CN112894752B - Position searching method of mobile processing robot - Google Patents

Position searching method of mobile processing robot Download PDF

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CN112894752B
CN112894752B CN202110073814.8A CN202110073814A CN112894752B CN 112894752 B CN112894752 B CN 112894752B CN 202110073814 A CN202110073814 A CN 202110073814A CN 112894752 B CN112894752 B CN 112894752B
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robot
mechanical arm
base
mobile processing
coordinates
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CN112894752A (en
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陶波
韩世博
赵兴炜
丁汉
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • 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
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

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Abstract

本发明公开了一种移动加工机器人的寻位方法，属于机器人控制领域，所述方法包括：S1：进行车臂标定，获得移动加工机器人基座FROBOT与固连在移动底盘上的刚体FAGVmark之间的转换关系；S2：调整移动加工机器人的位置，记录FAGVmark与移动底盘FAGV的坐标，获得FAGVmark和FAGV之间的转换关系；S3：在所述移动加工机器人移动过程中获取所述移动底盘FAGV的坐标，基于所述转换关系计算所述机器人基座FROBOT的坐标，以对所述机器人基座进行定位。所述方法标定过程操作简单、算法反应快速且定位准确性高，提升了机器人移动加工的灵活性。

Figure 202110073814

The invention discloses a positioning method for a mobile processing robot, which belongs to the field of robot control. The method includes: S1: Carrying out arm calibration to obtain a mobile processing robot base F ROBOT and a rigid body F AGVmark fixed on the mobile chassis The conversion relationship between F AGVmark and F AGV; S2: adjust the position of the mobile processing robot, record the coordinates of the F AGVmark and the mobile chassis F AGV , and obtain the conversion relationship between the F AGVmark and the F AGV ; S3: Obtain during the movement of the mobile processing robot The coordinates of the mobile chassis F AGV are calculated based on the conversion relationship to calculate the coordinates of the robot base F ROBOT to position the robot base. The calibration process of the method is simple in operation, quick in algorithm response and high in positioning accuracy, which improves the flexibility of robot mobile processing.

Figure 202110073814

Description

Position searching method of mobile processing robot
Technical Field
The invention belongs to the field of robot control, and particularly relates to a position searching method of a mobile processing robot.
Background
The mobile processing robot expands the operation range of the fixed robot, is more flexible in configuration, has incomparable advantages in a large-range working space, and has very important value in the processing of large-scale equipment and the operation of large-scale equipment. In production, obtaining the position of the base of the mechanical arm is an important step, is the basis of robot operation, and has important influence on the programming complexity and the actual use effect of the mechanical arm.
The existing robot positioning device usually needs to be provided with a special calibration device, has strict requirements on the motion of the robot in the calibration process, and has lower calibration efficiency. In addition, the position of the robot base cannot be determined, and sufficient positioning information cannot be provided for robot control operation.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a position finding method of a mobile processing robot, aiming at improving the flexibility of the calibration of a mechanical arm, accurately and efficiently determining the position of a robot base, and conveniently providing sufficient positioning information for the control operation of the robot, thereby solving the technical problems of low calibration efficiency and positioning efficiency in the prior art.
To achieve the above object, according to an aspect of the present invention, there is provided a locating method of a mobile processing robot, including:
s1: calibrating the vehicle arm to obtain a base F of the mobile processing robotROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkThe conversion relationship between them;
s2: adjusting the position of the mobile processing robot, recording FAGVmarkAnd a movable chassis FAGVObtaining the coordinates of FAGVmarkAnd FAGVThe conversion relationship between them;
s3: acquiring the moving chassis F in the moving process of the mobile processing robotAGVBased on the transformation relationship, calculating the robot base FROBOTTo position the robot base.
In one embodiment, the step S1 includes:
s101: initializing a calibration environment, fixing a base of the mechanical arm, enabling the mechanical arm to be in a state when the system is reset, and recording an initial position P of the tail end of the mobile processing robot in a base coordinate system corresponding to the mechanical arm1Simultaneously recording the initial coordinates T of the rigid bodyAGVmark；
S102: fixing a target ball at the Kth joint of the mechanical arm and keeping away from the axis of the Kth joint as far as possible, wherein K is more than or equal to K0Kth of mechanical arm0Rotation direction of joint and 1 st to Kth joints0-1 the rotational directions of the joints are all different;
s103: calibrating a first axial direction, enabling the mechanical arm to be in a state when the system is reset, rotating a first joint of the mechanical arm, and recording the position of a first target ball;
s104: calibrating the second axial direction, enabling the mechanical arm to be in a state when the system is reset, rotating the Nth joint of the mechanical arm, and recording the position of a second target ball;
s105: calibrating the original point to ensure that the mechanical arm is in the state when the system is reset,rotating the Kth joint by 180 degrees, and recording the position P of the tail end of the mobile processing robot in a mechanical arm base coordinate system2(ii) a Selecting a joint of the mechanical arm in a first joint or an N-th joint, wherein the rotation direction of the joint is different from that of a K-th shaft, rotating, and recording the position of a third target ball;
s106: determining axial Axis1, Axis2, Axis3, and normal vector r of the coordinate system of the pedestal using the first, second, and third target ball positions1、r2、r3And center O of circle1、O2、O3；
S107: using formulas
Figure GDA0003477725540000021
Calculating the origin P of the coordinate system of the base0；
S108: obtaining a coordinate system of the base
Figure GDA0003477725540000031
R is a matrix obtained by arranging Axis1, Axis2 and Axis3 according to the modes of an x Axis, a y Axis and a z Axis;
s109: obtaining a Mobile machining robot base FROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkThe conversion relationship between the two is as follows:
Figure GDA0003477725540000035
in one embodiment, the center O of the circle is calculated in S1061、O2、O3The process of (2) is as follows:
marking the position of the first target ball as Xa Ya Za]，Xa＝[Xa1,Xa2,…,Xai]、Ya＝[Ya1,Ya2,…,Yai]、Za＝[Za1,Za2,…,Zai]I is not less than 4; the second target ball position is [ X ]b Yb Zb]，Xb＝[Xb1,Xb2,…,Xbi]、Yb＝[Yb1,Yb2,…,Ybi]、Zb＝[Zb1,Zb2,…,Zbi](ii) a The third target ball position is [ X ]c Yc Zc]，Xc＝[Xc1,Xc2,…,Xci]、Yc＝[Yc1,Yc2,…,Yci]、Zc＝[Zc1,Zc2,…,Zci](ii) a Note additionally As＝[-2Xa -2Xb -2Xc 1]；
Figure GDA0003477725540000036
Figure GDA0003477725540000037
Figure GDA0003477725540000038
Then
Circle center coordinate
Figure GDA0003477725540000032
Is CiraItem i of (1);
circle center coordinate
Figure GDA0003477725540000033
Is CirbItem i of (1);
circle center coordinate
Figure GDA0003477725540000034
Is CircItem i of (1).
In one embodiment, the robot base coordinate system axial Axis1, Axis2, Axis3 and normal vector r are calculated in S1061、r2、r3The process of (2) is as follows:
for normal vector r1Record As＝[Xa2-Xa1，Xa3-Xa1，…，Xai-Xa1]、Bs＝[Ya2-Ya1，Ya3-Ya1，…，Yai-Ya1]、Cs＝[Za2-Za1，Za3-Za1，…，Zai-Za1]、Tan＝[As Bs]Then the normal vector r1＝[(TanT Tan)-1TanT CS-1](ii) a For normal vector r2Will calculate a normal vector r1The subscript of the formula is replaced by b from a to obtain a normal vector r2The calculation formula of (2); for normal vector r3Will calculate a normal vector r1The subscript of the formula is replaced by c from a to obtain a normal vector r3The calculation formula of (2);
using the formula Axis1 ═ r1；Axis2＝±r2(ii) a Axis3 ±. Axis1 × ±. Axis2 calculates the axial Axis1, Axis2, Axis3 of the coordinate system of the base.
In one embodiment, the step S2 includes:
s201: keeping the system configuration parameters in the calibration of the vehicle arm unchanged and carrying out positioning setting;
s202: adjusting the position of the mobile processing robot, and recording the coordinate X of the mobile chassis corresponding to each positioni＝[xi yi θi]And a homogeneous matrix of the three-dimensional poses of the rigid body
Figure GDA0003477725540000041
Repeatedly moving the mobile robot and recording corresponding groups of XiAnd Yi(ii) a Wherein R isiPart of the homogeneous matrix that represents the rigid body attitude, PiIs the part of the homogeneous matrix expressing the position of the rigid body;
s203: based on multiple groups of XiAnd YiAnd acquiring a mapping relation between the coordinates of the mobile chassis and the coordinates of the rigid body.
In one embodiment, the step S203 includes:
taking the intermediate variable Tvec,i＝vec([Ri Pi])，Pvec,i＝[xi yi sin(θi) cos(θi) 1]；
Note the book
Figure GDA0003477725540000042
The mapping relationship between the coordinates of the mobile chassis and the coordinates of the rigid body is
Figure GDA0003477725540000043
In one embodiment, the step S3 includes:
obtaining a mobile chassis coordinate [ x y θ ] during movement of the mobile machining robot]Based on the conversion relation T and the mapping relation TdimAnd calculating to obtain the coordinates of the robot base as follows: t isrobot＝Tdim·[x y sinθ cosθ 1]T。
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the conversion relation between the coordinate system of the base and the coordinates of a fixed connection rigid body on a mobile chassis is obtained by calibrating the arm of the mobile processing robot; further, moving the calibration object to a corresponding preset position for multiple times, and recording the coordinates of the mobile chassis and the coordinates of the rigid body to obtain the mapping relation between the coordinates of the mobile chassis and the coordinates of the rigid body; and finally, calculating the coordinates of the base based on the conversion relation and the mapping relation when the coordinates of the mobile chassis are known. The mobile processing robot positioning method is simple to operate, quick in response and high in accuracy. The method can obtain the position of the base of the mobile processing robot through a commonly used two-dimensional positioning system of the mobile chassis, is suitable for various processing and operation scenes, and improves the flexibility of the mobile processing of the robot.
2. In the calibration process, a first axial direction is calibrated and a first target ball position is recorded, a second axial direction is calibrated and a second target ball position is recorded, a third calibration position is calculated by a calibration origin, and the axial directions Axis1, Axis2, Axis3 and a normal vector r of the coordinate system of the base are determined by using the first target ball position, the second target ball position and the third target ball position1、r2、r3And center O of circle1、O2、O3The calibration process is simple, the calibration efficiency is high, and meanwhile, the flexibility of mechanical arm calibration can be improved.
Drawings
FIG. 1 is a schematic diagram of an environmental application of a locating method of a mobile processing robot according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for locating a mobile processing robot in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of step S2 according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
To achieve the above object, according to one aspect of the present invention, there is provided a locating method of a mobile processing robot applied to an environment shown in fig. 1, wherein 1 is a robot arm, and 2 is a mobile chassis. The specific implementation process of the method is shown in fig. 2, and comprises the following steps: s1: calibrating the vehicle arm to obtain a base F of the mobile processing robotROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkThe conversion relationship between them; s2: adjusting the position of the mobile processing robot, recording FAGVmarkAnd a movable chassis FAGVObtaining the coordinates of FAGVmarkAnd FAGVThe conversion relationship between them; s3: acquiring the moving chassis F in the moving process of the mobile processing robotAGVBased on the transformation relationship, calculating the robot base FROBOTTo position the robot base.
In one embodiment, step S1 includes:
s101: initializing a calibration environment, fixing the machineThe base of the arm makes the mechanical arm in the state of resetting the system and records the initial position P of the tail end of the mobile processing robot in the base coordinate system corresponding to the mechanical arm1Simultaneously recording the initial coordinates T of the rigid bodyAGVmark；
S102: fixing a target ball at the Kth joint of the mechanical arm and keeping the target ball away from the axis of the Kth joint as far as possible; specifically, a target ball is fixed in the calibration of the vehicle arm, and K is more than or equal to K0Kth of mechanical arm0Rotation direction of joint and 1 st to Kth joints0-1 the rotational directions of the joints are all different;
s103: calibrating a first axial direction, enabling the mechanical arm to be in a state when the system is reset, rotating a first joint of the mechanical arm, and recording the position of a first target ball; specifically, the first axis is calibrated in the calibration of the vehicle arm, the positions of the recorded target balls are not less than 4, and the positions are not too close to each other as far as possible. The obtained target ball position is recorded as [ X ]a Ya Za]，Xa＝[Xa1,Xa2,…,Xai]、Ya＝[Ya1,Ya2,…,Yai]、Za＝[Za1,Za2,…,Zai]，i≥4；
S104: calibrating the second axial direction, enabling the mechanical arm to be in a state when the system is reset, rotating the Nth joint of the mechanical arm, and recording the position of a second target ball; specifically, a second axial direction is calibrated in the calibration of the vehicle arm, N is not less than 2 and not more than K-1, and the rotating direction of the second axial direction is not parallel to the rotating shaft of the first joint; the number of recorded target ball positions should not be less than 4 and should not be too close to each other as much as possible. The obtained target ball position is recorded as [ X ]b Yb Zb]，Xb＝[Xb1,Xb2,…,Xbi]、Yb＝[Yb1,Yb2,…,Ybi]、Zb＝[Zb1,Zb2,…,Zbi]。
S105: calibrating the original point, enabling the mechanical arm to be in a state when the system is reset, rotating the Kth joint by 180 degrees, and recording the position P of the tail end of the mobile processing robot in a mechanical arm base coordinate system2(ii) a Selecting the rotation direction in the first joint or the Nth joint of the mechanical armRotating a joint different from the K shaft, and recording the position of a third target ball; specifically, the origin is calibrated in the calibration of the vehicle arm, the positions of the recorded target balls are not less than 4, and the distance between the recorded target balls is not too close to each other as much as possible. The obtained target ball position is recorded as Xc＝[Xc1,Xc2,…,Xci]、Yc＝[Yc1,Yc2,…,Yci]、Zc＝[Zc1,Zc2,…,Zci]。
S106: determining axial Axis1, Axis2, Axis3, and normal vector r of the coordinate system of the pedestal using the first target ball position, the second target ball position, and the third target ball position1、r2、r3And center O of circle1、O2、O3；
S107: using formulas
Figure GDA0003477725540000071
Calculating the origin P of the base coordinate system0Wherein O is1、O2Respectively refers to the circle centers r corresponding to the first target ball position and the second target ball position3Refers to the normal vector, P, corresponding to the third target ball position1And P2The positions of the fingers are as above, and are not described in detail herein;
s108: obtaining a coordinate system of the base
Figure GDA0003477725540000072
R is a matrix obtained by arranging Axis1, Axis2 and Axis3 according to the modes of an x Axis, a y Axis and a z Axis;
s109: obtaining a Mobile machining robot base FROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkThe conversion relationship between the two is as follows:
Figure GDA0003477725540000073
according to the invention, the arm calibration and the dimension conversion calibration are only required to be executed when the system is built, and the arm calibration and the dimension conversion calibration are required to be carried out again only when the structure of the mobile processing robot is changed or the configuration of the mobile chassis positioning system is changed.
In one embodiment, center O is calculated in S1061、O2、O3The process of (2) is as follows:
marking the position of the first target ball as Xa Ya Za]，Xa＝[Xa1,Xa2,…,Xai]、Ya＝[Ya1,Ya2,…,Yai]、Za＝[Za1,Za2,…,Zai]I is not less than 4; the second target ball position is [ X ]b Yb Zb]，Xb＝[Xb1,Xb2,…,Xbi]、Yb＝[Yb1,Yb2,…,Ybi]、Zb＝[Zb1,Zb2,…,Zbi](ii) a The third target ball position is [ X ]c Yc Zc]，Xc＝[Xc1,Xc2,…,Xci]、Yc＝[Yc1,Yc2,…,Yci]、Zc＝[Zc1,Zc2,…,Zci](ii) a Note additionally As＝[-2Xa -2Xb -2Xc 1]；
Figure GDA0003477725540000084
Wherein symbol denotes the dot product of the vectors;
Figure GDA0003477725540000085
Figure GDA0003477725540000086
then
Circle center coordinate
Figure GDA0003477725540000081
Is CiraItem i of (1);
circle center coordinate
Figure GDA0003477725540000082
Is CirbItem i of (1);
circle center coordinate
Figure GDA0003477725540000083
Is CircItem i of (1).
In one embodiment, the robot base coordinate system axial Axis1, Axis2, Axis3 and normal vector r are calculated in S1061、r2、r3The process of (2) is as follows: for normal vector r1Record As＝[Xa2-Xa1，Xa3-Xa1，…，Xai-Xa1]、Bs＝[Ya2-Ya1，Ya3-Ya1，…，Yai-Ya1]、Cs＝[Za2-Za1，Za3-Za1，…，Zai-Za1]、Tan＝[As Bs]Then the normal vector r1＝[(TanT Tan)-1TanT CS-1](ii) a For normal vector r2Will calculate a normal vector r1The subscript of the formula is replaced by b from a to obtain a normal vector r2The calculation formula of (2); for normal vector r3Will calculate a normal vector r1The subscript of the formula is replaced by c from a to obtain a normal vector r3The calculation formula of (2);
using the formula Axis1 ═ r1；Axis2＝±r2(ii) a Axis3 ±. Axis1 × ±. Axis2 calculates the axial Axis1, Axis2, Axis3 of the coordinate system of the base, wherein the sign can be determined by the user on demand.
In one embodiment, as shown in fig. 2, step S2 includes:
s201: keeping the system configuration parameters in the calibration of the vehicle arm unchanged and carrying out positioning setting; specifically, the configuration of a positioning system in the vehicle arm calibration method is kept unchanged, and a mobile chassis positioning system is arranged and kept unchanged in later use.
S202: adjusting the position of the mobile processing robot, and recording the coordinate X of the mobile chassis corresponding to each preset positioni＝[xi yi θi]Homogeneous matrix of three-dimensional poses of rigid body
Figure GDA0003477725540000091
Repeatedly moving the mobile processing robot and recording corresponding multiple groups of XiAnd Yi，RiPart of the homogeneous matrix that represents the rigid body attitude, PiThe portion of the homogeneous matrix that expresses the position of the rigid body. In one embodiment, the number of sets is k, and k ≧ 24.
S203: and acquiring a mapping relation between the coordinates of the mobile chassis and the coordinates of the rigid body.
In one embodiment, step S203 includes:
taking the intermediate variable Tvec,i＝vec([Ri Pi])、Pvec,i＝[xi yi sin(θi) cos(θi) 1]；
Note the book
Figure GDA0003477725540000092
The mapping relationship between the coordinates of the mobile chassis and the coordinates of the rigid body is
Figure GDA0003477725540000093
In one embodiment, step S3 includes:
obtaining mobile chassis coordinates [ x y theta ] in the moving process of the mobile processing robot]Based on the transformation relation T and the mapping relation TdimAnd calculating to obtain the coordinates of the robot base as follows: t isrobot＝Tdim·[x y sinθ cosθ 1]T。
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (3)

1. A method for locating a mobile processing robot, comprising:
s1: vehicle carrying armCalibrating to obtain a base F of the mobile processing robotROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkA conversion relationship between the coordinates;
s2: adjusting the position of the mobile processing robot, recording FAGVmarkAnd a movable chassis FAGVObtaining the coordinates of FAGVmarkAnd FAGVMapping relation between coordinates;
s3: acquiring the moving chassis F in the moving process of the mobile processing robotAGVBased on the conversion relationship and the mapping relationship, calculating the robot base FROBOTTo locate the robot base;
the S1 includes:
s101: initializing a calibration environment, fixing a base of the mechanical arm, enabling the mechanical arm to be in a state when the system is reset, and recording an initial position P of the tail end of the mobile processing robot in a base coordinate system corresponding to the mechanical arm1Fixing a series of target spheres on a movable chassis to form a rigid body which can be observed, and simultaneously recording the initial coordinate T of the rigid bodyAGVmark；
S102: fixing a target ball at the Kth joint of the mechanical arm and keeping away from the axis of the Kth joint as far as possible, wherein K is more than or equal to K0Kth of mechanical arm0Rotation direction of joint and 1 st to Kth joints0-1 the rotational directions of the joints are all different;
s103: calibrating a first axial direction, enabling the mechanical arm to be in a state when the system is reset, rotating a first joint of the mechanical arm, and recording the position of a first target ball;
s104: calibrating a second axial direction to enable the mechanical arm to be in a state when the system is reset, rotating the Nth joint of the mechanical arm, recording the position of a second target ball, wherein K-1 is more than or equal to N is more than or equal to 2, and the rotating direction of the second target ball is not parallel to the rotating shaft of the first joint;
s105: calibrating an original point, enabling the mechanical arm to be in a state when the system is reset, rotating the Kth joint by 180 degrees, and recording the position P of the tail end of the mobile processing robot in a mechanical arm base coordinate system2(ii) a The joint in the first joint or the Nth joint of the mechanical arm with the rotation direction different from the K-th axis is selected to advanceRotating and recording the position of a third target ball;
s106: determining axial Axis1, Axis2, Axis3, and normal vector r of the coordinate system of the pedestal using the first, second, and third target ball positions1、r2、r3And center O of circle1、O2、O3；
S107: using formulas
Figure FDA0003477725530000021
Calculating the origin P of the coordinate system of the base0；
S108: obtaining a coordinate system of the base
Figure FDA0003477725530000022
R is a matrix obtained by arranging Axis1, Axis2 and Axis3 according to the modes of an x Axis, a y Axis and a z Axis;
s109: obtaining a Mobile machining robot base FROBOTAnd a rigid body F fixedly connected on the movable chassisAGVmarkThe conversion relationship between the coordinates is:
Figure FDA0003477725530000023
the S2 includes:
s201: keeping the system configuration parameters in the calibration of the vehicle arm unchanged and carrying out positioning setting;
s202: adjusting the position of the mobile processing robot, and recording the coordinate X of the mobile chassis corresponding to each positioni＝[xi yi θi]And a homogeneous matrix of the three-dimensional poses of the rigid body
Figure FDA0003477725530000024
Repeatedly moving the mobile robot and recording corresponding groups of XiAnd Yi(ii) a Wherein R isiPart of the homogeneous matrix that represents the rigid body attitude, PiIs the part of the homogeneous matrix expressing the position of the rigid body;
s203: get Tvec,i＝vec([Ri Pi])，Pvec,i＝[xi yi sin(θi) cos(θi) 1]；
Note the book
Figure FDA0003477725530000025
The mapping relationship between the coordinates of the mobile chassis and the coordinates of the rigid body is
Figure FDA0003477725530000026
The S3 includes:
obtaining coordinates [ x y theta ] of a moving chassis during movement of the mobile processing robot]Based on the conversion relation T and the mapping relation TdimAnd calculating to obtain the coordinates of the robot base as follows: t isrobot＝Tdim·[x y sinθ cosθ 1]T。
2. A method for locating a mobile processing robot as claimed in claim 1, wherein the center O of the circle is calculated in S1061、O2、O3The process of (2) is as follows:
marking the position of the first target ball as Xa Ya Za]，Xa＝[Xa1,Xa2,…,Xai]、Ya＝[Ya1,Ya2,…,Yai]、Za＝[Za1,Za2,…,Zai]I is not less than 4; the second target ball position is [ X ]b Yb Zb]，Xb＝[Xb1,Xb2,…,Xbi]、Yb＝[Yb1,Yb2,…,Ybi]、Zb＝[Zb1,Zb2,…,Zbi](ii) a The third target ball position is [ X ]c Yc Zc]，Xc＝[Xc1,Xc2,…,Xci]、Yc＝[Yc1,Yc2,…,Yci]、Zc＝[Zc1,Zc2,…,Zci](ii) a Note additionally As＝[-2Xa -2Xb -2Xc 1]；
Figure FDA0003477725530000031
Figure FDA0003477725530000032
Figure FDA0003477725530000033
Symbol denotes the dot product of the vectors; then
Circle center coordinate
Figure FDA0003477725530000034
Figure FDA0003477725530000035
Is CiraItem i of (1);
circle center coordinate
Figure FDA0003477725530000036
Figure FDA0003477725530000037
Is CirbItem i of (1);
circle center coordinate
Figure FDA0003477725530000038
Figure FDA0003477725530000039
Is CircItem i of (1).
3. A method for locating a mobile processing robot as claimed in claim 2, wherein the robot base coordinate system axial direction Axis1, Axis2, Axis3 and normal vector r are calculated in S1061、r2、r3The process of (2) is as follows:
for normal vector r1Record As＝[Xa2-Xa1，Xa3-Xa1，…，Xai-Xa1]、Bs＝[Ya2-Ya1，Ya3-Ya1，…，Yai-Ya1]、Cs＝[Za2-Za1，Za3-Za1，…，Zai-Za1]、Tan＝[As Bs]Then the normal vector r1＝[(TanTTan)-1TanTCS -1](ii) a For normal vector r2Will calculate a normal vector r1The subscript of the formula is replaced by b from a to obtain a normal vector r2The calculation formula of (2); for normal vector r3Will calculate a normal vector r1The subscript of the formula is replaced by c from a to obtain a normal vector r3The calculation formula of (2);
using the formula Axis1 ═ r1；Axis2＝±r2(ii) a Axis3 ±. Axis1 × ±. Axis2 calculates the axial Axis1, Axis2, Axis3 of the coordinate system of the base.
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