CN114932951B - Calibration method and system for equivalent steering angle of front wheel of robot chassis - Google Patents

Calibration method and system for equivalent steering angle of front wheel of robot chassis Download PDF

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Publication number
CN114932951B
CN114932951B CN202210753520.4A CN202210753520A CN114932951B CN 114932951 B CN114932951 B CN 114932951B CN 202210753520 A CN202210753520 A CN 202210753520A CN 114932951 B CN114932951 B CN 114932951B
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Prior art keywords
chassis
angle
steering angle
equivalent steering
equivalent
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CN114932951A (en
Inventor
李柏文
柏林
刘彪
舒海燕
沈创芸
祝涛剑
王恒华
方映峰
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Guangzhou Gosuncn Robot Co Ltd
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Guangzhou Gosuncn Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a calibration method and a system for an equivalent steering angle of a front wheel of a robot chassis, wherein the calibration method comprises the following steps: s1, acquiring a course angle and a mileage value before initial movement of a chassis; s2, setting an output angle of a steering motor and a chassis linear speed; s3, acquiring a course angle and a mileage value after the chassis movement is stopped; s4, calculating the turning radius of the chassis movement; s5, calculating an equivalent steering angle of the chassis; s6, repeating the steps S1 to S5, obtaining an equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and carrying out data graphic on the relation between the output angle and the equivalent steering angle. The calibration method of the invention realizes measurement by using the robot chassis without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, so that the measurement and calibration of the equivalent steering angle of the front wheel of the chassis of the robot are realized, the operation is simple and convenient, and the calibration efficiency and the calibration precision are high.

Description

Calibration method and system for equivalent steering angle of front wheel of robot chassis
Technical Field
The invention relates to the technical field of robot calibration, in particular to a calibration method and a calibration system for an equivalent steering angle of a front wheel of a robot chassis.
Background
Because factors such as mechanical design tolerance influence, when the ackerman chassis steering structure drives the front wheel to steer according to a certain angle, the equivalent steering angle may not be equal to the steering angle of the chassis steering structure, so that measurement is needed, the equivalent steering angle is obtained, the relation between the motor output angle and the equivalent steering angle is found out, and then in the actual use process of the chassis, the chassis is controlled according to the relation, so that the motion control precision of the chassis is improved.
In the prior art, by setting a target chassis angular velocity, the circular motion radius of the chassis is changed in the motion process, namely, the steering angle of the front wheel is changed until the measured chassis angular velocity is equal to the set target chassis angular velocity. And repeating the steps to obtain a series of front wheel steering angle and equivalent steering angle data, and then performing data fitting to obtain a functional relation between the front wheel steering angle and the equivalent steering angle data.
The calibration method for equivalent steering of the robot chassis in the prior art needs to continuously change the circular motion radius of the chassis, the whole process is complex in operation, the measured value needs to be observed dynamically, the measured data cannot be patterned, and the calibration efficiency and precision are poor.
Disclosure of Invention
The invention aims to provide a new technical scheme of a calibration method and a system for the equivalent steering angle of a front wheel of a robot chassis, which at least can solve the problems that the calibration method in the prior art is complex in operation, can not pattern measurement data and the like.
The invention provides a calibration method of an equivalent steering angle of a front wheel of a robot chassis, which comprises the following steps:
s1, acquiring a course angle and a mileage value before initial movement of a chassis;
s2, setting an output angle of a steering motor and a chassis linear speed;
s3, acquiring a course angle and a mileage value after the chassis movement is stopped;
s4, calculating the turning radius of the chassis movement;
s5, calculating an equivalent steering angle of the chassis;
s6, repeating the steps S1 to S5, obtaining an equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis.
Optionally, in the step of setting the output angle of the steering motor and the chassis linear velocity, the chassis linear velocity is set to a uniform velocity, and a velocity value of the chassis linear velocity is 0.05-0.15m/s.
Optionally, the chassis moves in a circular arc route, and the circular arc length of the chassis movement is:
s＝mile e －mile s
wherein s is the arc-shaped length of the chassis movement, and mile e For the mileage value after the chassis movement is stopped s And (5) the mileage value before the chassis starts to move.
Optionally, the change amount of the heading angle of the chassis motion is:
a＝yaw e －yaw s
wherein a is the variation of course angle of the chassis movement, and yaw e For the course angle after the chassis movement stops, yaw s And (5) starting a course angle before the motion for the chassis.
Optionally, the radius of the arc route in the process of moving the chassis along the arc route is as follows:
r＝s/a
wherein r is the radius of the arc route of the chassis movement, s is the arc length of the chassis movement, and a is the variation of the course angle of the chassis movement.
Optionally, the formula for calculating the equivalent steering angle of the chassis is:
β＝arctan(L/r)
wherein beta is the equivalent steering angle of the chassis, L is the front-rear wheelbase of the chassis, and r is the radius of the arc route of the chassis motion.
Optionally, the step of data-patterning the relationship of the output angle and the equivalent steering angle includes: and performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression.
Optionally, the expression obtained by linearly fitting the output angle and the equivalent steering angle is:
θ＝(β－b)/k
and (2) wherein θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis, and k and b are the proportionality coefficients and constants obtained by fitting.
In a second aspect of the present invention, there is provided a calibration system for a front wheel equivalent steering angle of a robot chassis, which is applied to the calibration method for a front wheel equivalent steering angle of a robot chassis described in the above embodiment, the calibration system includes:
the first acquisition module is used for acquiring a course angle and a mileage value before initial movement of the chassis;
the setting module is connected with the first acquisition module and is used for setting the output angle and the chassis linear speed of the steering motor;
the second acquisition module is connected with the setting module and is used for acquiring a course angle and a mileage value after the chassis movement is stopped;
the calculating module is connected with the second acquisition module and is used for calculating the turning radius and the equivalent steering angle of the chassis movement;
the data fitting module is connected with the calculating module and is used for fitting the relation between the output angle and the equivalent steering angle.
In a second aspect of the present invention, a robot is provided, which includes the calibration system for the equivalent steering angle of the front wheel of the chassis of the robot described in the above embodiment.
According to the calibration method of the equivalent steering angle of the front wheel of the robot chassis, the equivalent steering angle is obtained according to the output angle output by the steering motor, the measurement is realized by using the robot chassis, and the dynamic observation measurement value is not needed. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, so that the measurement and calibration of the equivalent steering angle of the front wheel of the chassis of the robot are realized, the operation is simple and convenient, and the calibration efficiency and the calibration precision are high.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of a method of calibrating an equivalent steering angle of a front wheel of a robotic chassis in accordance with an embodiment of the present invention;
FIG. 2 is a diagram of a motion profile of a robotic chassis according to an embodiment of the invention;
FIG. 3 is an equivalent model diagram of a robot chassis according to an embodiment of the present invention;
FIG. 4 is a data fitting diagram of a robotic chassis according to an embodiment of the invention;
fig. 5 is a schematic diagram of a calibration system for the equivalent steering angle of the front wheels of the chassis of the robot according to an embodiment of the present invention.
Reference numerals
A chassis 10;
a first acquisition module 20;
a setting module 30;
a second acquisition module 40;
a calculation module 50;
the data fitting module 60.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The method for calibrating the equivalent steering angle of the front wheels of the robot chassis 10 according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the calibration method of the equivalent steering angle of the front wheel of the chassis of the robot according to the embodiment of the invention comprises the following steps:
s1, acquiring a course angle and a mileage value before the chassis 10 starts to move;
s2, setting an output angle of a steering motor and the linear speed of the chassis 10;
s3, acquiring a course angle and a mileage value after the chassis 10 stops moving;
s4, calculating the turning radius of the movement of the chassis 10;
s5, calculating an equivalent steering angle of the chassis 10;
s6, repeating the steps S1 to S5, obtaining an equivalent steering angle corresponding to the chassis 10 according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis.
In other words, referring to fig. 1, in the calibration method of the equivalent steering angle of the front wheel of the chassis of the robot according to the embodiment of the present invention, it is necessary to obtain the relationship between the output angle of the steering motor and the equivalent steering angle, wherein, first, the heading angle (yaw s ) And mileage value (mile) s ). Before the chassis 10 moves, the IMU (insertial Measurement Unit, inertial measurement unit) data and driver feedback data to obtain the heading angle yaw of the chassis 10 s And mileage value mile s . Then, the output angle of the steering motor and the linear speed of the chassis 10 are set, and the course angle and mileage value after the movement of the chassis 10 is stopped are obtained. After the chassis 10 stops moving, the upper computer reads IMU data and data fed back by the driver to obtain the course angle yaw of the chassis 10 e And mileage value mile e . Next, the turning radius of the chassis 10 motion and the equivalent steering angle of the chassis 10 are calculated. And by repeating the steps S1 to S5, obtaining the equivalent steering angle corresponding to the chassis 10 according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle, the measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis 10 are realized.
Therefore, according to the calibration method of the equivalent steering angle of the front wheel of the robot chassis 10, according to the output angle output by the steering motor, the equivalent steering angle is obtained, the measurement is realized by using the robot chassis 10, and the dynamic observation measurement value is not needed. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, so that the measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
According to one embodiment of the present invention, in the step of setting the output angle of the steering motor and the linear velocity of the chassis 10, the linear velocity of the chassis 10 is set to a uniform velocity, and the velocity value of the linear velocity of the chassis 10 is 0.05-0.15m/s.
It is assumed that the output angle θ of the steering motor has a range of-Ang to +ang. And setting theta in the range of-Ang to +Ang and a fixed linear velocity v=0.1 m/s for the chassis 10 from an integer not smaller than-Ang through the upper computer, so that the chassis 10 walks a circular arc route.
In some embodiments of the present invention, the chassis 10 moves in a circular arc path, and the circular arc length of the chassis 10 movement is:
s＝mile e －mile s
wherein the method comprises the steps ofS is the arc length of the chassis 10 e For mileage after stopping chassis 10 movement s Which is the mileage value before the chassis 10 initiates the movement.
The change amount of the heading angle of the chassis 10 motion is:
a＝yaw e －yaw s
where a is the change in heading angle of the chassis 10 motion, yaw e For heading angle after stopping movement of chassis 10, yaw s For the heading angle of the chassis 10 prior to initiating movement.
As shown in fig. 2 and 3, the radius of the circular arc route during the movement of the chassis 10 in the circular arc route is:
r=s/a, i.e. r= (mile) e －mile s )/(yaw e －yaw s )
Where r is the radius of the arc route of the chassis 10, s is the arc length of the chassis 10, and a is the variation of the course angle of the chassis 10.
Then, the equation for calculating the equivalent steering angle of the chassis 10 is:
beta=arctan (L/r), i.e. beta=arctan (L (yaw) e －yaw s )/(mile e －mile s ))
Where β is the equivalent steering angle of the chassis 10, L is the front-rear wheelbase of the chassis 10, and r is the radius of the arc path of the chassis 10.
According to one embodiment of the present invention, the step of data-patterning the relationship of the output angle and the equivalent steering angle includes: and performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression.
By repeating S1-S5, θ is added one fixed integer value at a time, for example, 1, until θ reaches a maximum integer not exceeding +ang. Finally, the output angle theta of the steering motor and the equivalent steering angle beta of the chassis 10 corresponding to the output angle theta can be subjected to linear fitting, polynomial fitting or exponential fitting through the characteristic of graph analysis of the relation between theta and beta, so that expressions of corresponding types can be obtained.
In the invention, the expression obtained by carrying out linear fitting on the output angle and the equivalent steering angle is as follows:
θ＝(β－b)/k
where θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis 10, and k and b are the proportionality coefficients and constants obtained by fitting, respectively.
As shown in fig. 4, the relationship between the examples θ and β is a linear relationship, and k and b are a scaling factor and a constant obtained by fitting, respectively. In an actual chassis control application, the output angle at which the chassis 10 turns is converted by an expression of θ= (β -b)/k.
In the present invention, an equivalent steering angle is obtained from a steering motor output given angle. And determining the type of data curve fitting through the relationship between the angle of the graphical steering motor and the equivalent steering angle, and obtaining the relational expression of the data curve fitting. The operation is more convenient, and the measurement can be realized by using the basic chassis 10 without dynamically observing the measured value. The data is patterned to help select a more appropriate data fit type.
In summary, according to the calibration method of the equivalent steering angle of the front wheel of the robot chassis 10 according to the embodiment of the present invention, the equivalent steering angle is obtained according to the output angle output by the steering motor, and the measurement is implemented by using the robot chassis 10, without dynamically observing the measurement value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, so that the measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
According to a second aspect of the present invention, as shown in fig. 5, there is provided a calibration system for a front wheel equivalent steering angle of a robot chassis 10, which is applied to the calibration method for a front wheel equivalent steering angle of a robot chassis 10 in the above-described embodiment, and includes a first acquisition module 20, a setting module 30, a second acquisition module 40, a calculation module 50, and a data fitting module 60.
Referring to fig. 5, the first acquiring module 20 is configured to acquire a heading angle and a mileage value before the chassis 10 starts to move. The setting module 30 is connected to the first acquisition module 20, and the setting module 30 is used for setting the output angle of the steering motor and the linear speed of the chassis 10. The second obtaining module 40 is connected to the setting module 30, and the second obtaining module 40 is configured to obtain the heading angle and the mileage value after the chassis 10 stops moving. The calculating module 50 is connected to the second obtaining module 40, and the calculating module 50 is used for calculating the turning radius and the equivalent turning angle of the chassis 10. The data fitting module 60 is connected with the calculating module 50, and the data fitting module 60 is used for fitting the relation between the output angle and the equivalent steering angle.
In the present invention, as shown in fig. 5, the first acquiring module 20 and the second acquiring module 40 may be an upper computer, and may read through IMU (Inertial Measurement Unit ) data and driver feedback data to obtain the heading angle yaw of the chassis 10 s And mileage value mile s . Then, the output angle of the steering motor and the linear speed of the chassis 10 are set, and the course angle and mileage value after the movement of the chassis 10 is stopped are obtained. After the chassis 10 stops moving, the upper computer reads IMU data and data fed back by the driver to obtain the course angle yaw of the chassis 10 e And mileage value mile e . The turning radius of the chassis 10 movement and the equivalent steering angle of the chassis 10 are calculated by the first calculation module 50 and the second calculation module 50. And by repeating the steps S1 to S5 and according to different output angles of the steering motor, obtaining an equivalent steering angle corresponding to the chassis 10, and carrying out data imaging on the relation between the output angle and the equivalent steering angle through the data fitting module 60, the measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis 10 are realized.
According to the calibration system for the equivalent steering angle of the front wheel of the robot chassis 10, which is provided by the embodiment of the invention, the equivalent steering angle is obtained according to the output angle output by the steering motor, and the measurement is realized by using the robot chassis 10 without dynamically observing the measured value. And the relation between the output angle and the equivalent steering angle is obtained through data imaging, so that the measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis 10 are realized, the operation is simple and convenient, and the calibration efficiency and precision are high.
Of course, the calibration system further comprises a controller, a rear axle motor, a rear axle driver, a steering motor, a steering driver, an IMU and other structures, the upper computer is used for controlling and exchanging data of the chassis 10, the IMU is used for acquiring attitude information of the chassis 10, and the driver and the motor are used for controlling the movement and steering of the chassis 10. The working principles and specific structures of the controller, the rear axle motor, the rear axle driver, the steering motor, the steering driver, the IMU and the like can be understood and implemented by those skilled in the art, and are not described in detail in the present invention.
According to a third aspect of the present invention, there is provided a robot comprising the calibration system of the equivalent steering angle of the front wheels of the robot chassis 10 in the above-described embodiment. The robot of the present invention may be an ackermann model robot. The calibration system according to the embodiment of the invention has the technical effects, so that the robot according to the embodiment of the invention has the corresponding technical effects, namely the robot of the invention can realize the measurement and calibration of the equivalent steering angle of the front wheel of the robot chassis 10, and has simple and convenient operation and high calibration efficiency and precision.
Of course, other structures of the robot and its working principle are understood and can be implemented by those skilled in the art, and detailed description thereof is omitted herein.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims (4)

1. The calibration method of the equivalent steering angle of the front wheel of the robot chassis is characterized by comprising the following steps of:
s1, acquiring a course angle and a mileage value before initial movement of a chassis;
s2, setting an output angle of a steering motor and a chassis linear speed;
s3, acquiring a course angle and a mileage value after the chassis movement is stopped;
s4, calculating the turning radius of the chassis movement;
s5, calculating an equivalent steering angle of the chassis;
s6, repeating the steps S1 to S5, obtaining an equivalent steering angle corresponding to the chassis according to different output angles of the steering motor, and carrying out data imaging on the relation between the output angle and the equivalent steering angle to realize measurement and calibration of the equivalent steering angle of the front wheels of the robot chassis;
the chassis moves in a circular arc route, and the circular arc length of the chassis movement is as follows:
s＝mile e －mile s
wherein s is the arc-shaped length of the chassis movement, and mile e For the mileage value after the chassis movement is stopped s The mileage value before the chassis starts to move is given;
the change amount of the course angle of the chassis motion is as follows:
a＝yaw e －yaw s
wherein a is the variation of course angle of the chassis movement, and yaw e For the course angle after the chassis movement stops, yaw s A course angle before the chassis starts to move;
the radius of the arc route in the motion process of the chassis in the arc route is as follows:
r＝s/a
wherein r is the radius of the arc route of the chassis movement, s is the arc length of the chassis movement, and a is the variation of the course angle of the chassis movement;
the formula for calculating the equivalent steering angle of the chassis is as follows:
β＝arctan(L/r)
wherein beta is an equivalent steering angle of the chassis, L is a front-rear wheelbase of the chassis, and r is a radius of an arc route of the chassis motion;
the step of data imaging the relationship between the output angle and the equivalent steering angle comprises the following steps: performing linear fitting, polynomial fitting or exponential fitting on the output angle and the equivalent steering angle to obtain a corresponding expression;
the expression obtained by linearly fitting the output angle and the equivalent steering angle is as follows:
θ＝(β－b)/k
and (2) wherein θ is the output angle of the steering motor, β is the equivalent steering angle of the chassis, and k and b are the proportionality coefficients and constants obtained by fitting.
2. The method for calibrating a front wheel equivalent steering angle of a robot chassis according to claim 1, wherein in the step of setting an output angle of a steering motor and a chassis linear velocity, the chassis linear velocity is set to a uniform velocity, and a velocity value of the chassis linear velocity is 0.05-0.15m/s.
3. A calibration system for the equivalent steering angle of the front wheel of a robot chassis, which is applied to the calibration method for the equivalent steering angle of the front wheel of the robot chassis according to any one of claims 1 to 2, characterized in that the calibration system comprises:
the first acquisition module is used for acquiring a course angle and a mileage value before initial movement of the chassis;
the setting module is connected with the first acquisition module and is used for setting the output angle and the chassis linear speed of the steering motor;
the second acquisition module is connected with the setting module and is used for acquiring a course angle and a mileage value after the chassis movement is stopped;
the calculating module is connected with the second acquisition module and is used for calculating the turning radius and the equivalent steering angle of the chassis movement;
the data fitting module is connected with the calculating module and is used for fitting the relation between the output angle and the equivalent steering angle.
4. A robot comprising the calibration system for the equivalent steering angle of the front wheels of the chassis of the robot of claim 3.
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