CN109668577A - A kind of wheel radius automatic calibrating method and system for mobile robot - Google Patents
A kind of wheel radius automatic calibrating method and system for mobile robot Download PDFInfo
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- CN109668577A CN109668577A CN201811530060.9A CN201811530060A CN109668577A CN 109668577 A CN109668577 A CN 109668577A CN 201811530060 A CN201811530060 A CN 201811530060A CN 109668577 A CN109668577 A CN 109668577A
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- 238000010586 diagram Methods 0.000 description 5
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The present invention provides a kind of wheel radius automatic calibrating methods and system for mobile robot, comprising: step S100 obtains current first distance according to range-sensor data；Current second distance is obtained according to current wheel radius and velocity sensor data；Step S200 calculates the wheel radius of subsequent time period according to current wheel radius, current first distance and current second distance；Step S300 judges whether the gap between current first distance and current second distance is less than default iteration stopping thresholding；Step S400 is if it is not, then using subsequent time period as current slot, the wheel radius of subsequent time period jumps to step S100 as current wheel radius；If so, the wheel radius of subsequent time period is target wheel radius, the automatic calibration terminates step S500.The present invention can the wheel radius to robot calibrated automatically, thus do not influence robot in task it is normal positioning and walking.
Description
Technical field
The present invention relates to mobile robot field, espespecially a kind of wheel radius automatic calibrating method for mobile robot
And system.
Background technique
The wheel of mobile robot generally passes through manual calibration, for example is measured with ruler.But over time, machine
The phenomenon that wheel of people can be worn, and additionally need the wheel inflated there is also gas leakage, these can all cause wheel radius to become
Change, to influence the normal positioning and walking of robot, it is therefore desirable to a kind of wheel radius automatic calibrating method.
Summary of the invention
It, can be with the object of the present invention is to provide a kind of wheel radius automatic calibrating method and system for mobile robot
It is calibrated before executing task or to the wheel radius of robot in task, is existed to not influence robot automatically
Normal positioning and walking in task.
Technical solution provided by the invention is as follows:
A kind of wheel radius automatic calibrating method for mobile robot, comprising: step S100 is according to range sensor
Data obtain robot in the distance of current slot, are denoted as current first distance；According to current wheel radius and velocity pick-up
Device data obtain the robot in the distance of current slot, are denoted as current second distance；Step S200 is according to current wheel
Radius, current first distance and current second distance, calculate the wheel radius of subsequent time period；Step S400 is when described current the
When gap between one distance and current second distance is not less than default iteration stopping thresholding, then using subsequent time period as
Current slot, the wheel radius of subsequent time period jump to step S100 as current wheel radius；Step S500 works as institute
When stating gap between current first distance and current second distance and being less than default iteration stopping thresholding, then described lower a period of time
Between the wheel radius of section be target wheel radius, the automatic calibration terminates.
In the above-mentioned technical solutions, it is calibrated automatically by the wheel radius to robot, to not influence robot
Normal positioning and walking in task.
It is further preferred that after the step S200 further include: wheel of the step S210 to the subsequent time period
Radius carries out gaussian filtering, obtains wheel radius after the filtering of subsequent time period；The step S400 further includes that step S410 works as
It, then will be next when gap between current first distance and current second distance is not less than default iteration stopping thresholding
Period, wheel radius was as current wheel radius after the filtering of subsequent time period, and jumps to step as current slot
S100；The step S500 further includes that step S510 is when the difference between current first distance and current second distance
When away from being less than default iteration stopping thresholding, then wheel radius is target wheel radius after the filtering of the subsequent time period, described
Automatic calibration terminates.
It is further preferred that the wheel radius to the subsequent time period carries out gaussian filtering, lower a period of time is obtained
Between section filtering after wheel radius include: to carry out gaussian filtering according to the following formula:
Wherein, RfIt (n+1) is wheel radius after the filtering of subsequent time period, R (n+1-i) is to be pushed forward from subsequent time period is past
The wheel radius of i period, G (0), G (1) ... G (M-1) be Gaussian filter M response, M be the Gauss
The length of filter, GNorm(0)、GNorm(1)、......GNormIt (M-1) is M normalized response value of Gaussian filter.
In the above-mentioned technical solutions, the influence of noise in wheel radius iterative process is eliminated by gaussian filtering, improved
The stationarity of the wheel radius exported in the iterative process, to improve the accuracy of target wheel radius.
It is further preferred that the step S200 calculates the wheel radius of subsequent time period according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is current first
Distance, DodomIt (n) is current second distance, step is default stepping.
In the above-mentioned technical solutions, the specific embodiment that a kind of pair of wheel radius is calibrated, this method letter are provided
It is single feasible.
It is further preferred that before executing task, and/or to the wheel of mobile robot in executing task
Radius is calibrated automatically.
It is further preferred that described calibrate the wheel radius of mobile robot in executing task automatically
Further include: when task just starts, and/or at interval of a period of time, the wheel radius of mobile robot is carried out automatic
Calibration.
In the above-mentioned technical solutions, various ways are provided and carry out the automatic school of wheel radius in different situations for user
Quasi- function, such as mobile robot in the case where not long, tire good airproof performance, are selected before executing clean up task using the time
Carry out wheel radius calibrate automatically can, adapt to scene it is more, user selection flexibly.
It is further preferred that further include: when the wheel radius to mobile robot is calibrated automatically, pass through interface reality
When show current wheel radius, and prompt provided by the interface in a calibration process and/or after calibration.
In the above-mentioned technical solutions, carry out wheel radius calibrate automatically when, by interface provide prompt information, so as to
Progress is known when operating robot in family in time, or carries out manual intervention under special circumstances, improves the convenience of user's operation
Property.
The present invention also provides a kind of wheel radius automated calibration systems for mobile robot, comprising: calibration module is used
In obtaining robot in the distance of current slot according to range-sensor data, it is denoted as current first distance；According to working as front-wheel
Sub- radius and velocity sensor data obtain the robot in the distance of current slot, are denoted as current second distance；And
According to current wheel radius, current first distance and current second distance, the wheel radius of subsequent time period is calculated；And when
It, then will be next when gap between current first distance and current second distance is not less than default iteration stopping thresholding
Period reacquires the current first via as current wheel radius as current slot, the wheel radius of subsequent time period
Journey and current second distance；And it is preset when the gap between current first distance and current second distance is less than
When iteration stopping thresholding, then the wheel radius of the subsequent time period is target wheel radius, and the automatic calibration terminates.
In the above-mentioned technical solutions, it is calibrated automatically by the wheel radius to robot, to not influence robot
Normal positioning and walking in task.
It is further preferred that the calibration module further include: filter unit, for the wheel to the subsequent time period half
Diameter carries out gaussian filtering, obtains wheel radius after the filtering of subsequent time period；The calibration module is further used for working as when described
When gap between preceding first distance and current second distance is not less than default iteration stopping thresholding, then by subsequent time period
As current slot, wheel radius is as current wheel radius after the filtering of subsequent time period, and reacquires current first
Distance and current second distance；And when the gap between current first distance and current second distance is less than in advance
If when iteration stopping thresholding, then wheel radius is target wheel radius, the automatic calibration after the filtering of the subsequent time period
Terminate.
In the above-mentioned technical solutions, the influence of noise in wheel radius iterative process is eliminated by gaussian filtering, improved
The stationarity of the wheel radius exported in the iterative process, to improve the accuracy of target wheel radius.
It is further preferred that further include: interface display module, it is automatic for being carried out in the wheel radius to mobile robot
When calibration, by the current wheel radius of interface real-time display, and pass through the interface in a calibration process and/or after calibration
Provide prompt.
In the above-mentioned technical solutions, carry out wheel radius calibrate automatically when, by interface provide prompt information, so as to
Progress is known when operating robot in family in time, or carries out manual intervention under special circumstances, improves the convenience of user's operation
Property.
A kind of wheel radius automatic calibrating method and system for mobile robot provided through the invention, being capable of band
Come following the utility model has the advantages that the present invention can carry out certainly the wheel radius of robot before executing task or in task
Dynamic calibration, to not influence normal positioning and walking of the robot in task；When progress wheel radius is calibrated automatically,
Prompt information, which is provided, by interface improves the convenience of user's operation so that user knows progress when operating robot in time
Property.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, mobile robot is used for one kind
Wheel radius automatic calibrating method and above-mentioned characteristic, technical characteristic, advantage and its implementation of system give furtherly
It is bright.
Fig. 1 is a kind of stream of one embodiment of wheel radius automatic calibrating method for mobile robot of the invention
Cheng Tu；
Fig. 2 is a kind of another embodiment of wheel radius automatic calibrating method for mobile robot of the invention
Flow chart；
Fig. 3 is a kind of another embodiment of wheel radius automatic calibrating method for mobile robot of the invention
Flow chart；
Fig. 4 is a kind of another embodiment of wheel radius automatic calibrating method for mobile robot of the invention
Flow chart；
Fig. 5 is a kind of knot of one embodiment of wheel radius automated calibration system for mobile robot of the invention
Structure schematic diagram；
Fig. 6 is a kind of another embodiment of wheel radius automated calibration system for mobile robot of the invention
Structural schematic diagram；
Fig. 7 is a kind of another embodiment of wheel radius automated calibration system for mobile robot of the invention
Structural schematic diagram；
Fig. 8, Fig. 9, Figure 10, Figure 11 are a kind of wheel radius automatic calibrating methods for mobile robot of the invention
Schematic diagram of interface display in another embodiment；
Figure 12 is a kind of another embodiment of wheel radius automatic calibrating method for mobile robot of the invention
In a signal by the variation schematic diagram before and after gaussian filtering.
Drawing reference numeral explanation:
100. calibration module, 200. interface display modules, 110. filter units.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they do not take turns table
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In one embodiment of the invention, as shown in Figure 1, a kind of wheel radius for mobile robot is calibrated automatically
Method, comprising:
Step S100 obtains robot in the distance of current slot according to range-sensor data, is denoted as the current first via
Journey；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data, is denoted as current
Second distance；
Step S200 calculates subsequent time period according to current wheel radius, current first distance and current second distance
Wheel radius；
It is default that step S300 judges whether the gap between current first distance and current second distance is less than
Iteration stopping thresholding；
Step S400 presets iteration when the gap between current first distance and current second distance is not less than
When stopping thresholding, then using subsequent time period as current slot, the wheel radius of subsequent time period as current wheel radius,
And jump to step S100；
Step S500 when the gap between current first distance and current second distance is less than, stop by default iteration
Only when thresholding, then the wheel radius of the subsequent time period is target wheel radius, and the automatic calibration terminates.
Specifically, mobile robot, such as clean robot, it is equipped with range sensor, velocity sensor etc. on it
Main sensors.Range sensor, such as laser radar or ultrasonic sensor, are issued to return according to light pulse and are received and passed through
The distance of robot distance objective is calculated in the time gone through.Velocity sensor, such as the encoder being mounted on wheel, can be with
Measure angular speed, the linear velocity of wheel.When wheel is mobile, the distance of robot distance objective also changes therewith, according to distance
Data variation measured by sensor can extrapolate the moving distance of wheel in turn, which is known as the first distance.
When wheel is mobile, velocity sensor measures the rotation radian of the wheel of traveling time section, according to the rotation radian and wheel half
Diameter is also estimated that the moving distance of wheel, which is known as the second distance.Due to the uncertainty of wheel radius, institute
Be with the second distance it is inaccurate, the first distance opposite is accurate.The automatic calibration thinking of the present embodiment, is by constantly changing
Generation amendment wheel radius, makes second the first distance of distance Step wise approximation.
Current wheel radius is initialized, may be configured as the tire original size before not wearing and before non-gas leakage.According to distance
Sensing data obtains current first distance；Current second distance is obtained according to current wheel radius and velocity sensor data.
According to the current wheel radius of drift correction of current second distance and current first distance, the wheel half of subsequent time period is obtained
Diameter.It, will be next if the gap between current first distance and current second distance is not less than default iteration stopping thresholding
Period as current slot, subsequent time period wheel radius as current wheel radius, and jump to step S100, open
Beginning next round iteration.If the gap between current first distance and current second distance is less than default iteration stopping thresholding,
Then calibration terminates, using the wheel radius of subsequent time period as target wheel radius.
Method provided in this embodiment is suitble to single-wheel, two-wheel or more wheel robots to use, and each wheel is according to the method described above
It is calibrated automatically respectively.After wheel radius is calibrated automatically, according to second of the wheel radius calculating after calibration
The accuracy of distance improves, and the accuracy of the linear velocity of measurement also improves, this is for having used the second distance or linear velocity
Task application have improvement.
In another embodiment of the present invention, as shown in Figure 1, a kind of automatic school of wheel radius for mobile robot
Quasi- method, comprising:
Step S100 obtains robot in the distance of current slot according to range-sensor data, is denoted as the current first via
Journey；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data, is denoted as current
Second distance；
Step S200 calculates subsequent time period according to current wheel radius, current first distance and current second distance
Wheel radius；
The wheel radius of subsequent time period is calculated according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is current first
Distance, DodomIt (n) is current second distance, step is default stepping.
It is default that step S300 judges whether the gap between current first distance and current second distance is less than
Iteration stopping thresholding；
Step S400 presets iteration when the gap between current first distance and current second distance is not less than
When stopping thresholding, then using subsequent time period as current slot, the wheel radius of subsequent time period as current wheel radius,
And jump to step S100；
Step S500 when the gap between current first distance and current second distance is less than, stop by default iteration
Only when thresholding, then the wheel radius of the subsequent time period is target wheel radius, and the automatic calibration terminates.
Specifically, the present embodiment has given a kind of specific alternative manner for estimating target wheel radius.In an iterative process, such as
Current second distance of fruit is larger, shows that corresponding wheel radius is bigger than normal, and wheel radius will be adjusted to reduced direction, on the contrary to wheel
The direction adjustment that radius increases, and deviation is bigger, and the speed of adjustment is faster.With the increase of the number of iterations, work as Dodom≈Dmap
When, then iteration tends to restrain.
In another embodiment of the present invention, as shown in Fig. 2, a kind of automatic school of wheel radius for mobile robot
Quasi- method, comprising:
Step S100 obtains robot in the distance of current slot according to range-sensor data, is denoted as the current first via
Journey；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data, is denoted as current
Second distance；
Step S200 calculates subsequent time period according to current wheel radius, current first distance and current second distance
Wheel radius；
The wheel radius of subsequent time period is calculated according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is current first
Distance, DodomIt (n) is current second distance, step is default stepping.
Step S210 carries out gaussian filtering to the wheel radius of the subsequent time period, after obtaining the filtering of subsequent time period
Wheel radius；
Gaussian filtering is carried out according to the following formula:
Wherein, RfIt (n+1) is wheel radius after the filtering of subsequent time period, R (n+1-i) is to be pushed forward from subsequent time period is past
The wheel radius of i period, G (0), G (1) ... G (M-1) be Gaussian filter M response, M be the Gauss
The length of filter, GNorm(0)、GNorm(1)、......GNormIt (M-1) is M normalized response value of Gaussian filter.
It is default that step S300 judges whether the gap between current first distance and current second distance is less than
Iteration stopping thresholding；
Step S410 presets iteration when the gap between current first distance and current second distance is not less than
When stopping thresholding, then using subsequent time period as current slot, after the filtering of subsequent time period, wheel radius, which is used as, works as front-wheel
Sub- radius, and jump to step S100；
Step S510 when the gap between current first distance and current second distance is less than, stop by default iteration
Only when thresholding, then wheel radius is target wheel radius after the filtering of the subsequent time period, and the automatic calibration terminates.
Specifically, being carried out to the wheel radius of subsequent time period high to improve the stationarity of iteration output wheel radius
This filtering, and the wheel radius after gaussian filtering is applied in the estimation of the second distance.It is because natural using gaussian filtering
Between noise by multifactor co-determination when, approximate Gaussian distributed.
If the receptance function of Gaussian filter are as follows:
Discrete sampling is carried out to the filter, sampling time interval is Δ x, then:
It is assumed that the length of filter is M, variance σ, M response for obtaining filter is respectively G (0), G
(1),......G(M-1)；It is normalized again, obtains M normalized response value of filter.
Gaussian filtering is carried out to the wheel radius of subsequent time period, wheel radius after the filtering of subsequent time period is obtained, shows
Example, a signal are as shown in figure 12 by the situation of change before and after gaussian filtering.
In another embodiment of the present invention, as shown in figure 3, a kind of automatic school of wheel radius for mobile robot
Quasi- method, comprising:
Step S600 calibrates the wheel radius of mobile robot before executing task automatically；The calibration method
Using the wheel radius automatic calibrating method in aforementioned any embodiment (as shown in Fig. 1 or Fig. 2 or Fig. 3).
Step S700 works as front-wheel when the wheel radius to mobile robot is calibrated automatically, through interface real-time display
Sub- radius, and provide prompt in a calibration process and/or after calibration by the interface.
Specifically, wheel radius automatic calibration function is an independent function, can be carried out before executing task,
The task includes the grating map and/or clean up task for establishing working region.Such as with the artificial example of two-wheel machine,
Progress wheel radius is calibrated automatically before building grating map, and people pushes trolley and walks in the obvious environment of aspect ratio, until wheel
Sub- radius calibration finishes；In a calibration process, the current left and right wheels radius value (as shown in Figure 8) of interface real-time display, has been calibrated
Interface provides prompt (as shown in Figure 9) when finishing and calibrating successfully, and user may be selected to terminate calibration；If through school after a period of time
After standard, system thinks wheel radius calibration failure, can prompt following information (as shown in Figure 10): " when wheel radius passes through one section
Between calibrate after, calibration failure！Continuing with calibration or terminate calibration！", user, which can choose, to continue to calibrate, if calibrated successfully, is
System can prompt following information (as shown in figure 11): " after wheel radius is further calibrated, calibration is finished, and continuing with calibration or is terminated
Calibration！", user may be selected to terminate calibration.
The present embodiment, wheel radius is calibrated automatically individually to be carried out before task, not will increase work in this way and is appointed
The burden of business, and in task using calibration after wheel radius, can make robot linear velocity estimate it is more acurrate,
The distance estimated according to velocity sensor is more acurrate.This mode be suitble in robot using the time not long, tire wear less,
It is used in the case where the good airproof performance of tire.
In another embodiment of the present invention, as shown in figure 4, a kind of automatic school of wheel radius for mobile robot
Quasi- method, comprising:
Step S610 when task just starts, and at interval of a period of time to the wheel radius of mobile robot into
The automatic calibration of row；The calibration method uses the wheel radius in aforementioned any embodiment (as shown in Fig. 1 or Fig. 2 or Fig. 3) certainly
Dynamic calibration method；
Step S700 works as front-wheel when the wheel radius to mobile robot is calibrated automatically, through interface real-time display
Sub- radius, and provide prompt in a calibration process and/or after calibration by the interface.
Specifically, being calibrated automatically in executing task to the wheel radius of mobile robot, the work
Task includes establishing the grating map and/or clean up task of working region.It is calibrated when task just starts once, it is later every
Every a period of time, then timing alignment.It is able to satisfy actual requirement in this way when tire seal is preferable.
There are many deformations for the present embodiment, for example, real-time perfoming wheel radius is calibrated automatically during executing task,
When the poor sealing of tire, the variation of wheel radius can be followed in real time in this way and changed；For another example, start task every time
When carry out wheel radius simultaneously and calibrate automatically, after calibration, stop calibration, when tire seal is preferable, wheel half in one day
When varying less of diameter is calibrated also be able to satisfy actual requirement in this way, and can reduce the calibration of robot
Workload reduces the workload of robot.
It is in office in order to improve the intelligence in robot work when execution wheel radius is calibrated automatically in task
Business wishes more fewer better with the interaction of user in carrying out, so only when wheel radius variation is abnormal and through after a period of time
Failure is calibrated after calibration, at this time should break-off task, for example when sweeping the floor, user is prompted on interface, information is as follows: " wheel
Sub- radius does not conform to the actual conditions, automatic calibration failure, paused to sweep the floor！".
In another embodiment of the present invention, as shown in figure 5, a kind of automatic school of wheel radius for mobile robot
Barebone, comprising:
Calibration module 100 is denoted as and works as obtaining robot in the distance of current slot according to range-sensor data
Preceding first distance；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data,
It is denoted as current second distance；And according to current wheel radius, current first distance and current second distance, calculate lower a period of time
Between section wheel radius；And judge whether the gap between current first distance and current second distance is less than
Default iteration stopping thresholding；If it is not, then using subsequent time period as current slot, wheel radius after the filtering of subsequent time period
As current wheel radius, current first distance and current second distance are reacquired；If so, the wheel of the subsequent time period
Sub- radius is target wheel radius, and the automatic calibration terminates.
Specifically, mobile robot, such as clean robot, it is equipped with range sensor, velocity sensor etc. on it
Main sensors.Range sensor, such as laser radar or ultrasonic sensor, are issued to return according to light pulse and are received and passed through
The distance of robot distance objective is calculated in the time gone through.Velocity sensor, such as the encoder being mounted on wheel, can be with
Measure angular speed, the linear velocity of wheel.When wheel is mobile, the distance of robot distance objective also changes therewith, according to distance
Data variation measured by sensor can extrapolate the moving distance of wheel in turn, which is known as the first distance.
When wheel is mobile, velocity sensor measures the rotation radian of the wheel of traveling time section, according to the rotation radian and wheel half
Diameter is also estimated that the moving distance of wheel, which is known as the second distance.Due to the uncertainty of wheel radius, institute
Be with the second distance it is inaccurate, the first distance opposite is accurate.The automatic calibration thinking of the present embodiment, is by constantly changing
Generation amendment wheel radius, makes second the first distance of distance Step wise approximation.
Current wheel radius is initialized, may be configured as the tire original size before not wearing and before non-gas leakage.According to distance
Sensing data obtains current first distance；Current second distance is obtained according to current wheel radius and velocity sensor data.
According to the current wheel radius of drift correction of current second distance and current first distance, the wheel half of subsequent time period is obtained
Diameter.It, will be next if the gap between current first distance and current second distance is not less than default iteration stopping thresholding
Period as current slot, subsequent time period wheel radius as current wheel radius, reacquire the current first via
Journey, current second distance start next round iteration.If the gap between current first distance and current second distance is less than pre-
If when iteration stopping thresholding, then calibration terminates, using the wheel radius of subsequent time period as target wheel radius.
Method provided in this embodiment is suitble to single-wheel, two-wheel or more wheel robots to use, and each wheel is according to the method described above
It is calibrated automatically respectively.After wheel radius is calibrated automatically, according to second of the wheel radius calculating after calibration
The accuracy of distance improves, and the accuracy of the linear velocity of measurement also improves, this is for having used the second distance or linear velocity
Task application have improvement.
In another embodiment of the present invention, as shown in figure 5, a kind of automatic school of wheel radius for mobile robot
Barebone, comprising:
Calibration module 100 is denoted as and works as obtaining robot in the distance of current slot according to range-sensor data
Preceding first distance；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data,
It is denoted as current second distance；And according to current wheel radius, current first distance and current second distance, calculate lower a period of time
Between section wheel radius；The wheel radius of subsequent time period is calculated according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is current first
Distance, DodomIt (n) is current second distance, step is default stepping.
The calibration module is further used for judging the difference between current first distance and current second distance
Away from whether less than default iteration stopping thresholding；If it is not, then using subsequent time period as current slot, the wheel of subsequent time period
Radius reacquires current first distance and current second distance as current wheel radius；If so, the subsequent time period
Wheel radius be target wheel radius, the automatic calibration terminates.
Specifically, the present embodiment has given a kind of specific alternative manner for estimating target wheel radius.In an iterative process, such as
Current second distance of fruit is larger, shows that corresponding wheel radius is bigger than normal, and wheel radius will be adjusted to reduced direction, on the contrary to wheel
The direction adjustment that radius increases, and deviation is bigger, and the speed of adjustment is faster.With the increase of the number of iterations, work as Dodom≈Dmap
When, then iteration tends to restrain.
In another embodiment of the present invention, as shown in fig. 6, a kind of automatic school of wheel radius for mobile robot
Barebone, comprising:
Calibration module 100 is denoted as and works as obtaining robot in the distance of current slot according to range-sensor data
Preceding first distance；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data,
It is denoted as current second distance；And according to current wheel radius, current first distance and current second distance, calculate lower a period of time
Between section wheel radius；The wheel radius of subsequent time period is calculated according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is current first
Distance, DodomIt (n) is current second distance, step is default stepping.
Filter unit 110 carries out gaussian filtering for the wheel radius to the subsequent time period, obtains subsequent time period
Filtering after wheel radius；Gaussian filtering is carried out according to the following formula:
Wherein, RfIt (n+1) is wheel radius after the filtering of subsequent time period, R (n+1-i) is to be pushed forward from subsequent time period is past
The wheel radius of i period, G (0), G (1) ... G (M-1) be Gaussian filter M response, M be the Gauss
The length of filter, GNorm(0)、GNorm(1)、......GNormIt (M-1) is M normalized response value of Gaussian filter.
The calibration module 100 is further used for judging between current first distance and current second distance
Gap whether be less than default iteration stopping thresholding；If it is not, then using subsequent time period as current slot, subsequent time period
Wheel radius reacquires current first distance and current second distance as current wheel radius after filtering；If so, described
Wheel radius is target wheel radius after the filtering of subsequent time period, and the automatic calibration terminates；
Specifically, being carried out to the wheel radius of subsequent time period high to improve the stationarity of iteration output wheel radius
This filtering, and the wheel radius after gaussian filtering is applied in the estimation of the second distance.It is because natural using gaussian filtering
Between noise by multifactor co-determination when, approximate Gaussian distributed.
If the receptance function of Gaussian filter are as follows:
Discrete sampling is carried out to the filter, sampling time interval is Δ x, then:
It is assumed that the length of filter is M, variance σ, M response for obtaining filter is respectively G (0), G
(1),......G(M-1)；It is normalized again, obtains M normalized response value of filter.
Gaussian filtering is carried out to the wheel radius of subsequent time period, wheel radius after the filtering of subsequent time period is obtained, shows
Example, a signal are as shown in figure 12 by the situation of change before and after gaussian filtering.
In another embodiment of the present invention, as shown in fig. 7, a kind of automatic school of wheel radius for mobile robot
Barebone, comprising:
Calibration module 100, for being calibrated automatically before executing task to the wheel radius of mobile robot；It should
Calibration method is using the wheel radius automatic calibrating method in aforementioned any embodiment (as shown in Fig. 1 or Fig. 2 or Fig. 3).
Interface display module 200, for passing through interface reality when the wheel radius to mobile robot is calibrated automatically
When show current wheel radius, and prompt provided by the interface in a calibration process and/or after calibration.
Specifically, wheel radius automatic calibration function is an independent function, can be carried out before executing task,
The task includes the grating map and/or clean up task for establishing working region.Such as with the artificial example of two-wheel machine,
Progress wheel radius is calibrated automatically before building grating map, and people pushes trolley and walks in the obvious environment of aspect ratio, until wheel
Sub- radius calibration finishes；In a calibration process, the current left and right wheels radius value (as shown in Figure 8) of interface real-time display, has been calibrated
Interface provides prompt (as shown in Figure 9) when finishing and calibrating successfully, and user may be selected to terminate calibration；If through school after a period of time
After standard, system thinks wheel radius calibration failure, can prompt following information (as shown in Figure 10): " when wheel radius passes through one section
Between calibrate after, calibration failure！Continuing with calibration or terminate calibration！", user, which can choose, to continue to calibrate, if calibrated successfully, is
System can prompt following information (as shown in figure 11): " after wheel radius is further calibrated, calibration is finished, and continuing with calibration or is terminated
Calibration！", user may be selected to terminate calibration.
The present embodiment, wheel radius is calibrated automatically individually to be carried out before task, not will increase work in this way and is appointed
The burden of business, and in task using calibration after wheel radius, can make robot linear velocity estimate it is more acurrate,
The distance estimated according to velocity sensor is more acurrate.This mode be suitble in robot using the time not long, tire wear less,
It is used in the case where the good airproof performance of tire.
In another embodiment of the present invention, as shown in fig. 7, a kind of automatic school of wheel radius for mobile robot
Barebone, comprising:
Calibration module 100, for when task just starts, and at interval of a period of time to the wheel of mobile robot
Sub- radius is calibrated automatically；The calibration method is using the wheel in aforementioned any embodiment (as shown in Fig. 1 or Fig. 2 or Fig. 3)
Sub- radius automatic calibrating method；
Interface display module 200, for passing through interface reality when the wheel radius to mobile robot is calibrated automatically
When show current wheel radius, and prompt provided by the interface in a calibration process and/or after calibration.
Specifically, being calibrated automatically in executing task to the wheel radius of mobile robot, the work
Task includes establishing the grating map and/or clean up task of working region.It is calibrated when task just starts once, it is later every
Every a period of time, then timing alignment.It is able to satisfy actual requirement in this way when tire seal is preferable.
There are many deformations for the present embodiment, for example, real-time perfoming wheel radius is calibrated automatically during executing task,
When the poor sealing of tire, the variation of wheel radius can be followed in real time in this way and changed；For another example, start task every time
When carry out wheel radius simultaneously and calibrate automatically, after calibration, stop calibration, when tire seal is preferable, wheel half in one day
When varying less of diameter is calibrated also be able to satisfy actual requirement in this way, and can reduce the calibration of robot
Workload reduces the workload of robot.
It is in office in order to improve the intelligence in robot work when execution wheel radius is calibrated automatically in task
Business wishes more fewer better with the interaction of user in carrying out, so only when wheel radius variation is abnormal and through after a period of time
Failure is calibrated after calibration, at this time should break-off task, for example when sweeping the floor, user is prompted on interface, information is as follows: " wheel
Sub- radius does not conform to the actual conditions, automatic calibration failure, paused to sweep the floor！".
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of wheel radius automatic calibrating method for mobile robot characterized by comprising
Step S100 obtains robot in the distance of current slot according to range-sensor data, is denoted as current first distance；
The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data, is denoted as current second
Distance；
Step S200 calculates the wheel of subsequent time period according to current wheel radius, current first distance and current second distance
Radius；
Step S400 presets iteration stopping when the gap between current first distance and current second distance is not less than
When thresholding, then using subsequent time period as current slot, the wheel radius of subsequent time period is jumped as current wheel radius
Go to step S100；
Step S500 presets iteration stopping door when the gap between current first distance and current second distance is less than
In limited time, then the wheel radius of the subsequent time period is target wheel radius, and the automatic calibration terminates.
2. the wheel radius automatic calibrating method according to claim 1 for mobile robot, which is characterized in that in institute
After stating step S200 further include:
Step S210 carries out gaussian filtering to the wheel radius of the subsequent time period, obtains wheel after the filtering of subsequent time period
Radius；
The step S400 further includes that step S410 is when the gap between current first distance and current second distance
When not less than default iteration stopping thresholding, then using subsequent time period as current slot, wheel after the filtering of subsequent time period
Radius jumps to step S100 as current wheel radius；
The step S500 further includes that step S510 is when the gap between current first distance and current second distance
When less than default iteration stopping thresholding, then after the filtering of the subsequent time period wheel radius be target wheel radius, it is described from
Dynamic calibration terminates.
3. the wheel radius automatic calibrating method according to claim 2 for mobile robot, which is characterized in that described
Gaussian filtering is carried out to the wheel radius of the subsequent time period, wheel radius includes: after obtaining the filtering of subsequent time period
Gaussian filtering is carried out according to the following formula:
Wherein, RfIt (n+1) is wheel radius after the filtering of subsequent time period, R (n+1-i) is from subsequent time period toward when being pushed forward i
Between section wheel radius, G (0), G (1) ... G (M-1) be Gaussian filter M response, M be the gaussian filtering
The length of device, GNorm(0)、GNorm(1)、......GNormIt (M-1) is M normalized response value of Gaussian filter.
4. the wheel radius automatic calibrating method according to any one of claims 1 to 3 for mobile robot, special
Sign is:
The step S200 calculates the wheel radius of subsequent time period according to the following formula:
Wherein, R (n+1) is the wheel radius of subsequent time period, and R (n) is current wheel radius, DmapIt (n) is the current first via
Journey, DodomIt (n) is current second distance, step is default stepping.
5. the wheel radius automatic calibrating method according to claim 1 for mobile robot, it is characterised in that:
The wheel radius of mobile robot is calibrated automatically before executing task, and/or in executing task.
6. the wheel radius automatic calibrating method according to claim 5 for mobile robot, which is characterized in that described
Execute task in the wheel radius of mobile robot is calibrated automatically further include:
When task just starts, and/or at interval of a period of time, automatic school is carried out to the wheel radius of mobile robot
It is quasi-.
7. the wheel radius automatic calibrating method according to claim 1 for mobile robot, which is characterized in that also wrap
It includes:
When the wheel radius to mobile robot is calibrated automatically, by the current wheel radius of interface real-time display, and
Prompt is provided in calibration process and/or after calibration by the interface.
8. a kind of wheel radius automated calibration system for mobile robot characterized by comprising
Calibration module is denoted as current first for obtaining robot in the distance of current slot according to range-sensor data
Distance；The robot is obtained in the distance of current slot according to current wheel radius and velocity sensor data, is denoted as and is worked as
Preceding second distance；And according to current wheel radius, current first distance and current second distance, calculate subsequent time period
Wheel radius；And stop when the gap between current first distance and current second distance is not less than default iteration
Only when thresholding, then using subsequent time period as current slot, the wheel radius of subsequent time period is as current wheel radius, weight
Newly obtain current first distance and current second distance；And when current first distance and current second distance it
Between gap when being less than default iteration stopping thresholding, then the wheel radius of the subsequent time period is target wheel radius, described
Automatic calibration terminates.
9. the wheel radius automated calibration system according to claim 8 for mobile robot, which is characterized in that described
Calibration module further include:
Filter unit carries out gaussian filtering for the wheel radius to the subsequent time period, obtains the filtering of subsequent time period
Wheel radius afterwards；
The calibration module is further used for when the gap between current first distance and current second distance is not small
When default iteration stopping thresholding, then using subsequent time period as current slot, wheel radius after the filtering of subsequent time period
As current wheel radius, and reacquire current first distance and current second distance；And when current first distance
When gap between current second distance is less than default iteration stopping thresholding, then the filtering rear-wheel of the subsequent time period
Sub- radius is target wheel radius, and the automatic calibration terminates.
10. the wheel radius automated calibration system according to claim 8 for mobile robot, which is characterized in that also
Include:
Interface display module, for passing through interface real-time display when the wheel radius to mobile robot is calibrated automatically
Current wheel radius, and provide prompt in a calibration process and/or after calibration by the interface.
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