CN112091980B - Method, device and storage medium for positioning consistency of at least two positioning objects - Google Patents
Method, device and storage medium for positioning consistency of at least two positioning objects Download PDFInfo
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- CN112091980B CN112091980B CN202011243001.0A CN202011243001A CN112091980B CN 112091980 B CN112091980 B CN 112091980B CN 202011243001 A CN202011243001 A CN 202011243001A CN 112091980 B CN112091980 B CN 112091980B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
Abstract
The invention provides a method, equipment and a storage medium for positioning consistency of at least two positioning objects, which are applied to at least two positioning objects and at least two target scenes, simplify the deployment process and greatly improve the efficiency under the condition of ensuring the precision: the method comprises the following steps: receiving calibration parameters of each positioning object when the positioning object is positioned in at least one fixed-point pose, and recording the calibration parameters as a first calibration parameter set; the calibration parameters are obtained by reading and calculating identification information corresponding to the fixed-point pose based on an acquisition device on the positioning object; obtaining a space coordinate relation between the identification information corresponding to the fixed-point pose; and calculating the calibration parameters of any positioning object at any fixed point pose according to the first calibration parameter set and the space coordinate relation between the identification information.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method, equipment and a storage medium for positioning consistency of at least two positioning objects.
Background
In the prior art, a teaching method is often adopted to determine the pose information of a positioning object at a target fixed point pose so as to accurately move to the target fixed point pose in a repeated reproduction manner. The teaching process comprises the following steps: and controlling a single positioning object to reach a fixed point pose in advance, acquiring identification information fixed in a scene by using an acquisition device by virtue of the acquisition device arranged on the positioning object, and reading corresponding identification information to acquire pose information of the target fixed point pose. This can reduce the effect of mounting errors or other error factors, and thus the accuracy is very high.
When the pose information of a plurality of positioning objects at a target fixed-point pose is determined, under the condition that the requirement on the accuracy of each positioning object at the fixed-point pose is very high, the scheme adopted based on the current situation is to perform one-to-one teaching, namely, the single positioning objects are respectively controlled to reach the fixed-point pose one by one in advance and corresponding marks are read, so that the moving is repeatedly reproduced to reach the fixed-point pose. Because the acquisition devices on different positioning objects have installation errors, the teaching task of one positioning object can only be suitable for the teaching task. By using teaching tasks of other positioning objects, accurate pose information of the positioning objects is difficult to obtain.
In some scenes with more fixed-point poses or more positioning objects, the existing mode is greatly inconvenient. For example: under the condition that hundreds of positioning objects are required to carry out high-precision butt joint on hundreds of fixed-point poses, the teaching from each positioning object to each fixed-point pose is repeated by tens of thousands of times. In modern, unmanned, and large-scale factories or warehouses, there is an increasing demand for large-scale positioning of objects or fixed-point poses.
Under the current situation, if precision needs to be guaranteed in a plurality of positioning objects and a plurality of target scenes, the positioning objects need to be taught one by one, the process is complicated, time consumption is high, and efficiency is low.
Disclosure of Invention
The present invention provides a method, a device and a storage medium for positioning consistency of at least two positioning objects, which are particularly applied to at least two positioning objects and at least two target scenes, and which simplify the deployment process and greatly improve the efficiency while ensuring the accuracy.
The invention relates to a positioning consistency method for at least two positioning objects, which is applied to at least two positioning objects provided with acquisition devices and at least two fixed point poses arranged in a scene, wherein each fixed point pose corresponds to unique identification information and comprises the following steps:
receiving calibration parameters of each positioning object when the positioning object is positioned in at least one fixed-point pose, and recording the calibration parameters as a first calibration parameter set; the calibration parameters are obtained by reading and calculating identification information corresponding to the fixed-point pose based on an acquisition device on the positioning object;
obtaining a space coordinate relation between the identification information corresponding to the fixed-point pose;
and calculating the calibration parameters of any positioning object at any fixed point pose according to the first calibration parameter set and the space coordinate relation between the identification information.
Preferably, the calibration parameters of each positioning object when the positioning object is located in at least one fixed-point pose are received and recorded as a first calibration parameter set; wherein, the first calibration parameter set is obtained by the following steps:
respectively controlling each positioning object to reach at least one fixed-point pose, and acquiring identification information corresponding to the fixed-point pose through the acquisition device;
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters;
and marking the calibration parameters of each positioning object in at least one fixed-point pose as a first calibration parameter set.
Preferably, the obtaining of the spatial coordinate relationship between the identification information corresponding to the fixed-point pose includes the following steps:
and receiving calibration parameters respectively corresponding to the same positioning object when the same positioning object is positioned at different fixed-point poses, and calculating the space coordinate relationship between the identification information corresponding to the fixed-point poses.
Preferably, the receiving of calibration parameters corresponding to the same acquisition device when the same acquisition device is located at each fixed-point pose is performed by the following steps:
controlling the same positioning object to reach each fixed-point pose, and acquiring identification information corresponding to the fixed-point poses through the same acquisition device of the positioning object;
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; and calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters.
Preferably, the calculating the spatial coordinate relationship between the identification information corresponding to the fixed-point poses includes the following steps: and calculating the relative pose relationship between the identification coordinate systems based on the relative pose relationship between each identification coordinate system and the same acquisition device coordinate system to obtain the spatial coordinate relationship of the identification information.
Preferably, the first calibration parameter set includes calibration parameters of each of the fixed-point poses; when the number M of the positioning objects is larger than the number N of the fixed-point poses, the number of the calibration parameters is at least 2M-1; when the number N of the fixed-point poses is more than or equal to the number M of the positioning objects, the number of the calibration parameters is at least 2N-1; wherein, M and N are natural numbers;
calculating the spatial coordinate relationship between the identification information corresponding to the same positioning object at different fixed point poses based on the calibration parameters respectively corresponding to the same positioning object at different fixed point poses;
and calculating the space coordinate relation between the identification information corresponding to the fixed point poses based on the space coordinate relation between the identification information corresponding to the different fixed point poses of each positioning object.
Preferably, the first calibration parameter set includes at least M-1 calibration parameters when the positioning objects are located in at least two different fixed-point poses;
preferably, the calibration parameters of the first calibration parameter set including the fixed-point pose of at least N-1 are from at least two different positioning objects.
Preferably, the spatial coordinate relationship between the identification information corresponding to the same positioning object at different fixed-point poses is calculated based on the calibration parameters corresponding to the same positioning object at different fixed-point poses; calculating the spatial coordinate relationship between the identification information corresponding to each fixed point pose based on the spatial coordinate relationship between the identification information corresponding to each fixed point pose of each positioning object positioned at different fixed point poses, comprising the following steps: calculating the spatial coordinate relation between different identification coordinate systems under the same acquisition device coordinate system based on the relative pose relation between the same acquisition device coordinate system and the different identification coordinate systems; and calculating to obtain the spatial coordinate relation of all the identification information based on the spatial coordinate relation between different identification coordinate systems under each acquisition device.
Preferably, the calculating a calibration parameter of any one of the positioning objects at any one of the fixed-point poses according to the first calibration parameter set and the spatial coordinate relationship between the identification information includes the following steps:
obtaining a conversion relation between the acquisition device of each positioning object and at least one fixed-point pose based on calibration parameters when the acquisition device of each positioning object is positioned at the fixed-point pose;
obtaining a conversion relation between each piece of identification information based on the space coordinate relation of the identification information;
and calculating the relative pose relationship between the acquisition device of the positioning object and the identification information corresponding to the fixed point pose when any positioning object is positioned at any fixed point pose based on the conversion relationship between the acquisition device of each positioning object and the fixed point pose and the conversion relationship between each identification information.
Preferably, one of said identification information comprises one or more reference marks.
Preferably, one of the identification information includes pose information and mark information.
The invention also relates to a device for locating objects, applied to at least two fixed-point poses arranged in a scene, each of said fixed-point poses corresponding to unique identification information, said device for locating objects comprising: the acquisition module is used for acquiring the identification information acquired when the positioning pose is positioned; and the calibration module is used for reading and calculating the identification information and calculating the space coordinate relationship between the identification information to obtain the calibration parameters of the positioning object equipment positioned at any fixed point pose.
The invention also relates to a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for at least two positioning object positioning consistency.
The invention also relates to an electronic device comprising: a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a method for at least two positioning object positioning consistency.
After the technical means are adopted, compared with the prior art, the invention has the following advantages:
the invention relates to a method for calibrating the position of a fixed point, which comprises the steps of establishing a relation between at least two different fixed point poses through the same positioning object, calculating a space coordinate relation between the fixed point poses, establishing a relation between calibration parameters of the two different positioning objects through the same fixed point pose, and eliminating errors between the positioning objects. The data are converted by adopting a calculation method, the process of teaching a single positioning object at each fixed-point pose one by one is replaced, and the deployment efficiency of the positioning consistency of at least two positioning objects can be greatly improved. Therefore, the invention can carry out batch calibration and compensate the inconsistency between at least two positioning objects based on the calibration parameters of at least one fixed-point pose and the space coordinate relation between the identification information. In the scene with more positioning objects or more fixed-point poses, the invention can achieve higher efficiency. The invention ensures the precision, simplifies the deployment process and greatly improves the efficiency.
Drawings
FIG. 1 is a flow chart of a method for at least two positioning object location consistency.
Fig. 2 is a schematic diagram of a first embodiment of the present invention.
Fig. 3 is a schematic diagram of a first implementation manner of a second embodiment of the invention.
Fig. 4 is a schematic diagram of a second implementation manner of the second embodiment of the invention.
Fig. 5 is a schematic diagram of a third implementation manner of the second embodiment of the invention.
Fig. 6 is a schematic diagram of a fourth implementation manner of the second embodiment of the invention.
Fig. 7 is a schematic diagram of a fifth implementation manner of the second embodiment of the invention.
Fig. 8 is a schematic diagram of a sixth implementation manner of the second embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly 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 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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The invention provides a method, equipment and a storage medium for positioning consistency of at least two positioning objects, which are especially applied to a plurality of positioning objects and a plurality of target scenes, simplify the deployment process and greatly improve the efficiency under the condition of ensuring the precision. The problems of complexity, high time consumption and low efficiency caused by the fact that fixed-point pose teaching needs to be carried out one by one in the prior art to guarantee precision in scenes with more fixed-point poses or more positioning objects are solved.
For example, under the condition that hundreds of positioning objects perform high-precision docking on hundreds of fixed-point poses, the technical scheme of the invention is that only one fixed-point pose in a scene is calibrated for the hundreds of positioning objects respectively, and the precise space coordinate relation between identification information is acquired by adopting a single positioning object teaching mode for 100 times, and the fixed-point pose needs to be acquired 200 times. A single positioning object as taught is one of a hundred positioning objects, only 199 times needed, which is about one-fiftieth the workload of the prior art compared to the thousands of repetitive workload of the prior art.
The implementation of the present invention is explained in more detail below.
As shown in fig. 1, the present invention relates to a method for positioning consistency of at least two positioning objects, which is applied to at least two positioning objects provided with an acquisition device, and at least two fixed-point poses arranged in a scene, wherein each fixed-point pose corresponds to unique identification information, and the method comprises the following steps:
step S1, receiving calibration parameters of each positioning object when the positioning object is positioned in at least one fixed-point pose, and recording the calibration parameters as a first calibration parameter set; the calibration parameters are obtained by reading and calculating identification information corresponding to the fixed-point pose based on an acquisition device on the positioning object;
step S2, obtaining the space coordinate relation between the identification information corresponding to the fixed-point pose;
step S3, calculating a calibration parameter of any positioning object located at any fixed point pose according to the first calibration parameter set and the spatial coordinate relationship between the identification information.
Specifically, at least two fixed point poses are arranged in a space in a scene, identification information is respectively arranged near each fixed point pose, and each fixed point pose corresponds to unique identification information. The positioning object can move between the fixed-point poses and reach the fixed-point poses. The acquisition device is fixed on the positioning object. The acquisition device can be used for acquiring the identification information.
The positioning object of the invention is often applied to scenes for realizing positioning and executing tasks. For example, the positioning object may be a docking mechanism fixed to the movable platform when it is desired to perform a docking task. One movable platform may be provided with one or more positioning objects. The movable platform can be specifically an unmanned aerial vehicle, an automatic driving vehicle, an auxiliary driving device, an intelligent electric vehicle, a carrier, a mobile action robot and the like.
The acquisition device comprises an image acquisition device and an automatic light supplement unit, and can also be other types of sensors capable of receiving information. For example, as an implementation manner, the acquisition device may be a camera, the identification information may be two-dimensional code information, and the calibration parameter is obtained based on the two-dimensional code information acquired by the camera at the fixed-point pose. Other positioning techniques that are already known in the art may also be used.
The identification information of the invention comprises pose information and marking information. The marking information is used for distinguishing other identification information and is used as a unique identification; the pose information can be read or calculated from the identification information to determine the pose information.
The fixed-point pose of the invention is the target position and the target pose of the positioning object required to be in the actual scene.
In step S1, the calibration parameters of each positioning object located in at least one fixed-point pose are received and recorded as a first calibration parameter set; wherein, the first calibration parameter set is obtained by the following steps:
step S101, respectively controlling each positioning object to reach at least one fixed point pose, and acquiring identification information corresponding to the fixed point pose through the acquisition device;
step S102, establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters;
step S103, marking the calibration parameters of each positioning object when the positioning object is positioned at least one fixed-point pose as a first calibration parameter set.
In step S101, it is assumed that N number of pointing poses are arranged in the scene, and there are M number of positioning objects, for example. Wherein N and M are both integers. Then the pointing poses can be defined as a first pointing pose, a second pointing pose, … …, an ith pointing pose, and a … … nth pointing pose; defining said positioning object as a first positioning object
The second positioning object
… …, jth location object
… …, Mth positioning object
。
Starting from the first positioning object, any one of the first, second, … …, and nth set point poses may be selected as the set point pose to be taught. In this embodiment, the first positioning object selects the ith fixed point pose to teach (i is greater than or equal to 1 and less than or equal to N). The control module and the navigation module of the first positioning object control the first positioning object to move to the position near the ith fixed point pose, and correction can be performed through multiple fine adjustment modes, so that the accuracy of the first positioning object in the ith fixed point pose in an actual scene is ensured. After the ith fixed point pose is determined, the acquisition device on the first positioning object is controlled by the control module to acquire, and the identification information corresponding to the ith fixed point pose is acquired.
Subsequently, the teaching process as described above for the first positioning object is similarly performed for the second positioning object, the third positioning object, … …, and the mth positioning object. To improve efficiency, the process may be synchronized.
Locate the j-th object
For calibration parameters obtained at the ith fixed-point pose
It is shown that, for example, the first calibration parameter set may be
}。
In step S1, calibration parameters may be obtained for different positioning objects at the same fixed-point pose or different fixed-point poses.
Each positioning object only needs to select one fixed-point pose at least for teaching, and other unselected fixed-point poses can be obtained through the space coordinate relation between the marks. In addition, more than one fixed-point pose can be selected for teaching.
Example one
In step S2, the obtaining of the spatial coordinate relationship between the identification information corresponding to the fixed point pose includes the following steps:
and receiving calibration parameters respectively corresponding to the same positioning object when the same positioning object is positioned at different fixed-point poses, and calculating the space coordinate relationship between the identification information corresponding to the fixed-point poses.
And determining a positioning object as a movable teaching platform, and teaching all the fixed-point poses in the scene one by one. The movable teaching platform may be one of the positioning objects or not.
In the following, a discussion will be made of how to obtain the relative pose relationship between the identification coordinate systems in the embodiment.
As shown in FIG. 2, the squares corresponding to the numbers 1-N indicate the fixed-point poses and letters
~
The corresponding circle schematically locates the object. Wherein the positioning object is determined
And as a movable teaching platform, teaching 1-N all fixed-point poses one by one. The movable teaching platform moves from the first fixed point pose, the second fixed point pose and … … to the Nth fixed point pose to carry out one-to-one teaching. The first positioning object
An ith fixed-point pose is selected for teaching (i is more than or equal to 1 and less than or equal to N) targets, and the control module and the navigation module of the movable platform control the first positioning object
Moving to the position near the ith fixed point pose, and correcting by multiple fine adjustment modes to ensure that the first positioning object in the actual scene
And the precision of the ith fixed point pose. And after the ith fixed point pose is determined, acquiring by adopting an acquisition device on the first positioning object, and acquiring identification information corresponding to the ith fixed point pose.
More specifically, the receiving of calibration parameters respectively corresponding to the same acquisition device when the same acquisition device is located at each fixed-point pose is obtained by the following steps:
controlling the same positioning object to reach each fixed-point pose, and acquiring identification information corresponding to the fixed-point poses through the same acquisition device of the positioning object;
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters;
and calibrating parameters when the same positioning object is positioned at each fixed-point pose.
Positioning a first object
For calibration parameters obtained at the ith fixed-point pose
Indicating that the same acquisition device is used for the calibration parameters respectively corresponding to the fixed-point poses
Represents it.
As an embodiment, the calculating a spatial coordinate relationship between the identification information corresponding to the fixed-point poses includes the following steps: and calculating the relative pose relationship between the identification coordinate systems based on the relative pose relationship between each identification coordinate system and the same acquisition device coordinate system to obtain the spatial coordinate relationship of the identification information. For example
=
By analogy, the spatial coordinate relationship between the identification information corresponding to any two vertex poses can be calculated.
Therefore, the calibration parameters of any positioning object at any fixed point pose are calculated according to the first calibration parameter set and the space coordinate relation between the identification information.
For example, if it is required to calculate the calibration parameters of the second positioning object at the third fixed-point pose, that is
The calculation process is as follows:
in a first step, a first calibration parameter set is obtained. For ease of understanding and calculation, a first calibration parameter set is obtained by way of example:
secondly, obtaining the space coordinate relation between the identification coordinate systems:
can be represented by formula
Calculate out
。
Thus, the method can obtain the product,
the method can calculate the calibration parameters of any positioning object at any fixed-point pose, and the principle is the same and is not repeated.
Example two
In step S2, the first calibration parameter set includes calibration parameters of each of the fixed-point poses; when the number M of the positioning objects is larger than the number N of the fixed-point poses, the number of the calibration parameters is at least 2M-1; when the number N of the fixed-point poses is more than or equal to the number M of the positioning objects, the number of the calibration parameters is at least 2N-1; wherein, M and N are natural numbers;
calculating the spatial coordinate relationship between the identification information corresponding to the same positioning object at different fixed point poses based on the calibration parameters respectively corresponding to the same positioning object at different fixed point poses;
and calculating the space coordinate relation between the identification information corresponding to the fixed point poses based on the space coordinate relation between the identification information corresponding to the different fixed point poses of each positioning object.
The essence of the method is that at least two different fixed point poses are linked through the same positioning object, and the space coordinate relation between the fixed point poses is calculated; and establishing a relation between calibration parameters of two different positioning objects through the same fixed-point pose, and eliminating calibration errors between the positioning objects.
In the following, a discussion will be made of how to obtain the relative pose relationship between the identification coordinate systems in the embodiment.
As shown in FIGS. 3-7, the squares corresponding to the numbers 1-N indicate the positions and the positions of the fixed points and the letters
~
The corresponding circle schematically locates the object. Wherein part of the positioning objects teach at least two different fixed-point poses. The control module and the navigation module of the movable platform control the j-th positioning object
Moving to the position near the ith fixed point pose, and correcting by multiple fine adjustment modes to ensure the jth positioning object in the actual scene
The precision of the position at the ith fixed point is higher. After the ith fixed point pose is determined, the jth positioning object is adopted
The acquisition device acquires the identification information corresponding to the ith fixed point pose.
As an embodiment, the first target is shown in FIG. 3The fixed parameter set comprises at least M-1 calibration parameters when the positioning objects are positioned at least two different fixed point poses. The calibration parameters of the first fixed-point pose are from the first positioning object
The second positioning object
And a third positioning object
… …, N-1 positioning object
(ii) a The calibration parameters of the second fixed-point pose come from the first positioning object
The Nth positioning object
The calibration parameters of the third fixed-point pose come from the second positioning object
The calibration parameter of the fourth fixed-point pose comes from the third positioning object
… …, the calibration parameters of the Nth fixed-point pose are from the Nth-1 positioning object
The Nth positioning object
. Obtaining a first calibration parameter set:
in an example, the first calibration parameter set includes calibration parameters of each of the fixed-point poses; and, the first calibration parameter set
~
The positioning object is positioned at two different fixed-point poses, wherein the jth positioning object
The calibration parameters are positioned at the first fixed point pose and the j-1 th fixed point pose;
thereby, the object is positioned
And establishing a relation between the spatial coordinate relation of the first fixed point pose and the j-1 th fixed point pose. To identify a coordinate system
And an identification coordinate system
The spatial coordinate relationship between the first and second positioning objects is an example, and can be based on the first positioning object
Stored in a first calibration parameter set after acquisition
Can calculate
By analogy, the spatial coordinate relationship between other identification coordinate systems can be calculated.
And then calculating the calibration parameters of any positioning object at any fixed point pose, wherein the principles are the same and are not repeated.
As an embodiment, as shown in fig. 4, the calibration parameters of the first calibration parameter set including the pointing pose of at least N-1 are from at least two different positioning objects. The calibration parameters of the first fixed-point pose come from the first positioning object
(ii) a The calibration parameters of the second fixed-point pose are from two different positioning objects and the first positioning object
And a second positioning object
(ii) a The calibration parameters of the third fixed-point pose are from two different positioning objects and the second positioning object
And a third positioning object
(ii) a The calibration parameters of the fourth fixed-point pose are from two different positioning objects and a third positioning object
And a fourth positioning object
(ii) a … … the calibration parameters of the N-1 fixed-point pose come from the N-2 positioning objects of two different positioning objects
And the N-1 positioning object
(ii) a The calibration parameters of the Nth fixed point pose are from the Nth-1 positioning object and the Nth positioning object of two different positioning objects
(ii) a Obtaining a first calibration parameter set:
in an example, the first calibration parameter set includes calibration parameters of each of the fixed-point poses; and, the first calibration parameter set positions the object
The calibration parameters of the ith fixed point pose are from the ith positioning object
And the i-1 th positioning object
Or the (i + 1) th positioning object
。
Thereby, the coordinate system is identified
And an identification coordinate system
The relative pose relationship between the two is an example, and can be based on the first calibration parameter set
Can calculate
By analogy, the spatial coordinate relationship between other identification coordinate systems can be calculated.
The chain relation shown in fig. 5 is formed by disordering the sequence of fig. 4, and is not different from the content shown in fig. 4 as a reference of another mode.
As an embodiment, as shown in fig. 6, in the first calibration parameter set, calibration parameters of a part of the positioning objects located in at least two different pointing poses are derived from at least two different positioning objects. The calibration parameters of the first fixed-point pose come from the first positioning object
The second positioning object
And a third positioning object
(ii) a The calibration parameters of the second fixed-point pose come from the first positioning object
(ii) a The calibration parameters of the third fixed-point pose are from the second positioning object of the positioning object
(ii) a The calibration parameters of the fourth fixed-point pose come from a fourth positioning object
(ii) a … … the calibration parameters of the N-1 fixed point pose come from the third positioning object
The fourth positioning object
(ii) a The calibration parameters of the Nth fixed point pose come from the Nth-1 positioning object
And Nth positioning object
And a third positioning object
(ii) a Obtaining a first calibration parameter set:
in an example, the first calibration parameter set includes calibration parameters of each of the fixed-point poses; and part of the positioning objects are positioned in at least two different calibration parameters when the fixed point poses are positioned, and part of the calibration parameters of the fixed point poses come from at least two different positioning objects. A combination of the embodiments of fig. 3-4. Establishing a relation between at least two different fixed point poses through the same positioning object, and calculating a space coordinate relation between the fixed point poses; and establishing a relation between calibration parameters of two different positioning objects through the same fixed-point pose, and eliminating errors between the positioning objects.
To identify a coordinate system
And an identification coordinate system
The spatial coordinate relationship between the first and second positioning objects is an example, and the first positioning object can be based on the same positioning object
To obtain a first set of calibration parameters
Can calculate
By analogy, the spatial coordinate relationship between other identification coordinate systems can be calculated.
To identify a coordinate system
And an identification coordinate system
The spatial coordinate relationship between the first and second positioning objects is an example, and the first positioning object can be based on the same positioning object
To obtain a first set of calibration parameters
，
Obtaining a first calibration parameter set based on a first fixed point pose of the same fixed point pose
,
Third positioning object based on same positioning object
To obtain a first set of calibration parameters
,
From this, it is possible to calculate
In addition, as shown in fig. 7, as an embodiment, when the number M of the positioning objects is greater than the number N of the fixed-point poses, the number of the calibration parameters is at least 2M "1; the principle is that the part of the positioning object M which is more than the fixed point pose N can establish the relation of the calibration parameters of two different positioning objects by repeatedly utilizing the same fixed point pose, and the calibration error between the positioning objects is eliminated. At least two calibration parameters are needed to establish the connection between the different positioning objects. Therefore, 2M-1 calibration parameters are needed for M positioning objects to establish the relation. This case is also applicable to the case of adding the positioning object at a later stage. And the positioning objects added in batches at the later stage can also accurately reach each fixed-point pose.
In addition, as shown in fig. 8, as an embodiment, when the number N of the fixed-point poses is greater than or equal to the number M of the positioning objects, the number of the calibration parameters is at least 2N-1; the principle is that the fixed point pose N is more than the part of the positioning object M, at least two different fixed point poses are connected through the same positioning object, and the space coordinate relation between the fixed point poses is calculated. At least two calibration parameters are needed to establish the connection between the different positioning objects. So that 2N-1 calibration parameters are needed for establishing the relation for N fixed-point poses.
In a practical application scenario, for example, 100 workstations are arranged in a production line of a factory, and a fixed-point pose exists in each workstation. There are 80 transfer devices that are moved back and forth in the factory to transfer material from 100 stations on command without interruption. When the butt joint device of the transfer equipment is positioned at the fixed-point pose of each station, accurate butt joint is realized. In order to eliminate mechanical errors existing between transfer devices and enable 80 devices to be capable of achieving accurate butt joint, the 80 devices are required to have positioning consistency. In order to enable the docking device of each transfer device of 80 transfer devices to be accurately positioned at the fixed-point poses of 100 stations, 199 calibration parameters are needed to establish a connection, and the positioning consistency of a plurality of positioning objects is realized.
More specifically, the spatial coordinate relationship between the identification information corresponding to the same positioning object located at different fixed-point poses is calculated based on the calibration parameters corresponding to the same positioning object located at different fixed-point poses; calculating the spatial coordinate relationship between the identification information corresponding to each fixed point pose based on the spatial coordinate relationship between the identification information corresponding to each fixed point pose of each positioning object positioned at different fixed point poses, comprising the following steps: calculating the spatial coordinate relation between different identification coordinate systems under the same acquisition device coordinate system based on the relative pose relation between the same acquisition device coordinate system and the different identification coordinate systems; and calculating to obtain the spatial coordinate relation of all the identification information based on the spatial coordinate relation between different identification coordinate systems under each acquisition device.
As an embodiment, the calculating calibration parameters of any positioning object located at any fixed-point pose according to the first calibration parameter set and the spatial coordinate relationship between the identification information includes the following steps:
obtaining a conversion relation between the acquisition device of each positioning object and at least one fixed-point pose based on calibration parameters when the acquisition device of each positioning object is positioned at the fixed-point pose;
obtaining a conversion relation between each piece of identification information based on the space coordinate relation of the identification information;
and calculating the relative pose relationship between the acquisition device of the positioning object and the identification information corresponding to the fixed point pose when any positioning object is positioned at any fixed point pose based on the conversion relationship between the acquisition device of each positioning object and the fixed point pose and the conversion relationship between each identification information.
In one embodiment, one of the identification information includes one or more reference marks. The identification information comprises positioning information and identification information. The identification information is used for distinguishing the identification.
As an embodiment, one of the identification information includes pose information and marker information.
In addition, the present invention relates to a device for locating an object, applied to at least two fixed-point poses disposed in a scene, each of the fixed-point poses corresponding to unique identification information, the device comprising: the acquisition module is used for acquiring the identification information acquired when the positioning pose is positioned; and the calibration module is used for reading and calculating the identification information and calculating the space coordinate relationship between the identification information to obtain the calibration parameters of the positioning object equipment positioned at any fixed point pose.
The invention also relates to a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for at least two positioning object positioning consistency.
The invention also relates to an electronic device comprising: a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing a method for at least two positioning object positioning consistency.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been illustrated and described above, it is not intended that they be construed as limiting the claims. The invention is not limited to the above embodiments, the specific construction of which allows variations, all of which are within the scope of the invention as defined in the independent claims.
Claims (13)
1. A method for positioning consistency of at least two positioning objects is characterized in that the method is applied to at least two positioning objects provided with acquisition devices and at least two fixed-point poses arranged in a scene, each fixed-point pose corresponds to unique identification information, and the method comprises the following steps:
receiving calibration parameters of each positioning object when the positioning object is positioned in at least one fixed-point pose, and recording the calibration parameters as a first calibration parameter set; the calibration parameters are obtained by reading and calculating identification information corresponding to the fixed-point pose based on an acquisition device on the positioning object;
obtaining a space coordinate relation between the identification information corresponding to the fixed-point pose;
calculating the calibration parameters of any positioning object at any fixed point pose according to the first calibration parameter set and the space coordinate relation between the identification information;
the obtaining of the spatial coordinate relationship between the identification information corresponding to the fixed-point pose includes: calculating the spatial coordinate relationship between the identification information corresponding to the same positioning object at different fixed point poses based on the calibration parameters respectively corresponding to the same positioning object at different fixed point poses; and calculating the space coordinate relation between the identification information corresponding to the fixed point poses based on the space coordinate relation between the identification information corresponding to the different fixed point poses of each positioning object.
2. The method according to claim 1, wherein said receiving calibration parameters of each of said positioning objects in at least one fixed-point pose is denoted as a first calibration parameter set; wherein, the first calibration parameter set is obtained by the following steps:
respectively controlling each positioning object to reach at least one fixed-point pose, and acquiring identification information corresponding to the fixed-point pose through the acquisition device;
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters;
and marking the calibration parameters of each positioning object in at least one fixed-point pose as a first calibration parameter set.
3. The method as claimed in claim 1, wherein the calibration parameters based on the same positioning object in different fixed-point poses are obtained by the following steps:
controlling the same positioning object to reach each fixed-point pose, and acquiring identification information corresponding to the fixed-point poses through the same acquisition device of the positioning object;
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; and calculating the relative pose relationship between the identification coordinate system and the acquisition device coordinate system when the positioning object is positioned at the fixed point pose to obtain calibration parameters.
4. The method as claimed in claim 3, wherein the step of calculating the spatial coordinate relationship between the identification information corresponding to the same positioning object located in different positioning poses comprises the steps of: and calculating the relative pose relationship between the identification coordinate systems based on the relative pose relationship between each identification coordinate system and the same acquisition device coordinate system to obtain the spatial coordinate relationship of the identification information.
5. The method according to claim 1, wherein the obtaining of the spatial coordinate relationship between the identification information corresponding to the fixed-point poses further comprises:
the first calibration parameter set comprises calibration parameters of each fixed-point pose; when the number M of the positioning objects is larger than the number N of the fixed-point poses, the number of the calibration parameters is at least 2M-1; when the number N of the fixed-point poses is more than or equal to the number M of the positioning objects, the number of the calibration parameters is at least 2N-1; wherein, M and N are natural numbers.
6. A method for at least two positioning object positioning consistency according to claim 5,
the first calibration parameter set comprises at least M-1 calibration parameters when the positioning objects are positioned at least two different fixed-point poses.
7. A method for at least two positioning object positioning consistency according to claim 5,
the calibration parameters of the first calibration parameter set, which comprise at least N-1 fixed-point poses, come from at least two different positioning objects.
8. A method for at least two positioning object positioning consistency according to claim 5,
establishing an identification coordinate system based on the acquired identification information; establishing a coordinate system of the acquisition device based on the acquisition device for acquiring the identification information; calculating a spatial coordinate relationship between the identification information corresponding to the same positioning object at different fixed point poses based on the calibration parameters respectively corresponding to the same positioning object at different fixed point poses; calculating the spatial coordinate relationship between the identification information corresponding to each fixed point pose based on the spatial coordinate relationship between the identification information corresponding to each fixed point pose of each positioning object positioned at different fixed point poses, comprising the following steps: calculating the spatial coordinate relation between different identification coordinate systems under the same acquisition device coordinate system based on the relative pose relation between the same acquisition device coordinate system and the different identification coordinate systems; and calculating to obtain the spatial coordinate relation of all the identification information based on the spatial coordinate relation between different identification coordinate systems under each acquisition device.
9. The method as claimed in claim 1, wherein said calculating calibration parameters of any of said positioning objects at any of said fixed-point poses according to said first calibration parameter set and the spatial coordinate relationship between said identification information comprises the following steps:
obtaining a conversion relation between the acquisition device of each positioning object and at least one fixed-point pose based on calibration parameters when the acquisition device of each positioning object is positioned at the fixed-point pose;
obtaining a conversion relation between each piece of identification information based on the space coordinate relation of the identification information;
and calculating the relative pose relationship between the acquisition device of the positioning object and the identification information corresponding to the fixed point pose when any positioning object is positioned at any fixed point pose based on the conversion relationship between the acquisition device of each positioning object and the fixed point pose and the conversion relationship between each identification information.
10. A method for location consistency of at least two positioning objects according to claim 1, characterized in that one of said identification information comprises one or more reference marks.
11. A method for positional consistency of at least two positioning objects according to claim 1, wherein one of said identification information comprises pose information and marker information.
12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method for at least two positioning object positioning consistency according to any one of the claims 1 to 11.
13. An electronic device, characterized by comprising: a processor; a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing the method for at least two positioning object positioning consistency of any of the claims 1-11.
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| CN202011243001.0A CN112091980B (en) | 2020-11-10 | 2020-11-10 | Method, device and storage medium for positioning consistency of at least two positioning objects |
| PCT/CN2021/115839 WO2022100224A1 (en) | 2020-11-10 | 2021-08-31 | Method and device for achieving positioning consistency of multiple positioning objects, and storage medium |
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| WO2006065563A2 (en) * | 2004-12-14 | 2006-06-22 | Sky-Trax Incorporated | Method and apparatus for determining position and rotational orientation of an object |
| US7681796B2 (en) * | 2006-01-05 | 2010-03-23 | International Business Machines Corporation | Mobile device tracking |
| CN102141398B (en) * | 2010-12-28 | 2013-01-30 | 北京航空航天大学 | Monocular vision-based method for measuring positions and postures of multiple robots |
| CN106468553B (en) * | 2016-08-30 | 2019-11-12 | 上海擎朗智能科技有限公司 | A kind of localization method of the mobile object based on road sign |
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| CN110162038A (en) * | 2019-05-07 | 2019-08-23 | 杭州迦智科技有限公司 | Control method for movement, device, storage medium and processor |
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