CN112388602B - Calibration method, device and equipment of mobile robot - Google Patents
Calibration method, device and equipment of mobile robot Download PDFInfo
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- CN112388602B CN112388602B CN202011301639.5A CN202011301639A CN112388602B CN 112388602 B CN112388602 B CN 112388602B CN 202011301639 A CN202011301639 A CN 202011301639A CN 112388602 B CN112388602 B CN 112388602B
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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
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- 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
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a calibration method, a calibration device and calibration equipment of a mobile robot. When the mobile robot moves to a designated position at the bottom of a calibration device, a radar calibration plate on the calibration device is controlled to receive laser emitted by a laser radar on the mobile robot, and the angle installation deviation of the laser radar relative to the mobile robot is calculated and corrected; and controlling the mobile robot to rotate in situ to obtain a rotating track point of the mobile robot, calculating a wheel track ratio from a differential wheel of the mobile robot to the center of the mobile robot according to the rotating track point, and correcting the rotating track point of the mobile robot according to the wheel track ratio. The invention has the advantages of accurate calibration and high efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a calibration method, a calibration device and calibration equipment of a mobile robot.
Background
The existing calibration method for the mobile robot is mostly calibrated by means of the existing environment, the mobile robot is frequently manually remotely controlled to move for a certain distance, and then the deviation of a differential wheel and the deviation of a laser radar are calculated through an encoder, so that the radar installation angle and the wheel track of the differential wheel are calibrated.
In the prior art, the calibration structure needs to move a corresponding distance on a relatively flat ground in the calibration process, meanwhile, the slipping factor of the mobile robot is ignored, and the calibration structure in different environments has certain difference.
Disclosure of Invention
The invention aims to provide a calibration method, a calibration device and calibration equipment of a mobile robot, and aims to solve the problems of low accuracy and low efficiency of the prior art in the calibration method of the mobile robot.
In a first aspect, an embodiment of the present invention provides a calibration method for a mobile robot, including:
when the mobile robot moves to a designated position at the bottom of the calibration device, calculating the angle deviation of the mobile robot relative to the calibration device;
controlling a radar calibration plate on the calibration device to receive laser emitted by a laser radar on the mobile robot, and calculating the angle deviation of the laser radar relative to the radar calibration plate;
calculating to obtain the angle installation deviation of the laser radar relative to the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration plate, and correcting the laser emission angle of the laser radar according to the angle installation deviation;
and displaying the rotary track points of the mobile robot in an in-situ rotating state through a calibration interface, calculating to obtain a wheel track ratio from differential wheels of the mobile robot to the center of the mobile robot according to the rotary track points, and correcting the rotary track points of the mobile robot according to the wheel track ratio.
In a second aspect, an embodiment of the present invention provides a calibration apparatus for a mobile robot, including:
the first calculation unit is used for calculating the angle deviation of the mobile robot relative to the calibration device when the mobile robot moves to the designated position at the bottom of the calibration device;
the second calculation unit is used for controlling a radar calibration plate on the calibration device to receive laser emitted by a laser radar on the mobile robot and calculating the angle deviation of the laser radar relative to the radar calibration plate;
the third calculation unit is used for calculating and obtaining the angle installation deviation of the laser radar relative to the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration plate, and correcting the laser emission angle of the laser radar according to the angle installation deviation;
and the fourth calculating unit is used for displaying the rotary track points of the mobile robot in the in-situ rotation state through a calibration interface, calculating the wheel track ratio from the differential wheels of the mobile robot to the center of the mobile robot according to the rotary track points, and correcting the rotary track points of the mobile robot according to the wheel track ratio.
In a third aspect, an embodiment of the present invention further provides a calibration device, which includes a rack, a radar calibration board, and a visual positioning system, where the radar calibration board and the visual positioning system are installed on the rack, and the calibration device is configured to implement the calibration method for the mobile robot according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a calibration apparatus, where the calibration apparatus stores a computer program, and the computer program, when executed by a processor, causes the processor to execute the calibration method for a mobile robot according to the first aspect.
The embodiment of the invention discloses a calibration method, a calibration device and calibration equipment of a mobile robot. When the mobile robot moves to a designated position at the bottom of a calibration device, a radar calibration plate on the calibration device is controlled to receive laser emitted by a laser radar on the mobile robot, and the angle installation deviation of the laser radar relative to the mobile robot is calculated and corrected; and controlling the mobile robot to rotate in situ to obtain a rotating track point of the mobile robot, calculating a wheel track ratio from a differential wheel of the mobile robot to the center of the mobile robot according to the rotating track point, and correcting the rotating track point of the mobile robot according to the wheel track ratio. The embodiment of the invention has the advantages of accurate calibration and high efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a calibration method of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic sub-flow chart of a calibration method of a mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic view of another sub-flow of the calibration method of the mobile robot according to the embodiment of the present invention;
fig. 4 is a schematic view of another sub-flow of the calibration method of the mobile robot according to the embodiment of the present invention;
fig. 5 is a schematic flowchart of a calibration method for a mobile robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a rotation track point of a mobile robot after the mobile robot provided by the embodiment of the present invention rotates in place;
fig. 7 is a schematic block diagram of a calibration apparatus of a mobile robot according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a calibration apparatus provided in an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a mobile robot 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 some, not all, embodiments of the present invention. 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that 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 in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a calibration method of a mobile robot according to an embodiment of the present invention;
as shown in fig. 1, the method includes steps S101 to S104.
S101, when the mobile robot moves to a designated position at the bottom of the calibration device, calculating the angle deviation of the mobile robot relative to the calibration device.
In this embodiment, after production and processing, the mobile robot needs to be calibrated to ensure that the mobile robot can stably run after being put into operation; the calibration device is used for calibrating the mobile robot, namely detecting a part to be detected of the mobile robot; before calibration is started, the mobile robot is controlled to move to a designated position at the bottom of the calibration device, then the angular deviation of the mobile robot relative to the calibration device is calculated, namely the position of the mobile robot can be confirmed, and the purpose of confirming the position of the mobile robot is to perform calibration more accurately.
In one embodiment, as shown in fig. 2, the step S101 includes:
s201, when the mobile robot moves to the bottom of the calibration device, identifying a two-dimensional code on the mobile robot through a visual positioning system on the calibration device, and determining the position of the center line of the mobile robot relative to the center line of the calibration device;
s202, calculating the angle deviation theta of the central line of the mobile robot relative to the central line of the calibration device1。
In this embodiment, the control terminal may control the mobile robot to move so that the mobile robot moves to the bottom of the calibration device, and then the visual positioning system on the calibration device identifies the two-dimensional code on the mobile robot, the two-dimensional code is arranged at the center of the mobile robot, the center line of the mobile robot may be determined by identifying the position of the two-dimensional code, and then the angular deviation θ of the center line of the mobile robot with respect to the center line of the calibration device is calculated1。
S102, controlling a radar calibration plate on the calibration device to receive laser emitted by a laser radar on the mobile robot, and calculating the angle deviation of the laser radar relative to the radar calibration plate.
In this embodiment, the lidar may be installed at a front side of the mobile robot, and is configured to emit laser towards a front direction to detect a front obstacle during a walking process of the mobile robot, which needs to ensure that an emission center line of the lidar is directed towards the front direction, so that the emission center line of the lidar needs to be calibrated; specifically, laser emitted by the laser radar is received through a radar calibration plate on the calibration device, the received laser is calibrated, and the angle deviation of the laser radar emission center line relative to the center line of the radar calibration plate is calculated.
In one embodiment, the step S102 includes:
matching the laser data shielded by the radar calibration plate with the angle shape of the radar calibration plate to obtain the angle deviation theta of the transmitting central line of the laser radar relative to the central line of the radar calibration plate2(ii) a The radar calibration plate comprises a left calibration plate and a right calibration plate which form a fixed angle, and the center line of the radar calibration plate is the same as that of the calibration device.
In this embodiment, the radar calibration plate is installed on the calibration device, the radar calibration plate includes a left calibration plate and a right calibration plate, and one ends of the left calibration plate and the right calibration plate are connected to form a right angle; the central line of the radar calibration plate (i.e. the line which is divided into right-angle symmetrical parts) is the same as the central line of the calibration device, so that the angular deviation theta of the transmitting central line of the laser radar relative to the central line of the radar calibration plate is calculated2Namely, calculating the angle deviation of the transmitting central line of the laser radar relative to the central line of the calibration device.
Specifically, after the laser radar transmits laser to the radar calibration plate, the radar calibration plate detects shielded laser data, and calculates the angle deviation theta of the transmitting central line of the laser radar relative to the central line of the radar calibration plate through linear fitting and interframe matching technology2And calculating the angle deviation of the transmitting central line of the laser radar relative to the central line of the calibration device.
It should be noted that the angle formed by the left calibration plate and the right calibration plate may also be 70 degrees, 110 degrees or other angles, so as to ensure that the center line of the radar calibration plate is the same as the center line of the calibration device.
S103, calculating to obtain the angle installation deviation of the laser radar relative to the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration plate, and correcting the laser emission angle of the laser radar according to the angle installation deviation.
In one embodiment, as shown in fig. 3, the step S103 includes:
s301, obtaining the angle deviation theta1And the angular deviation theta2And calculating to obtain the angle installation deviation theta of the laser radar relative to the central line of the mobile robot3；
S302, writing the obtained deviation value of the angle installation deviation theta 3 into a radar system of the mobile robot through parameter configuration, and correcting the laser emission angle of the laser radar.
In this embodiment, the angular deviation θ is based on the center line of the calibration device1The angular deviation theta is the angular deviation of the mobile robot relative to the calibration device2Is the degree deviation of the laser radar relative to the calibration device, so passes through the formula theta3＝θ1+θ2The angle installation deviation theta of the transmitting central line of the laser radar relative to the central line of the mobile robot can be calculated3。
The transmitting central line of the laser radar can be adjusted through the radar system of the mobile robot, and the mounting deviation theta is obtained according to the obtained angle3Deviation value of angle mounting by parameter configuration3The deviation value is written into a radar system of the mobile robot, so that the transmitting central line of the laser radar can be corrected, and the transmitting central line of the laser radar is parallel to the central line of the mobile robot and directly faces the front.
For example, if the mobile robot has an angular deviation θ relative to the calibration device 110 degrees, degree deviation theta of the laser radar relative to the calibration device2Is 6 degrees, then theta1+θ2Equal to 16 degrees, namely the angular installation deviation theta 3 of the transmitting central line of the laser radar relative to the central line of the mobile robot is 16 degrees; mounting angle deviation theta through parameter configuration3The deviation value 16 is written into a radar system of the mobile robot, and the transmitting central line of the laser radar can be corrected.
S104, displaying the rotation track points of the mobile robot in the in-situ rotation state through a calibration interface, calculating the wheel track ratio from the differential wheels of the mobile robot to the center of the mobile robot according to the rotation track points, and correcting the rotation track points of the mobile robot according to the wheel track ratio.
With reference to fig. 6, in this embodiment, after the central position of the mobile robot is confirmed, the mobile robot is controlled to rotate in place, then the rotary track point of the central position of the mobile robot after rotating in place is detected, and the rotary track point is displayed through a calibration interface, the more concentrated the rotary track point, the more stable the in-place rotation of the mobile robot is, the more accurate the mobile robot is controlled to change the direction, otherwise, when the rotary track point deviates greatly, the error exists in the direction change of the mobile robot.
Through rotatory track point calculates and obtains left differential wheel and right differential wheel of mobile robot arrive the wheel track ratio at mobile robot center to rectify through this wheel track ratio left differential wheel and right differential wheel arrive the wheel track at mobile robot's center, thereby rectify mobile robot's rotatory track point makes mobile robot can be more accurate when the diversion.
In one embodiment, as shown in fig. 4, the step S104 includes:
s401, detecting and recording a rotation track point of a central point when the mobile robot rotates in place through the vision positioning system;
s402, displaying the rotary track points through a calibration interface, framing the rotary track points by adopting a selection frame, and calculating to obtain the length and the width of the selection frame;
s403, calculating according to the length and the width of the marquee to obtain the wheel track ratio from the left differential wheel and the right differential wheel of the mobile robot to the central point of the mobile robot;
s404, writing the obtained wheel track ratio into a differential wheel system of the mobile robot through parameter configuration, and correcting the wheel track ratio from the left differential wheel and the right differential wheel to the center of the mobile robot.
In the embodiment, the rotation track point of the central point is detected and recorded by the vision positioning system when the mobile robot rotates in place, so that the mobile robot can be controlled to rotate in place for one circle at a low rotating speed, the purpose of rotating at the low rotating speed is to prevent the left differential wheel and the right differential wheel from slipping, and errors in detection are reduced; then displaying the rotary track points through a calibration interface, framing the rotary track points by adopting an election frame, wherein the election frame is a rectangular frame, calculating the length and the width of the election frame, calculating the wheel track from a left differential wheel and a right differential wheel of the mobile robot to the central point of the mobile robot according to the length and the width of the election frame, and calculating the wheel track ratio of the wheel track from the left differential wheel to the central point of the mobile robot to the wheel track from the differential wheel to the central point of the mobile robot; and finally, writing the wheel track ratio into a differential wheel system of the mobile robot in a parameter configuration mode, so as to correct the wheel track ratio from the left differential wheel and the right differential wheel to the center of the mobile robot.
It should be noted that, after the mobile robot rotates for one circle, if the deviation of the rotation track point occurs because the wheel tracks from the left differential wheel and the right differential wheel of the mobile robot to the central point of the mobile robot are different, the movement tracks of the left differential wheel and the right differential wheel are different during rotation, which causes the deviation of the rotation track point; therefore, the wheel distances from the left differential wheel and the right differential wheel to the central point of the mobile robot need to be corrected, and then the rotary track point of the mobile robot is corrected, so that the mobile robot is more accurate in turning.
In one embodiment, the step S404 includes:
calculating a wheel track Ratio of the left differential wheel and the right differential wheel to the center of the mobile robot according to the following formula:
Ld＝min(L，W)；
ratio ═ B + Ld)/(B-Ld); where min (L, W) represents taking the minimum of L and W, L is the length of the marquee, W is the width of the marquee, and B is the track width of the left and right differential wheels.
In this embodiment, the length and the width of the cull box are measured to obtain specific values, and then the formula Ld ═ min (L, W) is substituted to obtain the minimum value of L and W, and then the specific values of the wheel distances B of the left differential wheel and the right differential wheel are obtained, and the formula Ratio ═ B + Ld)/(B-Ld) is substituted to obtain the wheel distance Ratio from the left differential wheel and the right differential wheel to the center of the mobile robot through calculation.
In one embodiment, as shown in FIG. 5, the method further includes steps S501-S502.
S501, confirming the installation accuracy of a radar installation plate on the mobile robot;
and S502, confirming the installation accuracy of the two-dimensional code installation plate on the mobile robot.
In this embodiment, the laser radar is mounted on the radar mounting plate, the mounting angle of the radar mounting plate affects the transmission center line of the laser radar, and if there is an error in the mounting angle of the radar mounting plate, there is also an error after calibration; similarly, the two-dimensional code is arranged on the two-dimensional code mounting plate, the mounting angle of the two-dimensional code mounting plate also affects the center position of the two-dimensional code, and if the mounting angle of the two-dimensional code mounting plate has an error, the center of the mobile robot cannot be accurately detected; it is necessary to confirm that the mounting accuracy of the radar mounting plate and the two-dimensional code mounting plate is accurate.
The embodiment of the invention also provides a calibration device of the mobile robot, which is used for executing any embodiment of the calibration method of the mobile robot. Specifically, referring to fig. 7, fig. 7 is a schematic block diagram of a calibration apparatus of a mobile robot according to an embodiment of the present invention.
As shown in fig. 7, a calibration apparatus 700 for a mobile robot includes: a first calculation unit 701, a second calculation unit 702, a third calculation unit 703, and a fourth calculation unit 704.
A first calculating unit 701, configured to calculate an angular deviation of the mobile robot with respect to the calibration device when the mobile robot moves to a specified position at the bottom of the calibration device;
a second calculating unit 702, configured to control a radar calibration board on the calibration device to receive laser emitted by a lidar on the mobile robot, and calculate an angle deviation of the lidar relative to the radar calibration board;
a third calculating unit 703, configured to calculate an angle installation deviation of the laser radar relative to the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration board, and correct the laser emission angle of the laser radar according to the angle installation deviation;
and the fourth calculating unit 704 is used for displaying the rotary track points of the mobile robot in the in-situ rotation state through a calibration interface, calculating the wheel track ratio from the differential wheels of the mobile robot to the center of the mobile robot according to the rotary track points, and correcting the rotary track points of the mobile robot according to the wheel track ratio.
The device calculates the angle deviation of laser emitted by a laser radar relative to the mobile robot and corrects the emission angle of the laser radar; calculating a wheel track ratio from a differential wheel to the center of the mobile robot through a rotating track point of the mobile robot rotating in situ, and correcting the rotating track point of the mobile robot according to the wheel track ratio; the method has the advantages of quickly and accurately calibrating the mobile robot and correcting according to the deviation.
Referring to fig. 8 and 9, an embodiment of the present invention further provides a calibration apparatus for a mobile robot, including a frame 10, a radar calibration plate 20, and a visual positioning system 30, where the radar calibration plate and the visual positioning system are mounted on the frame, and the calibration apparatus is used to implement the above-mentioned calibration method for a mobile robot. When the mobile robot 40 moves to the bottom of the visual positioning system 30, the laser radar 41 and the differential wheel 42 of the mobile robot 40 may be calibrated.
An embodiment of the present invention further provides a calibration apparatus for a mobile robot, where the calibration apparatus stores a computer program, and when the computer program is executed by a processor, the processor executes the calibration method for a mobile robot as described above.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A calibration method of a mobile robot is characterized by comprising the following steps:
when the mobile robot moves to a designated position at the bottom of the calibration device, calculating the angle deviation of the center line of the mobile robot relative to the center line of the calibration device;
controlling a radar calibration plate on the calibration device to receive laser emitted by a laser radar on the mobile robot, and calculating the angle deviation of the emission center line of the laser radar relative to the center line of the radar calibration plate, wherein the center line of the radar calibration plate is the same as the center line of the calibration device;
calculating to obtain the angle installation deviation of the transmitting central line of the laser radar relative to the central line of the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration plate, and correcting the laser transmitting angle of the laser radar according to the angle installation deviation;
and displaying the rotary track point of the center position of the mobile robot after the mobile robot rotates in situ through a calibration interface, calculating to obtain the wheel track ratio from the differential wheel of the mobile robot to the center of the mobile robot according to the rotary track point, and correcting the rotary track point of the mobile robot according to the wheel track ratio.
2. The calibration method for a mobile robot according to claim 1, wherein the calculating the angular deviation of the mobile robot with respect to the calibration device when the mobile robot moves to the specified position at the bottom of the calibration device comprises:
when the mobile robot moves to the bottom of the calibration device, the two-dimensional code on the mobile robot is identified through a visual positioning system on the calibration device, and the position of the center line of the mobile robot relative to the center line of the calibration device is determined;
calculating the angular deviation theta of the central line of the mobile robot relative to the central line of the calibration device1。
3. The method for calibrating a mobile robot according to claim 2, wherein the controlling a radar calibration plate on the calibration device to receive laser light emitted by a lidar on the mobile robot and calculating an angular deviation of the lidar relative to the radar calibration plate comprises:
matching the laser data shielded by the radar calibration plate with the angle shape of the radar calibration plate to obtain the angle deviation theta of the transmitting central line of the laser radar relative to the central line of the radar calibration plate2(ii) a The radar calibration plate comprises a left calibration plate and a right calibration plate which form a fixed angle, and the center line of the radar calibration plate is the same as that of the calibration device.
4. The method for calibrating a mobile robot according to claim 3, wherein the step of calculating an angular installation deviation of the lidar relative to the mobile robot according to the angular deviation of the mobile robot relative to the calibration device and the angular deviation of the lidar relative to the radar calibration plate, and correcting the laser emission angle of the lidar according to the angular installation deviation comprises:
according to the obtained angle deviation theta1And the angular deviation theta2Calculating the angle of the laser radar relative to the central line of the mobile robotDegree of mounting deviation theta3；
And writing the obtained deviation value of the angle installation deviation theta 3 into a radar system of the mobile robot through parameter configuration, and correcting the laser emission angle of the laser radar.
5. The calibration method of the mobile robot according to claim 2, wherein the step of displaying the rotation locus points of the mobile robot in the in-situ rotation state through the calibration interface, calculating a wheel track ratio from differential wheels of the mobile robot to the center of the mobile robot according to the rotation locus points, and correcting the rotation locus points of the mobile robot according to the wheel track ratio comprises the steps of:
detecting and recording a rotation track point of a central point of the mobile robot when the mobile robot rotates in place through the visual positioning system;
displaying the rotary track points through a calibration interface, framing the rotary track points by adopting a selection frame, and calculating to obtain the length and the width of the selection frame;
calculating to obtain the wheel track ratio from the left differential wheel and the right differential wheel of the mobile robot to the central point of the mobile robot according to the length and the width of the selecting frame;
and writing the obtained wheel track ratio into a differential wheel system of the mobile robot through parameter configuration, and correcting the wheel track ratio from the left differential wheel and the right differential wheel to the central point of the mobile robot.
6. The method for calibrating a mobile robot according to claim 5, wherein the step of calculating the wheel track ratio from the left differential wheel and the right differential wheel of the mobile robot to the center of the mobile robot according to the length and the width of the marquee comprises:
calculating a wheel track Ratio of the left differential wheel and the right differential wheel to the center of the mobile robot according to the following formula:
Ld＝min(L，W)；
ratio ═ B + Ld)/(B-Ld); where min (L, W) represents taking the minimum of L and W, L is the length of the marquee, W is the width of the marquee, and B is the track width of the left and right differential wheels.
7. The calibration method for a mobile robot according to claim 1, further comprising:
confirming the installation precision of a radar installation plate on the mobile robot;
and confirming the installation precision of the two-dimensional code installation plate on the mobile robot.
8. A calibration device for a mobile robot, comprising:
the first calculation unit is used for calculating the angle deviation of the center line of the mobile robot relative to the center line of the calibration device when the mobile robot moves to the designated position at the bottom of the calibration device;
the second calculation unit is used for controlling a radar calibration plate on the calibration device to receive laser emitted by a laser radar on the mobile robot and calculating the angle deviation of the emission center line of the laser radar relative to the center line of the radar calibration plate, wherein the center line of the radar calibration plate is the same as the center line of the calibration device;
a third calculating unit, configured to calculate an angle installation deviation of a transmitting center line of the laser radar relative to a center line of the mobile robot according to the angle deviation of the mobile robot relative to the calibration device and the angle deviation of the laser radar relative to the radar calibration plate, and correct a laser transmitting angle of the laser radar according to the angle installation deviation;
and the fourth calculating unit is used for displaying the rotary track point of the center position of the mobile robot after the mobile robot rotates in situ through a calibration interface, calculating the wheel track ratio from the differential wheel of the mobile robot to the center of the mobile robot according to the rotary track point, and correcting the rotary track point of the mobile robot according to the wheel track ratio.
9. Calibration apparatus, comprising a frame, a radar calibration plate and a visual positioning system, the radar calibration plate and the visual positioning system being mounted on the frame, the calibration apparatus being configured to implement a calibration method of a mobile robot according to any one of claims 1 to 7.
10. Calibration arrangement, characterized in that it stores a computer program which, when being executed by a processor, causes the processor to carry out a calibration method for a mobile robot according to any of claims 1 to 7.
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| CN113263502A (en) * | 2021-05-31 | 2021-08-17 | 深圳市优必选科技股份有限公司 | Radar data calibration method and device and robot |
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