CN111610523A - Parameter correction method for wheeled mobile robot - Google Patents
Parameter correction method for wheeled mobile robot Download PDFInfo
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- CN111610523A CN111610523A CN202010413081.3A CN202010413081A CN111610523A CN 111610523 A CN111610523 A CN 111610523A CN 202010413081 A CN202010413081 A CN 202010413081A CN 111610523 A CN111610523 A CN 111610523A
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- 238000012937 correction Methods 0.000 title claims abstract description 29
- 230000002159 abnormal effect Effects 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000009987 spinning Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000012886 linear function Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention relates to the technical field of wheel type mobile robot guidance, in particular to a parameter correction method of a wheel type mobile robot, which comprises the following steps: (1) firstly, selecting any position of a calibration place as an origin, establishing a world coordinate system, and then establishing a robot coordinate system by taking a reference point of the wheeled mobile robot as the origin; (2) the robot is driven to move in a calibration field, and the motion information of a steering wheel and the detection information of a sensor are collected during motion; (3) respectively calculating encoder odometer information and sensor odometer information according to the collected receipts; (4) respectively solving internal parameters and external parameters by using odometer information according to rigid body kinematic constraint; (5) and (3) deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and iterating for multiple times to obtain final data.
Description
Technical Field
The invention relates to the technical field of wheeled mobile robot guidance, in particular to a parameter correction method of a wheeled mobile robot.
Background
The control precision of the wheel type mobile robot is greatly improved along with the development of science, technology and economy, so that the wheel type mobile robot is widely applied to various industries, such as equipment production, logistics sorting, food processing, automatic parking and the like.
However, wheeled mobile robots, particularly two-wheeled mobile robots, have high requirements for parameter accuracy. The problems of complex assembly and low requirement on high efficiency exist in the actual production process. After assembly, a general calibration method is distributed, and the internal parameters and the external parameters are calibrated respectively. The correction of the internal and external parameters is not linked. And the degree of automation is low, and the correction result is greatly influenced by human factors. In order to reduce the assembly difficulty and improve the calibration efficiency and the parameter correction precision, the invention provides a new correction algorithm which can effectively improve the correction efficiency and precision.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a parameter correction method of a wheeled mobile robot.
In order to achieve the purpose, the invention provides the following technical scheme: a parameter correction method of a wheeled mobile robot comprises the following steps:
(1) firstly, selecting any position of a calibration place as an origin, establishing a world coordinate system, and then establishing a robot coordinate system by taking a reference point of the wheeled mobile robot as the origin;
(2) the robot is driven to move in a calibration field, and the motion information of a steering wheel and the detection information of a sensor are collected during motion;
(3) respectively calculating encoder odometer information and sensor odometer information according to the collected receipts;
(4) respectively solving internal parameters and external parameters by using odometer information according to rigid body kinematic constraint;
(5) and (4) deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and iterating for multiple times to obtain final data.
Preferably, the wheeled mobile robot comprises two steering wheels, wherein the two steering wheels are a first steering wheel and a second steering wheel respectively, and the radius R of the first steering wheel is equal to that of the second steering wheel1Angle of deviation α of first steering wheelo1Radius R of the second steering wheel2And the angle of deviation α of the second steering wheelo2Is recorded as an internal parameter.
Preferably, the sensor on the wheeled mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the coordinates l of the sensor with respect to the robot coordinate system are equal to (l)x,ly,lθ) Noted as external parameters.
Preferably, the two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera, or an ultrasonic sensor.
Preferably, the robot is driven to move in the calibration site in the step (2), and the moving route and mode of the robot are one or more combination of curved line, straight line, forward, backward and in-situ spinning.
Preferably, when the wheeled mobile robot is driven to move, the first steering wheel encoder information, the second steering wheel encoder information, and the sensor information are collected in any motion mode.
Preferably, according to the step (3), when the encoder odometer information and the sensor odometer information are solved, no precedence relationship exists.
Preferably, the solved odometer information includes displacement information, angle change information, linear velocity information, and angular velocity information.
Preferably, according to the step (4), the internal parameters are solved by adopting angle constraint and the external parameters are solved by adopting displacement constraint in the solving process.
Preferably, according to step (5), the correction solution process may be iterated once or multiple times.
Compared with the prior art, the invention has the beneficial effects that: the precision of internal and external parameters is effectively improved; the automation degree of the correction process is improved, and the influence of human factors is reduced; the installation requirements and maintenance costs are reduced.
Drawings
FIG. 1 is a schematic diagram of a robot coordinate system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the movement of a robot in a world coordinate system according to an embodiment of the present invention;
fig. 3 is a schematic view of a steering wheel according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Referring to fig. 1 to 3, the present invention provides a technical solution: a parameter correction method of a wheeled mobile robot comprises the following steps:
(1) firstly, selecting any position of a calibration place as an origin, establishing a world coordinate system, and then establishing a robot coordinate system by taking a reference point of the wheeled mobile robot as the origin;
(2) the robot is driven to move in a calibration field, and the motion information of a steering wheel and the detection information of a sensor are collected during motion;
(3) respectively calculating encoder odometer information and sensor odometer information according to the collected receipts;
(4) respectively solving internal parameters and external parameters by using odometer information according to rigid body kinematic constraint;
(5) and (4) deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and iterating for multiple times to obtain final data.
The wheeled mobile robot comprises two steering wheels, wherein the two steering wheels are respectively a first steering wheel and a second steering wheel, and the radius R of the first steering wheel1Angle of deviation α of first steering wheelo1Radius R of the second steering wheel2And the angle of deviation α of the second steering wheelo2Is recorded as an internal parameter.
The sensor on the wheel-type mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the coordinate l of the sensor relative to the robot coordinate system is equal to (l)x,ly,lθ) Noted as external parameters.
The two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera and an ultrasonic sensor.
And (3) driving the robot to move in the calibration site in the step (2), wherein the moving route and the moving mode of the robot are in one or more combination forms of curve, straight line, forward, backward and in-situ spinning.
When the wheel type mobile robot is driven to move, first steering wheel encoder information, second steering wheel encoder information and sensor information in any motion mode are collected.
According to the step (3), when the encoder odometer information and the sensor odometer information are solved, no precedence relationship exists.
The solved odometer information comprises displacement information, angle change information, linear velocity information and angular velocity information.
According to the step (4), in the solving process, the internal parameters are solved by adopting angle constraint, and the external parameters are solved by adopting displacement constraint.
According to the step (5), iteration can be performed once or multiple times in the correction solving process.
Through the technical scheme, the motion of the wheeled mobile robot can be represented by a special Euclidean group SE (2) in plane motion, and SE (2) is a corresponding lie algebra. There are two operators for the Euclidean group SE (2):
it is defined as follows:
as shown in fig. 2, at time k the robot has a position q in the world coordinate system xoyk＝(qx,qy,qθ) The pose change of the robot for any one time interval can be recorded as: r isk＝(rx,ry,rθ) The following can be obtained by group operation:
the displacement of the sensor in the corresponding time interval can be expressed as sk＝(sx,sy,sθ) The calculation formula is as follows:
when the parameters are corrected, the robot is first driven to move along an arbitrary path to collect the data of the first steering wheel 10, the second steering wheel 12 and the sensor 11, and the steering angle data of the first steering wheel 10 collected at any time is recorded as α1The steering angle data of the second steering wheel 12 is recorded as α2The first steering wheel 10 has an error angle α when assembled as shown in fig. 2o1The second steering wheel 12 has an error angle α when assembledo2For ease of calculation, first note that X is a column vector of 4 × 1:
let J be a 3 × 4 matrix:
therefore, the velocity vector v (v) of the double-steering wheel mobile robotx,vyω) and the first and second steering wheels 10, 12 are as follows:
v＝JX (6)
first, we can get the constraint according to equation (3):
i.e. the robot and the sensor have the same rotation angle during the movement. The rotation angle is linearly related to the parameters of the first steering wheel 10 and the second steering wheel 12, so that the rotation angle can be obtained according to the formula (6)
Can calculate by sensor odometer
Further, X can be solved by using a linear least squares method:
x can be obtained through the formula (8), and the constraint relation sin of the trigonometric function is utilized according to specific numerical values2α+cos2The radius of the first steering wheel 10 can be determined when α is 1
Assembly error angle α of first steering wheel 10o1＝atan2(X2，X1) (ii) a Radius of the second steering wheel 12
Mounting offset angle α of the second steering wheel 12o2＝atan2(X4，X3).
The internal parameters of the double-steering-wheel type mobile robot are solved through the process, and then the external parameter l ═ can be solved according to the internal parameters (l ═x，ly，lθ). First, by simplifying equation (3), we can obtain:
and (4) constructing a linear equation system again according to the formula, and solving the external parameters of the sensor by adopting a linear least square method. After the internal parameters are solved, the calculated pose r of the odometerkCan be written as a linear function of the internal parameters. In the correction process, the initial pose is recorded as the origin of a robot coordinate system, so that the displacement rkThe following differential equation with constraints is used to solve:
the specific value can be obtained by solving the differential equation in the formula (10), and the robot is regarded as a uniform motion model because the period is 0.02s in the calculation process. The following can be obtained by equation (6) and equation (10):
r＝v·T＝JX·T (11)
when solving the external parameters, recording
Is a column vector, equation (9) can therefore be rewritten as a linear system of equations as follows:
let equation (12) be:
then the extrinsic parameters are solved by a minimum multiplication as unknowns of the system of linear equations to:
the internal and external parameters can be solved by equations (8) and (13). However, in the process of collecting data by driving the robot along an arbitrary path, there are various abnormal data. These data cause an anomaly in the solution parameters, and to solve this problem, an error function is defined in the present invention:
and after the correction parameters are calculated, carrying out error calculation on all the original data once, and deleting a part of data with higher errors. In this process, parameter calibration is performed, and the optimal parameter is calculated and solved for a plurality of times.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A parameter correction method of a wheeled mobile robot is characterized in that: the parameter correction process comprises the following steps:
(1) firstly, selecting any position of a calibration place as an origin, establishing a world coordinate system, and then establishing a robot coordinate system by taking a reference point of the wheeled mobile robot as the origin;
(2) the robot is driven to move in a calibration field, and the motion information of a steering wheel and the detection information of a sensor are collected during motion;
(3) respectively calculating encoder odometer information and sensor odometer information according to the collected receipts;
(4) respectively solving internal parameters and external parameters by using odometer information according to rigid body kinematic constraint;
(5) and (4) deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and iterating for multiple times to obtain final data.
2. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: the wheeled mobile robot comprises two steering wheels, wherein the two steering wheels are respectively a first steering wheel and a second steering wheel, and the radius R of the first steering wheel1Angle of deviation α of first steering wheelo1Radius R of the second steering wheel2And the angle of deviation α of the second steering wheelo2Is recorded as an internal parameter.
3. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: the sensor on the wheel-type mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the coordinate l of the sensor relative to the robot coordinate system is equal to (l)x,ly,lθ) Noted as external parameters.
4. The parameter correction method for a wheeled mobile robot according to claim 3, wherein: the two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera and an ultrasonic sensor.
5. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: and (3) driving the robot to move in the calibration site in the step (2), wherein the moving route and the moving mode of the robot are in one or more combination forms of curve, straight line, forward, backward and in-situ spinning.
6. The parameter correction method for a wheeled mobile robot according to claim 5, wherein: when the wheel type mobile robot is driven to move, first steering wheel encoder information, second steering wheel encoder information and sensor information in any motion mode are collected.
7. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: according to the step (3), when the encoder odometer information and the sensor odometer information are solved, no precedence relationship exists.
8. The parameter correction method for a wheeled mobile robot according to claim 7, wherein: the solved odometer information comprises displacement information, angle change information, linear velocity information and angular velocity information.
9. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: according to the step (4), in the solving process, the internal parameters are solved by adopting angle constraint, and the external parameters are solved by adopting displacement constraint.
10. The parameter correction method for a wheeled mobile robot according to claim 1, wherein: according to the step (5), iteration can be performed once or multiple times in the correction solving process.
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Cited By (6)
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| CN114323076A (en) * | 2021-12-31 | 2022-04-12 | 深圳市优必选科技股份有限公司 | Odometer calibration method, device, robot and readable storage medium |
| CN114442054A (en) * | 2021-12-22 | 2022-05-06 | 上海宾通智能科技有限公司 | Sensor and chassis combined calibration system and method for mobile robot |
| CN114935347A (en) * | 2022-07-25 | 2022-08-23 | 季华实验室 | Odometer correction method of wheeled robot, electronic device and storage medium |
| WO2022237375A1 (en) * | 2021-05-13 | 2022-11-17 | 灵动科技（北京）有限公司 | Positioning apparatus calibration method, odometer calibration method, program product, and calibration apparatus |
| CN116026368A (en) * | 2023-03-29 | 2023-04-28 | 上海仙工智能科技有限公司 | Mobile robot parameter joint calibration method and system, equipment and storage medium |
| CN116061194A (en) * | 2023-03-21 | 2023-05-05 | 上海仙工智能科技有限公司 | Calibration method and system for steering wheel installation position of mobile robot and storage medium |
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