitude data1i+y2i)
=kr(S-y1i) and kb*(180-θ2i+θ3i)=kr*(180-θ2i).Wherein, krFor radius of wheel coefficient, kbFor two-wheeled distance between axles
Coefficient.Based on this, in the present embodiment, every group of attitude data is normalized by above-mentioned relation, obtains described return
Data after one change processing, specifically include:
It is normalized using following formula attitude data described in every group: WithWherein, Δ1i、Δ2i、Δ3iAnd Δ4iReturn to be described
Data after one change processing, S are the distance between described two calibration points.
It should be noted that when the number of the movement of performance objective repeatedly is n times, after obtaining N group normalized
Data.
After obtaining above-mentioned normalized after data, so that it may construct target using data after normalized
Residual equation specifically includes:
Utilize formulaConstruct the target residual equation, wherein
Δ1i、Δ2i、Δ3iAnd Δ4iFor data after the normalized, w is rotation error weight, kbFor two axles spread ratio,
krFor radius of wheel coefficient, N is the transport vehicle number that performance objective moves between described two calibration points.
It should be noted that above-mentioned target residual equation is the residual error side of radius of wheel coefficient and two axles spread ratio
Journey, wherein w is rotation error weight, is set according to the slippery conditions of transport vehicle AGV in test process.
Finally, being demarcated by chassis parameter of the target residual equation to the transport vehicle, specifically include:
Derivation is carried out to the target residual equation according to error sum of squares minimum principle, obtains the transport vehicle
Chassis parameter calibration result, wherein the calibration result are as follows:
And
As can be seen from the above description, in the present embodiment, it is moved back and forth between two calibration points by transport vehicle AGV
With rotate in place, it can automatic Calibration obtains chassis coefficient.Error brought by a large amount of manual measurement is avoided in this way
And it is inefficient.Since transport vehicle AGV is easy to skid during linear motion, directly transported using transport vehicle AGV straight line
When the calibration to carry out chassis parameter of attitude data during dynamic, krError for radius of wheel coefficient is larger.Based on this,
In the present embodiment, by obtaining transport vehicle in the attitude data kept straight on and rotated, and then according to the attitude data to transport vehicle AGV
Radius of wheel coefficient and two axles spread ratio demarcated.
Embodiment 3:
Description is it is found that be provided with identification information on the location of each calibration point through the foregoing embodiment, for example,
Two-dimensional code data.
Based on this, above-mentioned steps S202, obtain transport vehicle between multiple calibration points repeatedly performance objective move when appearance
State data include the following steps:
Step S2021, when performance objective moves the transport vehicle repeatedly between the multiple calibration point, if the fortune
Defeated vehicle meets goal condition, then the image data of identification information of the acquisition comprising corresponding calibration point position, the target item
Part are as follows: the transport vehicle reaches any calibration point, and the transport vehicle is after calibration point rotates predetermined angle, the transport parking stall
In the starting calibration point and before being ready to carry out the target movement；
Step S2022 obtains the center of the transport vehicle and the corresponding mark by analyzing described image data
Positional relationship between fixed point, and using the positional relationship between the center of the transport vehicle and the corresponding calibration point as described in
Attitude data.
Specifically, in the present embodiment, by taking Fig. 3 as an example.It is assumed that certain target movement during, transport vehicle AGV by
Qr1 keeps straight on to Qr2, and rotates 180 degree (that is, above-mentioned predetermined angle) in Qr2.At this point, being kept straight on by Qr1 to Qr2 in transport vehicle AGV
Before, the image data of the identification information of the position calibration point Qr1 is acquired by the vision system of transport vehicle AGV at Qr1；
Then, by analyzing the image data, it can determine that the position between the center of transport vehicle AGV and calibration point Qr1 is closed
System, thus based on the positional relationship is determined as attitude data (x1i,y1i,θ1i)。
After transport vehicle AGV moves to calibration point Qr2, calibration point can be acquired by the vision system of transport vehicle AGV
The image data of the identification information of the position Qr2；Then, by analyzing the image data, to determine transport vehicle AGV
Center and calibration point Qr2 between positional relationship, thus based on the positional relationship is determined as attitude data (x2i,y2i,
θ2i)。
When transport vehicle AGV is after calibration point Qr2 completes the acquisition of attitude data, transport vehicle AGV rotates 180 degree.And
Rotate the figure of the identification information of 180 degree and then the secondary vision system acquisition position calibration point Qr2 by transport vehicle AGV
As data；Then, by analyzing the image data, to determine the position between the center of transport vehicle AGV and calibration point Qr2
Relationship is set, thus based on the positional relationship is determined as attitude data (x3i,y3i,θ3i)。
It should be noted that if transport vehicle AGV is according to straight-line travelling, θ1iAnd θ2iTheory is upper equal.It is transporting
When defeated vehicle AGV rotates, under normal circumstances, default transport vehicle AGV rotates 180 degree, still, dynamic in execution rotation in transport vehicle AGV
When making, which can be compensated, in fact, the angle of transport vehicle AGV rotation are as follows: predetermined angle ± θ2i.By upper
After stating compensation, the angle between transport vehicle AGV and the y-axis of the first coordinate system (or second coordinate system) is enabled to level off to
Zero, that is, θ3iLevel off to zero.
To sum up, compared with the existing technology employed in artificial measurement method, by being existed using transport vehicle in the present embodiment
Attitude data when performance objective moves repeatedly between multiple calibration points, it will be able to realize the automatic mark of transport chassis parameter
It is fixed, alleviate that stated accuracy when demarcating in the prior art to the chassis parameter of AGV is lower, and the poor technology of efficiency is asked
Topic, to realize the technical effect of the chassis parameter automatic Calibration of AGV, method provided by the present invention improves the chassis AGV
The precision and efficiency of parameter calibration.
Embodiment 4:
The embodiment of the invention also provides a kind of transport chassis parameter calibration device, transport chassis parameter calibration dresses
It sets to be mainly used for executing and transports chassis parameter calibration method provided by above content of the embodiment of the present invention, below to the present invention
The transport chassis parameter calibration device that embodiment provides does specific introduction.
Fig. 6 is a kind of schematic diagram for transporting chassis parameter calibration device according to an embodiment of the present invention, as shown in fig. 6,
The transport chassis parameter calibration device mainly includes acquiring unit 10 and parameter calibration unit 20, in which:
Acquiring unit 10, for obtain transport vehicle between multiple calibration points repeatedly performance objective move when posture number
According to, wherein the attitude data indicates the positional relationship between the transport vehicle and the multiple calibration point, the attitude data
Data that include: transport vehicle acquire after reaching any calibration point, transport vehicle rotate predetermined angle in all or part of calibration point
The data of the data, transport vehicle acquisition before the starting calibration point movement that each target moves that acquire afterwards；
Parameter calibration unit 20, for being demarcated based on chassis parameter of the attitude data to the transport vehicle,
In, the chassis parameter includes: radius of wheel coefficient and/or two axles spread ratio.
In embodiments of the present invention, first obtain transport vehicle between multiple calibration points repeatedly performance objective move when appearance
State data；Then, it is demarcated based on chassis parameter of the attitude data to the transport vehicle.Employed in compared with the existing technology
Artificial measurement method, pass through appearance when performance objective moves repeatedly between multiple calibration points using transport vehicle in the present embodiment
State data, it will be able to which the automatic Calibration for realizing transport chassis parameter is alleviated and carried out in the prior art to the chassis parameter of AGV
Stated accuracy is lower when calibration, and the technical problem that efficiency is poor, to realize the technology of the chassis parameter automatic Calibration of AGV
Effect, method provided by the present invention improve the precision and efficiency of the chassis AGV parameter calibration.
Optionally, when multiple calibration points are two calibration points；Acquiring unit 10 includes: acquisition module, for obtaining fortune
Defeated vehicle executes the attitude data when movement of each target between described two calibration points, obtains multiple groups attitude data, wherein hold
The primary target movement of row proceeds to another calibration point by a calibration point for the transport vehicle, and described other one
A calibration point rotates predetermined angle；Parameter calibration unit 20 includes: parameter calibration unit, for being based on the multiple groups attitude data
The chassis parameter of the transport vehicle is demarcated.
Optionally, it obtains module to be used for: obtaining the transport vehicle and keep straight on by the first calibration point to before the second calibration point,
In the data (x of first calibration point acquisition1i,y1i,θ1i), wherein first calibration point is when executing the movement of each target
Starting calibration point, second calibration point be described two calibration points in another calibration point, x1iAnd y1iIt is respectively described
Transport vehicle center with using first calibration point as the distance between x-axis and y-axis in the first coordinate system of origin, θ1iDescribed in expression
Angle in transport vehicle and first coordinate system between y-axis；The transport vehicle is obtained to adopt after reaching second calibration point
Data (the x of collection2i,y2i,θ2i), x2iAnd y2iThe respectively described transport vehicle center with using second calibration point as the second of origin
The distance between x-axis and y-axis in coordinate system, θ2iIndicate the angle in the transport vehicle and second coordinate system between y-axis；It obtains
The transport vehicle is taken to rotate the data (x acquired after predetermined angle in second calibration point3i,y3i,θ3i), x3iAnd y3iRespectively
The distance between x-axis and y-axis in the transport vehicle center and second coordinate system, θ3iIndicate the transport vehicle and described second
Angle in coordinate system between y-axis；Wherein, y-axis is overlapped with y-axis in second coordinate system in first coordinate system, and i is institute
State the number that transport vehicle executes the target movement.
Optionally, parameter calibration unit is used for: the attitude data described in every group is normalized, and obtains the normalizing
Data after change processing；Data after normalized are utilized to construct target residual equation, wherein the target residual equation is
Residual equation about radius of wheel coefficient and two axles spread ratio；By the target residual equation to the transport vehicle
Chassis parameter is demarcated.
Optionally, parameter calibration unit is also used to: place is normalized using following formula attitude data described in every group
Reason: Wherein,
Δ1i、Δ2i、Δ3iAnd Δ4iFor data after the normalized, S is the distance between described two calibration points.
Optionally, parameter calibration unit is also used to: the target residual equation is constructed using following formula:
Wherein, Δ1i、Δ2i、Δ3iAnd Δ4iFor the normalizing
Data after change processing, w are rotation error weight, kbFor two axles spread ratio, krFor radius of wheel coefficient, N is the transport
The vehicle number that performance objective moves between described two calibration points；
Optionally, parameter calibration unit is also used to: according to error sum of squares minimum principle to the target residual equation into
Row derivation obtains the chassis parameter calibration result of the transport vehicle, wherein the calibration result are as follows:
Optionally, when being provided with identification information on multiple calibration points, acquiring unit 10 is also used to: when the transport vehicle exists
When performance objective moves repeatedly between the multiple calibration point, if the transport vehicle meets goal condition, acquisition is comprising corresponding to
The image data of the identification information of calibration point position, the goal condition are as follows: the transport vehicle reaches any calibration point, institute
Transport vehicle is stated after calibration point rotates predetermined angle, the transport vehicle is located at the starting calibration point and is ready to carry out the mesh
Before mark movement；By analyzing described image data, obtain between the center of the transport vehicle and the corresponding calibration point
Distance, and regard the distance between the center of the transport vehicle and described corresponding calibration point as the attitude data.
The technical effect and preceding method embodiment phase of device provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
In another embodiment, a kind of calculating of non-volatile program code that can be performed with processor is additionally provided
Machine readable medium, said program code make the processor execute method described in any embodiment in above method embodiment.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. a kind of transport chassis parameter calibration method characterized by comprising
Obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data, wherein the attitude data
Indicate the positional relationship between the transport vehicle and the multiple calibration point, the attitude data includes: that transport vehicle is appointed in arrival
The data that acquire after one calibration point, transport vehicle rotate the data acquired after predetermined angle, transport vehicle in all or part of calibration point
The data acquired before the starting calibration point movement of each target movement；
It is demarcated based on chassis parameter of the attitude data to the transport vehicle, wherein the chassis parameter includes: wheel
Radius factor and/or two axles spread ratio.
2. the method according to claim 1, wherein the multiple calibration point is two calibration points；
Obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data include: obtain transport vehicle in institute
Attitude data when executing the movement of each target between two calibration points is stated, obtains multiple groups attitude data, wherein execute primary institute
It states target movement and another calibration point is proceeded to by a calibration point for the transport vehicle, and in another described calibration point
Rotate predetermined angle；
Carrying out calibration based on chassis parameter of the attitude data to the transport vehicle includes: based on the multiple groups attitude data pair
The chassis parameter of the transport vehicle is demarcated.
3. according to the method described in claim 2, being executed between described two calibration points often it is characterized in that, obtaining transport vehicle
Secondary target move when attitude data include:
It obtains the transport vehicle to keep straight on by the first calibration point to before the second calibration point, in the number of first calibration point acquisition
According to (x1i,y1i,θ1i), wherein first calibration point is starting calibration point when executing the movement of each target, second mark
Fixed point is another calibration point in described two calibration points, x1iAnd y1iThe respectively described transport vehicle center with described first
Calibration point is the distance between x-axis and y-axis in the first coordinate system of origin, θ1iIndicate the transport vehicle and first coordinate system
Angle between middle y-axis；
Obtain the data (x that the transport vehicle acquires after reaching second calibration point2i,y2i,θ2i), x2iAnd y2iRespectively institute
State transport vehicle center and using second calibration point as the distance between x-axis and y-axis in the second coordinate system of origin, θ2iIndicate institute
State the angle in transport vehicle and second coordinate system between y-axis；
It obtains the transport vehicle and rotates the data (x acquired after the predetermined angle in second calibration point3i,y3i,θ3i), x3i
And y3iThe distance between x-axis and y-axis in the respectively described transport vehicle center and second coordinate system, θ3iIndicate the transport
Angle in vehicle and second coordinate system between y-axis；
Wherein, y-axis is overlapped with y-axis in second coordinate system in first coordinate system, and i is that the transport vehicle executes the mesh
Mark the number of movement.
4. according to the method described in claim 3, it is characterized in that, based on the multiple groups attitude data to the bottom of the transport vehicle
Disk parameter carries out calibration
The attitude data described in every group is normalized, and obtains data after the normalized；
Target residual equation is constructed using data after normalized, wherein the target residual equation is about wheel half
The residual equation of diameter coefficient and two axles spread ratio；
It is demarcated by chassis parameter of the target residual equation to the transport vehicle.
5. according to the method described in claim 4, obtaining it is characterized in that, the attitude data described in every group is normalized
Data include: after to the normalized
It is normalized using following formula attitude data described in every group: WithWherein, Δ1i、Δ2i、Δ3iAnd Δ4iReturn to be described
Data after one change processing, S are the distance between described two calibration points.
6. method according to any one of claim 3 to 5, which is characterized in that utilize data structure after normalized
Building target residual equation includes:
Utilize formulaConstruct the target residual equation, wherein
Δ1i、Δ2i、Δ3iAnd Δ4iFor data after the normalized, w is rotation error weight, kbFor the two-wheeled distance between axles
Coefficient, krFor the radius of wheel coefficient, N is time that transport vehicle performance objective between described two calibration points moves
Number.
7. according to the method described in claim 6, it is characterized in that, by the target residual equation to the bottom of the transport vehicle
Disk parameter carries out calibration
Derivation is carried out to the target residual equation according to error sum of squares minimum principle, obtains the chassis of the transport vehicle
Parameter calibration result, wherein the calibration result are as follows:
8. the method according to claim 1, wherein being provided with identification information on the multiple calibration point；
Obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data include:
When performance objective moves the transport vehicle repeatedly between the multiple calibration point, if the transport vehicle meets target item
Part, then acquisition includes the image data of the identification information of corresponding calibration point position, the goal condition are as follows: the transport vehicle
Any calibration point is reached, for the transport vehicle after calibration point rotates predetermined angle, the transport vehicle is located at starting calibration
It puts and is ready to carry out before the target movement；
By analyzing described image data, the position between the center of the transport vehicle and the corresponding calibration point is obtained
Relationship, and using the positional relationship between the center of the transport vehicle and the corresponding calibration point as the attitude data.
9. a kind of transport chassis parameter calibration device characterized by comprising
Acquiring unit, for obtain transport vehicle between multiple calibration points repeatedly performance objective move when attitude data, wherein
The attitude data indicates the positional relationship between the transport vehicle and the multiple calibration point, and the attitude data includes: fortune
Defeated vehicle acquires after all or part of calibration point rotates predetermined angle in the data that acquire after reaching any calibration point, transport vehicle
The data that data, transport vehicle are acquired before the starting calibration point movement that each target moves；
Parameter calibration unit, for being demarcated based on chassis parameter of the attitude data to the transport vehicle, wherein described
Chassis parameter includes: radius of wheel coefficient and/or two axles spread ratio.
10. a kind of transport vehicle, including memory, processor and it is stored on the memory and can runs on the processor
Computer program, which is characterized in that the processor is realized in the claims 1 to 8 when executing the computer program
Described in any item methods.
11. a kind of computer-readable medium for the non-volatile program code that can be performed with processor, which is characterized in that described
Program code makes the processor execute method described in any one of the claims 1 to 8.
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