CN111610523B - Parameter correction method for wheeled mobile robot - Google Patents
Parameter correction method for wheeled mobile robot Download PDFInfo
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- CN111610523B CN111610523B CN202010413081.3A CN202010413081A CN111610523B CN 111610523 B CN111610523 B CN 111610523B CN 202010413081 A CN202010413081 A CN 202010413081A CN 111610523 B CN111610523 B CN 111610523B
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of wheeled mobile robot guiding, in particular to a parameter correction method of a wheeled mobile robot, wherein 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 a wheeled mobile robot as the origin; (2) Driving the robot to move in a calibration field, and collecting steering wheel movement information and detection information of a sensor during movement; (3) Respectively calculating encoder odometry information and sensor odometry information according to the collected receipts; (4) According to rigid body kinematics constraint, respectively solving internal parameters and external parameters by utilizing odometer information; (5) According to the solved parameters, deleting the abnormal data in the step (3), executing the step (4) again, and obtaining the final data through repeated iteration.
Description
Technical Field
The invention relates to the technical field of wheeled mobile robot guiding, 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 and 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 stopping and the like.
However, wheeled mobile robots, in particular double-rudder wheeled mobile robots, have high requirements for parameter accuracy. In the actual production process, the assembly is complex, and the high efficiency is required to be low. After the assembly is completed, the general correction method is distributed, and the internal parameters and the external parameters are corrected respectively. The correction of the internal and external parameters is not relevant. And the degree of automation is low, and the correction result is greatly affected by artificial 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 the correction precision.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a parameter correction method of a wheeled mobile robot.
In order to achieve the above purpose, the present invention provides the following technical solutions: a parameter correction method of a wheeled mobile robot, the parameter correction process includes 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 a wheeled mobile robot as the origin;
(2) Driving the robot to move in a calibration field, and collecting steering wheel movement information and detection information of a sensor during movement;
(3) Respectively calculating encoder odometry information and sensor odometry information according to the collected receipts;
(4) According to rigid body kinematics constraint, respectively solving internal parameters and external parameters by utilizing odometer information;
(5) Deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and obtaining final data through multiple iterations.
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 the radius R of the second steering wheel 1 Deviation angle alpha of first steering wheel o1 Of the second steering wheelRadius R 2 And the deviation angle alpha of the second steering wheel o2 Recorded as internal parameters.
Preferably, the sensor on the wheeled mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the sensor is set to a coordinate l= (l) with respect to the robot coordinate system x ,l y ,l θ ) Recorded as external parameters.
Preferably, the two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera or an ultrasonic sensor.
Preferably, in the step (2), the robot is driven to move on the calibration site, and the moving route and mode of the robot are one or more combination modes of curves, straight lines, forward, backward and in-situ spin.
Preferably, when the driving wheel type mobile robot moves, the first steering wheel encoder information, the second steering wheel encoder information and the sensor information in any movement mode are collected.
Preferably, according to step (3), there is no precedence relationship in solving the encoder odometer information and the sensor odometer information.
Preferably, the solved odometer information includes displacement information, angle change information, linear velocity information, and angular velocity information.
Preferably, according to 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 may be iterated once or more than once.
Compared with the prior art, the invention has the beneficial effects that: the accuracy 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 a robot motion in world coordinate system according to an embodiment of the present invention;
fig. 3 is a schematic view of a steering wheel in accordance with an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Referring to fig. 1 to 3, the present invention provides a technical solution: a parameter correction method of a wheeled mobile robot, the parameter correction process includes 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 a wheeled mobile robot as the origin;
(2) Driving the robot to move in a calibration field, and collecting steering wheel movement information and detection information of a sensor during movement;
(3) Respectively calculating encoder odometry information and sensor odometry information according to the collected receipts;
(4) According to rigid body kinematics constraint, respectively solving internal parameters and external parameters by utilizing odometer information;
(5) Deleting the abnormal data in the step (3) according to the solved parameters, executing the step (4) again, and obtaining final data through multiple iterations.
The wheel type 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 the radius R of the second steering wheel 1 Deviation angle alpha of first steering wheel o1 Radius R of the second steering wheel 2 And the deviation angle alpha of the second steering wheel o2 Recorded as internal parameters.
The sensor on the wheeled mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the coordinate l= (l) of the sensor relative to the robot coordinate system x ,l y ,l θ ) Recorded as external parameters.
The two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera or an ultrasonic sensor.
In the step (2), the robot is driven to move on a calibration site, and the moving route and the moving mode of the robot are one or a plurality of combination modes of curves, straight lines, forward, backward and in-situ spin.
When the driving wheel type mobile robot moves, the first steering wheel encoder information, the second steering wheel encoder information and the sensor information under any movement mode are collected.
According to step (3), no precedence relationship exists when solving the encoder odometer information and the sensor odometer information.
The solved odometer information includes displacement information, angle change information, linear velocity information and angular velocity information.
According to the step (4), the internal parameters are solved by adopting angle constraint in the solving process, and the external parameters are solved by adopting displacement constraint.
According to step (5), the method can be iterated once or multiple times in the correction solving process.
According to the technical scheme, the motion of the wheeled mobile robot can be represented by a special European group SE (2) in plane motion, and the SE (2) is a corresponding lie algebra. There are two operators for the European group SE (2):the definition is as follows:
as shown in fig. 2, the position of the robot in world coordinate system xoy at time k is noted as q k ＝(q x ,q y ,q θ ) The pose change of the robot for any time interval can be recorded as: r is (r) k ＝(r x ,r y ,r θ ) The group operation can be used to obtain:the displacement of the sensor in the corresponding time interval can be expressed as s k ＝(s x ,s y ,s θ ) The calculation formula is as follows:
when correcting the parameters, the robot is first driven to move along an arbitrary path, and data of the first steering wheel 10, the second steering wheel 12, and the sensor 11 are collected. The steering angle data of the first steering wheel 10 collected at any timing is denoted as α 1 The steering angle data of the second steering wheel 12 is denoted as α 2 The first steering wheel 10 has an error angle alpha during assembly as shown in fig. 2 o1 The second steering wheel 12 has an error angle alpha during assembly o2 For ease of calculation, first the column vector is written as X4X 1:
let J be a 3 x 4 matrix:
thus, the speed vector v (v) x ,v y ω) and the first steering wheel 10, and the second steering wheel 12 are as follows:
v＝JX (6)
first we can get constraints according to equation (3):i.e. the robot and the sensor have the same rotation angle during the movement. The rotation angle is in a linear relation with the parameters of the first steering wheel 10 and the second steering wheel 12, so we can find +_ according to formula (6)>
Can be calculated by a sensor odometerFurther, the method of linear least square method can be used for solving X:
x can be obtained by the formula (8) and the constraint relation sin of the trigonometric function is utilized according to specific numerical values 2 α+cos 2 Alpha=1, the radius of the first steering wheel 10 can be determinedAssembly error angle alpha of first steering wheel 10 o1 ＝atan2(X 2 ，X 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Radius of the second steering wheel 12 +.>The mounting deviation angle alpha of the second steering wheel 12 o2 ＝atan2(X 4 ，X 3 ).
The internal parameters of the double-rudder wheel type mobile robot are solved through the process, and then the external parameters l= (l) can be solved according to the internal parameters x ，l y ，l θ ). First, the formula (3) is simplified to obtain:
and constructing a linear equation set again according to the formula, and solving the external parameters of the sensor by adopting a linear least square method. After solving for internal parameters, the calculated pose r of the odometer k Can be written as a linear function of the internal parameters. In the correction process, we mark the initial pose as the origin of the robot coordinate system, thus the displacement r k Is obtained by adopting the following differential equation with constraintAnd (3) out:
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. From equation (6) and equation (10), we can get:
r＝v·T＝JX·T (11)
when solving the external parameters, recordEquation (9) can therefore be rewritten as a linear system of equations as follows:
equation (12) is written as:then the external parameters as unknowns to the system of linear equations can be solved by least squares to:
the internal and external parameters can be solved by formulas (8) and (13). However, various abnormal data exist in driving the robot along an arbitrary path to collect data. These data can cause anomalies in the solution parameters, and in order to solve this problem, an error function is defined in the present invention:and after calculating the correction parameters, performing error calculation on all original data once, and deleting a part of data with higher errors. The process of parameter correction is executed, and the optimal parameters are calculated and solved for a plurality of times.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
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 a wheeled mobile robot as the origin;
(2) Driving the robot to move in a calibration field, and collecting steering wheel movement information and detection information of a sensor during movement;
(3) Respectively calculating encoder odometry information and sensor odometry information according to the collected receipts;
(4) According to rigid body kinematics constraint, respectively solving internal parameters and external parameters by utilizing odometer information;
(5) Deleting the abnormal data in the step (3) according to the solved parameters, and executing the step (4) again to obtain final data through multiple iterations;
the wheel type 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 the radius R of the second steering wheel 1 Deviation angle alpha of first steering wheel o1 Radius R of the second steering wheel 2 And the deviation angle alpha of the second steering wheel o2 Marking as an internal parameter;
the sensor on the wheeled mobile robot is a two-dimensional sensor or a three-dimensional sensor, and the coordinate l= (l) of the sensor relative to the robot coordinate system x ，l y ，l θ ) Marking as an external parameter;
the two-dimensional sensor or the three-dimensional sensor is a laser radar, a camera and an ultrasonic sensor;
in the step (2), driving the robot to move on a calibration site, wherein the moving route and the moving mode of the robot are one or more combination modes of curves, straight lines, forward, backward and in-situ spin;
when the driving wheel type mobile robot moves, collecting first steering wheel encoder information, second steering wheel encoder information and sensor information in any movement mode;
according to the step (3), when solving the encoder odometer information and the sensor odometer information, no precedence relation exists;
the solved odometer information comprises displacement information, angle change information, linear velocity information and angular velocity information;
according to the step (4), adopting angle constraint to solve internal parameters in the solving process, and adopting displacement constraint to solve external parameters;
according to the step (5), the method can iterate once or multiple times in the correction solving process;
the motion of the wheeled mobile robot can be represented by a special European style group SE (2) in plane motion, the SE (2) is a corresponding lie algebra, and two operators exist for the European style group SE (2):the definition is as follows:
the position of the robot in world coordinate system xoy at time k is marked as q k ＝(q x ，q y ，q θ ) The pose change of the robot for any time interval can be noted as: r is (r) k ＝(r x ，r y ，r θ ) The group operation can be used to obtain:the displacement of the sensor in the corresponding time interval can be expressed as s k ＝(s x ，s y ，s θ ) The calculation formula is as follows:
when correcting parameters, the robot is driven first, the first steering wheel, the second steering wheel and the sensor data are collected along any path, and the steering angle data of the first steering wheel collected at any moment is recorded as alpha 1 The steering angle data of the second steering wheel is denoted as alpha 2 The first steering wheel has an error angle alpha during assembly o1 The second steering wheel 12 has an error angle alpha during assembly o2 For ease of calculation, first the column vector is written as X4X 1:
let J be a 3 x 4 matrix:
thus, the speed vector v (v) x ，v y ω) and the first steering wheel and the second steering wheel are as follows:
v＝JX (6)
first, according to equation (3), a constraint can be obtained:that is, the robot and the sensor have the same rotation angle in the moving process, the rotation angle and the parameters of the first steering wheel and the second steering wheel are in a linear relation, so the +_ can be obtained according to the formula (6)>
Can be calculated by a sensor odometerFurther, the method of linear least square method can be used for solving X:
x can be obtained by the formula (8) and the constraint relation sin of the trigonometric function is utilized according to specific numerical values 2 α+cos 2 Alpha=1, the radius of the first steering wheel can be determinedAssembly error angle alpha of first steering wheel o1 ＝atan2(X 2 ，X 1 ) The method comprises the steps of carrying out a first treatment on the surface of the Radius of the second steering wheel 12 +.>The mounting deviation angle alpha of the second steering wheel 12 o2 ＝atan2(X 4 ，X 3 )，
Solving the internal parameters of the double-rudder wheel type mobile robot through the process, and solving the external parameters l= (l) according to the internal parameters x ，l y ，l θ ) First, the formula (3) is simplified to obtain:
reconstructing a linear equation set, adopting a linear least square method to calculate external parameters of the sensor, and calculating the pose r of the odometer after solving the internal parameters k Can be written as a linear function of internal parameters, the initial pose being recorded as the origin of the robot coordinate system during the correction process, thus the displacement r k The following differential equation with constraint is adopted to calculate:
the specific value can be obtained by solving the differential equation in the formula (10), and in the calculation process, the robot is regarded as a uniform motion model because the period is 0.02s, and the specific value can be obtained by the formula (6) and the formula (10):
r＝v·T＝JX·T (11)
when solving the external parameters, recordAs column vectors, equation (9) can therefore be rewritten as a linear system of equations as follows:
equation (12) is written as:then the external parameters as unknowns of the linear system of equations can be solved by least squares to:
the internal and external parameters can be solved by equations (8) and (13), defining an error function in driving the robot along any path to collect data: and after calculating the correction parameters, carrying out error calculation on all original data once, deleting a part of data with higher errors, and executing the parameter correction process, and calculating and solving the optimal parameters for multiple times.
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| CN115342830A (en) * | 2021-05-13 | 2022-11-15 | 灵动科技（北京）有限公司 | Calibration method, program product and calibration device for a positioning device and a odometer |
| 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 |
| CN114323076B (en) * | 2021-12-31 | 2024-06-21 | 深圳市优必选科技股份有限公司 | Odometer calibration method, device, robot and readable storage medium |
| CN114935347B (en) * | 2022-07-25 | 2022-11-08 | 季华实验室 | Odometer correction method of wheeled robot, electronic device and storage medium |
| CN116061194B (en) * | 2023-03-21 | 2023-07-04 | 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 |
| CN116026368B (en) * | 2023-03-29 | 2023-07-04 | 上海仙工智能科技有限公司 | Mobile robot parameter joint calibration method and system, equipment and storage medium |
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