CN112605994A - Full-automatic calibration robot - Google Patents
Full-automatic calibration robot Download PDFInfo
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- CN112605994A CN112605994A CN202011441557.0A CN202011441557A CN112605994A CN 112605994 A CN112605994 A CN 112605994A CN 202011441557 A CN202011441557 A CN 202011441557A CN 112605994 A CN112605994 A CN 112605994A
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- calibration
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- degree
- mechanical arm
- fully autonomous
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a full-automatic calibration robot, which comprises a mechanical mechanism and a control system, wherein the mechanical mechanism comprises a chassis, a multi-degree-of-freedom mechanical arm and a calibration plate, the multi-degree-of-freedom mechanical arm is fixedly arranged on the chassis, the calibration plate is fixedly arranged at the front end of the multi-degree-of-freedom mechanical arm, the full-automatic calibration robot can move and rotate in any direction on the ground through the chassis, the height and the orientation of the calibration plate can be adjusted through the multi-degree-of-freedom mechanical arm, and the calibration plate can be kept in a completely static state by using a fixing mode of a mechanical structure; the control system is used for processing data to calibrate and outputting a calibration result, outputting instruction information and controlling the mechanical mechanism to perform various actions. Compared with the traditional calibration work flow, the invention avoids the calibration error caused by manually moving the calibration plate, avoids the repeated labor of workers in mass production, and improves the accuracy and efficiency of calibration.
Description
Technical Field
The invention relates to the field of sensors, in particular to a full-automatic calibration robot.
Background
Currently, a sensing scheme adopted by an automatic driving automobile is generally provided with a laser radar and a camera, and the joint calibration of the laser radar and the camera is a precondition for target identification and positioning in a multi-sensor fusion way. The joint calibration of the laser radar and the camera is mainly used for obtaining the conversion relation between the camera coordinate system and the laser radar coordinate system.
The work flow of the combined calibration comprises two main steps of data sampling and software calibration. Data sampling requires the collection of a large number of images containing calibration plates at the same time and point clouds with complete calibration plates. The conditions that the acquired data need to meet are as follows: the calibration plate covers each position in the image range, and the requirements on the diversity of the orientation, azimuth angle, height and distance of the calibration plate in the acquisition frame are also met. Whether these conditions are met or not determines the accuracy of the calibration to a large extent. Software calibration is divided into open source software and commercial software, but generally comprises a step of manually fetching points or areas, and the operation flow is relatively complicated.
At present, in order to standardize and simplify the calibration process, a calibration room is equipped for the automatic driving technology developed by large manufacturers. The middle of the calibration room is a large rotatable tray, and calibration plates with different orientations and heights cover the periphery of the tray at different positions. When the calibration is carried out, the sensor carrier, usually a vehicle, can be driven by a ground tray to rotate in the calibration room, so that the acquisition of more azimuth data is achieved. For more researchers, the condition between calibration is not provided, and only the calibration plate is manually lifted for calibration. This approach suffers mainly from the following drawbacks:
(1) the collection is to ensure the consistency of the picture shot by the same frame of camera and the point cloud collected by the laser radar, that is, the positions and directions of the calibration plates collected by the two sensors are completely consistent. However, the manual lifting of the calibration plate is adopted to change the heights of various postures and positions, the calibration plate is difficult to keep in a complete static state, and certain time delay is inevitably generated between the camera exposure and the laser radar data collection, so that the calibration plate data collected by the two sensors are not synchronous easily.
(2) The process of manually calibrating each position, height and angle of the board is too complicated, and especially the weight of the calibration board is large, so that the workload of workers is very large.
On the premise of maintaining the accuracy, the method avoids manual repeated labor, and adopts auxiliary equipment to perform calibration work, so that the calibration efficiency is particularly important to be improved. Therefore, those skilled in the art are dedicated to develop a new fully autonomous calibration robot to solve the problems of low precision and low efficiency of manual-assisted calibration.
Disclosure of Invention
In view of the above defects in the prior art, the technical problem to be solved by the invention is to improve the accuracy and efficiency of the joint calibration of the laser radar and the camera, and save the manual assistance cost.
In order to achieve the purpose, the invention provides a full-automatic calibration robot which is characterized by comprising a mechanical mechanism and a control system, wherein the mechanical mechanism comprises a chassis, a multi-degree-of-freedom mechanical arm and a calibration plate, the multi-degree-of-freedom mechanical arm is fixedly arranged on the chassis, the calibration plate is fixedly arranged at the front end of the multi-degree-of-freedom mechanical arm, the full-automatic calibration robot can move and rotate in any direction on the ground through the chassis, the height and the orientation of the calibration plate can be adjusted through the multi-degree-of-freedom mechanical arm, and the calibration plate can be kept in a completely static state through a fixing mode of a mechanical structure; the control system is used for processing data to calibrate and outputting a calibration result, outputting instruction information and controlling the mechanical mechanism to perform various actions.
Furthermore, the chassis adopts a Mecanum wheel structure with four wheels which are symmetrical front and back and left and right, so that the all-autonomous calibration robot can move and rotate on the ground in an all-directional manner, and the movement flexibility of the all-autonomous calibration robot is improved.
Furthermore, the Mecanum wheel structure adopts an O-rectangle mounting mode, and the landed points of four wheels form a rectangle.
Furthermore, the multi-degree-of-freedom mechanical arm comprises a first joint, a second joint and a third joint, the first joint can enable the upper limb of the multi-degree-of-freedom mechanical arm and the calibration plate to horizontally rotate, the second joint is a lead screw motor, a motor shaft of the lead screw motor is perpendicular to the ground and installed, the multi-degree-of-freedom mechanical arm is used for adjusting the horizontal height of the calibration plate, the third joint can adjust the pitch angle of the calibration plate in a movement mode, the chassis is used for controlling the all-autonomous calibration robot to move and rotate on the ground, the multi-degree-of-freedom mechanical arm can meet the requirements for the variety of the orientation, the height, the distance and the like of the calibration plate, the sampling data types are enriched, and the calibration result is more accurate.
Furthermore, the control system comprises a calibration robot end, a sensor end to be calibrated and a processing center end, wherein the calibration robot end and the sensor end are mounted below the processing center end through a WLAN to form a framework with two loads at the center, and the calibration robot end, the sensor end to be calibrated and the processing center end all comprise WIFI modules and are connected to the same wireless local area network to realize data interaction between the calibration robot end and the processing center end and between the sensor end to be calibrated and the processing center end.
Further, the sensor end to be calibrated comprises a camera and a laser radar.
Furthermore, the processing center end comprises a display, in the calibration process, the display can display the acquired image and the point cloud condition in real time, and the calibration process can be monitored in real time through the display.
Furthermore, the control system also comprises a remote controller, and the position, the height and the orientation of the calibration plate can be adjusted by controlling the movement of the fully-autonomous calibration robot and the movement of the multi-degree-of-freedom mechanical arm through the remote controller.
Furthermore, the control system also comprises calibration software, and the acquired and processed data can be calibrated through an optimization algorithm of the calibration software to obtain a calibration result.
Further, the calibration board is a 9 × 7 chessboard calibration board, and the side length of a single square is 108 mm.
Compared with the traditional calibration work flow, the calibration method avoids calibration errors caused by manual movement of the calibration plate, avoids repeated labor of workers in mass production, and improves the accuracy and efficiency of calibration.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a side view of the overall structure of a preferred embodiment of the present invention;
FIG. 2 is an elevational view of the overall construction of a preferred embodiment of the invention;
FIG. 3 is a schematic diagram of a four-wheeled Mecanum wheel configuration in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a three-terminal architecture of a calibration robot terminal, a sensor terminal to be calibrated, and a processing center terminal according to a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the camera-lidar joint calibration according to a preferred embodiment of the present invention.
The system comprises a first joint 1, a second joint 2, a third joint 3, a multi-degree-of-freedom mechanical arm 4, a calibration plate 5, wheels 6, a chassis 7, a calibration robot end 8, a sensor end to be calibrated 9, a processing center end 10, a wireless local area network 11, a laser radar 12 and a camera 13.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1, in an embodiment of the present invention, a fully autonomous calibration robot includes a first joint 1, a second joint 2, a third joint 3, a multi-degree-of-freedom mechanical arm 4, a calibration plate 5, wheels 6, and a chassis 7. The chassis 7 adopts a mecanum wheel structure with four wheels 6, so that the robot can move and rotate on the ground in all directions. The calibration plate 5 is arranged at the front end of the multi-degree-of-freedom mechanical arm 4, and the height and the orientation of the calibration plate 5 can be adjusted by controlling the movement of the chassis 7 and the first joint 1, the second joint 2 and the third joint 3.
The motion of the first joint 1 can enable the upper limb of the multi-degree-of-freedom mechanical arm 4 and the calibration plate 5 to horizontally rotate, and the calibration plate 5 can approximately rotate around the y axis of the coordinate axis; the second joint 2 is a screw motor, a motor shaft is arranged perpendicular to the ground, and the second joint is used for adjusting the horizontal height of the calibration plate 5; the third joint 3 moves to enable the calibration plate 5 to do pitching motion around the x axis of the coordinate system, and the pitching angle of the calibration plate 5 can be adjusted.
As shown in fig. 2, the calibration board 5 uses a checkerboard calibration board with 8 × 6 squares and a side length of a single square being 108 mm, and since the calibration process uses the angular points inside the checkerboard for calibration, a 9 × 7 checkerboard calibration board 5 is actually used.
As shown in fig. 3, the mecanum wheel structure of four wheels 6 is mounted in an O-rectangular shape, and the landings of the four wheels 6 form a rectangular shape. The chassis 7 movement generally takes into account the speed v of the geometric centre of the four wheels 6t，vtCan be broken down into three quantities: x-axis translation
y-axis translation
Rotation of yaw axis
Since the chassis 7 is a purely linear system, only translation of the chassis 7 along the x-axis, needs to be calculatedThe speeds v of the four wheels 6 under three simple motions of y-axis translation and autorotation around the geometric center, and the rotating speeds v of the four wheels 6 in the translation and rotation motion synthesized by the three simple motionsω. The phenomenon can be observed by pushing the chassis 7:
when the chassis 7 translates along the x-axis:
when the chassis 7 translates along the y-axis:
when the chassis 7 rotates around the geometric center:
the motion model of the O-rectangular Mecanum wheel chassis can be obtained by adding the three equations:
as shown in fig. 4, the control system of an embodiment of the present invention includes a calibration robot end 8, a sensor end to be calibrated 9, and a processing center end 10. The calibration robot end 8 and the sensor end to be calibrated 9 are mounted below the processing center end 10 through the WLAN, and a structure with two loads at the center is formed. The calibration robot end 8, the sensor end 9 to be calibrated and the processing center end 10 all comprise WIFI modules, and are connected to the same wireless local area network 11 to realize data interaction between the calibration robot end 8 and the processing center end 10 and between the sensor end 9 to be calibrated and the processing center end 10. When the camera 13 of the sensor end 9 to be calibrated captures the calibration plate 5, a start signal is sent to the processing center end 10, and then the relative position of the calibration robot at each moment in the coordinate system of the camera 13 is sent in real time. After receiving the start signal, the processing center 10 sends the start signal and point location information to the calibration robot 8. After the robot performs one action at each point of arrival and keeps still, the robot sends a signal which can be collected to the processing center 10. And finally, the processing center end 10 sends an acquisition signal to the sensor end 9 to be calibrated to finish the acquisition of one frame of data. In addition, the processing center 10 has a display screen (not shown), and during the calibration process, the user can monitor the calibration process in real time through the screen of the display screen. The screen can display the image collected by the camera 13 and the point cloud condition collected by the laser radar 12 in real time.
Example 1: and the remote control realizes the joint calibration of the camera 13 and the laser radar 12.
In the remote control mode, a remote controller (not shown) can control the movement of the robot and the movement of the multi-degree-of-freedom mechanical arm 4 to adjust the position, height and orientation of the calibration plate 5. As shown in fig. 5, the calibration robot is controlled by the remote controller to perform data acquisition at all points, so as to realize the combined calibration of the camera 13 and the laser radar 12, and the specific process is as follows:
1. controlling the calibration robot to a specified point position by using a remote controller;
2. the height and the orientation of the calibration plate 5 are adjusted by a remote controller, and the robot keeps still after the adjustment is finished;
3. pressing an acquisition button on the remote controller, and sending an acquisition signal to a sensor end 9 to be calibrated by the remote controller;
4. the sensor end to be calibrated 9 receives the acquisition signal and acquires a frame of data;
5. controlling the calibration robot to the next point location by using a remote controller, and repeating the steps 1-4 until the data acquisition of all the point locations is completed;
6. manually searching the position of the calibration plate 5 in the point cloud, and extracting a point representing the plane of the calibration plate 5 at the position;
7. and calibrating the acquired data by using an optimization algorithm of calibration software (not shown) to obtain a calibration result.
Example 2: the fully autonomous calibration realizes the joint calibration of the camera 13 and the laser radar 12.
As shown in fig. 5, the present embodiment realizes that the calibration robot performs the joint calibration of the camera 13 and the laser radar 12 in the fully autonomous calibration mode. When the fully autonomous calibration mode is used, the processing center 10 sets in advance the path where the calibration robot will travel and the point locations where the calibration robot will stop, and the posture of the calibration board 5 required at each point location. The calibration robot end 8, the sensor end 9 to be calibrated and the processing center end 10 are connected under the same wireless local area network 11, and the calibration robot end 8 and the sensor end 9 to be calibrated are mounted under the processing center end 10 through the WLAN, so that a framework with two loads at the center is formed. The process of the camera 13 and the laser radar 12 combined calibration is as follows:
1. placing the calibration robot at any position which can be identified in the visual field range of the camera 13;
2. after a camera 13 in a sensor end 9 to be calibrated captures and positions a calibration plate 5, sending an initial signal to a processing center end 10, and then sending the position of a calibration robot in a camera 13 coordinate system in real time;
3. after receiving the start signal, the processing center 10 sends the start signal to the calibration robot 8, that is, the calibration starts;
4. the processing center terminal 10 sends point location information to the calibration robot terminal 8, the robot automatically walks to the next point location after receiving the point location information, and prepares to adjust the height and the orientation of the calibration plate 5;
5. the robot reaches the point position and keeps still after completing the position adjustment of the calibration plate 5, and the calibration robot end 8 sends a signal which can be collected to the processing center end 10;
6. the processing center end 10 sends an acquisition signal to the sensor end 9 to be calibrated to finish the acquisition of a frame of data;
7. repeating the steps 4-6 to complete the data acquisition of all point positions and all actions;
8. calculating the rough position of the calibration plate 5 in the coordinate system of the laser radar 12 in each acquisition frame according to the pose relationship between the camera 13 and the laser radar 12 and the rough position of the camera 13 in the coordinate system of the camera 13; automatically searching a plane near the position, and extracting points of the plane (a calibration plate 5) in the point cloud after finding the plane;
9. and calibrating the collected and processed data by using an optimization algorithm of calibration software (not shown) to obtain a calibration result.
After the calibration is started, the sensor end 9 to be calibrated sends the position of the calibration robot under the coordinate system of the camera 13 to the robot end 8 in real time, once the sensor end 9 to be calibrated cannot monitor the position of the robot within a certain time, the calibration is stopped, the robot is controlled to move by the remote control mode access control right until the sensor end 9 to be calibrated continues to monitor the robot.
The motion track and the point locations in the above embodiments are only exemplary and are not limiting, and in practical application, denser point locations can be taken, and the pause time of the robot at each point location is shortened, so as to realize continuous motion acquisition.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A full-automatic calibration robot is characterized by comprising a mechanical mechanism and a control system, wherein the mechanical mechanism comprises a chassis, a multi-degree-of-freedom mechanical arm and a calibration plate, the multi-degree-of-freedom mechanical arm is fixedly arranged on the chassis, the calibration plate is fixedly arranged at the front end of the multi-degree-of-freedom mechanical arm, the full-automatic calibration robot can move and rotate in any direction on the ground through the chassis, the height and the direction of the calibration plate can be adjusted through the multi-degree-of-freedom mechanical arm, and the calibration plate can be kept in a completely static state through a fixing mode of a mechanical structure; the control system is used for processing data to calibrate and outputting a calibration result, outputting instruction information and controlling the mechanical mechanism to perform various actions.
2. The fully autonomous calibration robot as claimed in claim 1, wherein the chassis uses four-wheeled mecanum wheel structure with front-back-left-right symmetry to realize omnidirectional movement and rotation of the fully autonomous calibration robot on the ground, thereby increasing the flexibility of the movement.
3. The fully autonomous calibration robot of claim 2 wherein the mecanum wheel structure is mounted in an O-rectangle and the footprint of the four wheels forms a rectangle.
4. The fully autonomous calibration robot according to claim 1, wherein the multi-degree of freedom mechanical arm comprises a first joint, a second joint and a third joint, the first joint moves to enable the upper limbs of the multi-degree of freedom mechanical arm and the calibration plate to horizontally rotate, the second joint is a lead screw motor, a motor shaft of the lead screw motor is installed perpendicular to the ground, the multi-degree of freedom mechanical arm is used for adjusting the horizontal height of the calibration plate, the third joint moves to adjust the pitch angle of the calibration plate, the chassis is used for controlling the movement and rotation of the fully autonomous calibration robot on the ground, the multi-degree of freedom mechanical arm can meet the requirements of the calibration plate on variety of orientation, height, distance and the like, the sampled data types are enriched, and the calibration result is more accurate.
5. The fully autonomous calibration robot according to claim 1, wherein the control system includes a calibration robot end, a sensor end to be calibrated, and a processing center end, the calibration robot end and the sensor end are both mounted under the processing center end through a WLAN to form a framework with two loads at the center, and the calibration robot end, the sensor end to be calibrated, and the processing center end all include WIFI modules, and are connected to the same wireless local area network to realize data interaction between the calibration robot end and the processing center end and between the sensor end to be calibrated and the processing center end.
6. The fully autonomous calibration robot according to claim 5, wherein the sensor end to be calibrated comprises a camera and a lidar.
7. The fully autonomous calibration robot according to claim 5, wherein the processing center comprises a display, during the calibration process, the display can display the acquired image and the point cloud condition in real time, and the calibration process can be monitored in real time through the display.
8. The fully autonomous calibration robot according to claim 1, wherein the control system further comprises a remote controller, by which the movement of the fully autonomous calibration robot and the multi-degree-of-freedom mechanical arm movement can be controlled to adjust the position, height and orientation of the calibration plate.
9. The fully autonomous calibration robot according to claim 1, wherein the control system further comprises calibration software, and the calibration software is capable of calibrating the collected and processed data through an optimization algorithm to obtain a calibration result.
10. The fully autonomous calibration robot according to claim 1, wherein the calibration board is a 9 x 7 checkerboard calibration board, and the length of a single square side is 108 mm.
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| CN202011441557.0A CN112605994A (en) | 2020-12-08 | 2020-12-08 | Full-automatic calibration robot |
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| CN202011441557.0A CN112605994A (en) | 2020-12-08 | 2020-12-08 | Full-automatic calibration robot |
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| CN110253570A (en) * | 2019-05-27 | 2019-09-20 | 浙江工业大学 | The industrial machinery arm man-machine safety system of view-based access control model |
| CN111080717A (en) * | 2019-12-23 | 2020-04-28 | 吉林大学 | Automatic calibration device and method for camera parameters |
| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN111612845A (en) * | 2020-04-13 | 2020-09-01 | 江苏大学 | Laser radar and camera combined calibration method based on mobile calibration plate |
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2020
- 2020-12-08 CN CN202011441557.0A patent/CN112605994A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253570A (en) * | 2019-05-27 | 2019-09-20 | 浙江工业大学 | The industrial machinery arm man-machine safety system of view-based access control model |
| CN111080717A (en) * | 2019-12-23 | 2020-04-28 | 吉林大学 | Automatic calibration device and method for camera parameters |
| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
| CN111612845A (en) * | 2020-04-13 | 2020-09-01 | 江苏大学 | Laser radar and camera combined calibration method based on mobile calibration plate |
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