CN115338854A - Transfer robot calibration equipment and calibration method - Google Patents
Transfer robot calibration equipment and calibration method Download PDFInfo
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- CN115338854A CN115338854A CN202110530360.2A CN202110530360A CN115338854A CN 115338854 A CN115338854 A CN 115338854A CN 202110530360 A CN202110530360 A CN 202110530360A CN 115338854 A CN115338854 A CN 115338854A
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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
- B25J9/1697—Vision controlled systems
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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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Abstract
The invention provides a transfer robot calibration device and a calibration method, which relate to the technical field of automation, and the transfer robot calibration method comprises the following steps: controlling a visual positioning device of a transfer robot to be calibrated to identify a positioning image (3) on a first part (1) of the transfer robot calibration device, and determining the installation deviation of the visual positioning device according to the obtained first data; and controlling the laser positioning equipment to emit laser to scan a first baffle (11), a second baffle (12) and the second component (2) of the transfer robot calibration equipment, and determining the angle deviation of the laser positioning equipment according to the obtained second data. According to the invention, the transfer robot to be calibrated is fixed to the transfer robot calibration equipment, and the visual positioning equipment and the laser positioning equipment are calibrated at the same time, so that the offset of installation displacement and angle can be quickly and accurately calibrated, and the movement precision and obstacle avoidance safety of the transfer robot are greatly improved.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a transfer robot calibration device and a calibration method.
Background
Since the 21 st century, with the development of industrial automation in China, the traditional logistics transportation and production processing are developing towards intellectualization and automation, intelligent manufacturing and production systems and intelligent stereoscopic warehouses are more and more widely applied in production, and high-end logistics equipment is more and more developed as an important ring of industrial automation. Among them, an Automatic Guided Vehicle (AGV) has been widely used as an Automotive Guided Vehicle (AGV) because of its automation and intellectualization in the transportation process. The AGV is mainly used in the manufacturing industry, so that the labor cost is reduced, and the working efficiency is improved. At present, the application level of domestic AGV is relatively low, but many enterprises begin to pay attention to and use AGV, and the development prospect is good. The AGV has the advantages of strong flexibility, high intelligent degree, high compatibility with other systems and the like, and the requirement on flexible transportation is increased.
The positioning navigation technology of the AGV is a key technology for ensuring the normal and stable work of the AGV. According to the existing AGV adopting a differential driving mode, local positioning is realized by reckoning through dead reckoning and mileage data of a code disc, and the judgment of a barrier is carried out through data detected in real time through laser, so that the high-precision running and safety of the AGV are guaranteed. Therefore, the position and posture estimation accuracy of the AGV directly influences the running accuracy of the AGV, and the accuracy of the laser detection of the obstacle directly influences the accuracy and the safety performance of the obstacle avoidance.
However, in the actual installation process, the code reading sensor may have installation deviation, and the laser may also have various angle deviations, which affects the estimation accuracy of the position and attitude of the AGV, so that it is necessary to calibrate the positioning device of the AGV. However, in the current market, whether the course of the AGV is completely free of deviation when the AGV is stationary cannot be guaranteed, so that a better calibration scheme is not available, and many manufacturers neglect the error, so that the operation accuracy is difficult to be improved better.
Disclosure of Invention
To achieve at least some of the above objects, the present invention provides a transfer robot calibration apparatus, including:
the device comprises a first component (1) and a second separable component (2), wherein the first component (1) is horizontally arranged, the second separable component (2) is vertically arranged, the first component (1) is provided with a positioning image (3) and a positioning component (4) which are horizontally arranged and used for calibrating a visual positioning device of the transfer robot, a first vertical baffle (11) and a second vertical baffle (12) are oppositely arranged in the width direction of the first component, the first baffle (11) and the second vertical baffle (12) are equal in distance with the central axis of the first component (1) in the length direction, the second component (2) is provided with an adjustable gap for light to pass through in the vertical direction, and the first baffle (11), the second vertical baffle (12) and the second component (2) are used for calibrating a laser positioning device of the transfer robot.
Optionally, the first part (1) is provided with a plurality of positioning parts (4) suitable for the transfer robot, and the positioning parts are used for fixing the transfer robot, so that the chassis of the transfer robot is parallel to the first part (1) and the central axis of the transfer robot is coincident with the central axis of the first part (1) in the length direction; the positioning image (3) is arranged at a position suitable for the visual positioning device of the transfer robot, and is used for identifying the positioning image (3) by the visual positioning device after the transfer robot is fixed on the first component.
Optionally, the second component (2) comprises a third flap (21), a fourth flap (22) and an attachment post (23), the attachment post (23) for connecting the third flap (21) and the fourth flap (22), the height between the third flap (21) and the fourth flap (22) being adjustable to form the adjustable gap; the distance between the first baffle (11) and the second baffle (12) and the central axis of the first component (1) in the length direction is larger than a preset value.
Optionally, the first component (1) is further provided with a laser emitting device (5) which is horizontally mounted, the laser emitting direction of the laser emitting device (5) is parallel to the central axis of the first component (1) in the length direction, and the second component (2) is provided with a positioning hole which is used for positioning according to laser emitted by the laser emitting device (5), so that the second component (2) is located at a preset position to calibrate the transfer robot.
By using the transfer robot calibration equipment provided by the invention, the transfer robot to be calibrated is fixed through the positioning part arranged on the transfer robot calibration equipment, so that the course of the transfer robot when the transfer robot is static is ensured to be free from deviation with the calibration equipment, and the accuracy of the transfer robot calibration is improved. The image positioning equipment of the transfer robot is calibrated through the positioning image arranged at the corresponding position, and meanwhile, the corresponding laser angle and distance are obtained through the baffle in front of the laser positioning equipment, so that the laser positioning equipment is calibrated, and the calibration accuracy is guaranteed. The transfer robot calibration equipment provided by the embodiment of the invention can be used for simultaneously calibrating the image positioning equipment and the laser positioning equipment of the transfer robot, so that the calibration efficiency is improved, and the calibration accuracy is also ensured.
In order to achieve the above object, in a second aspect, the present invention provides a transfer robot calibration method, including:
controlling a visual positioning device of a transfer robot to be calibrated to recognize a positioning image (3) on a first part (1) of the transfer robot calibration device, and determining the installation deviation of the visual positioning device according to the obtained first data, wherein the transfer robot to be calibrated is fixed on the first part (1) of the transfer robot calibration device, and a second part (2) of the transfer robot calibration device is placed at a position away from the laser positioning device of the transfer robot to be calibrated by a preset length, so that an adjustable gap of the second part (2) is opposite to the laser positioning device; and
and controlling the laser positioning equipment to emit laser to scan a first baffle (11), a second baffle (12) and the second component (2) of the transfer robot calibration equipment, and determining the angle deviation of the laser positioning equipment according to the obtained second data.
Optionally, the angular deviation comprises a left-right angular deviation
The second data includes a first included angle and a second included angle, the first included angle is a horizontal included angle of a central axis of the first component (1) along the horizontal direction when the laser positioning device detects the end face of the first baffle (11), the second included angle is a horizontal included angle of a central axis of the first component (1) along the horizontal direction when the laser positioning device scans and detects the end face of the second baffle (12), and the angle deviation of the laser positioning device is determined according to the second data, and the angle deviation includes:
determining a deflection direction according to the sizes of the first included angle and the second included angle; and
and determining the left-right angle deviation according to the average value of the first included angle and the second included angle.
Optionally, the angular deviation comprises a pitch angular deviation, and the determining the angular deviation of the laser positioning device according to the angle of the laser emitted by the laser positioning device, the first baffle (11), the second baffle (12) and the second component (2) of the transfer robot calibration device comprises:
acquiring signals of a plurality of acquisition points of the laser positioning equipment within a preset included angle range on a vertical plane of a central axis along the length direction of the first component (1), and judging whether the second component (2) is detected or not according to the signals of the plurality of acquisition points;
when the second component (2) is detected, determining the pitch angle deviation according to the ratio of the installation height of the laser positioning device and the distance of the second component (2) detected by the laser; and
when the second component (2) is not detected, the pitch angle deviation is determined from the ratio of the distance between the laser positioning device and the second component (2) and the distance at which the laser detects the first stop (11) or the second stop (12).
Optionally, the determining the pitch angle deviation according to a ratio of a mounting height of the laser positioning device when the second component (2) is detected and a distance at which the second component (2) is detected by the laser comprises:
determining the laser installation angle deviation as a depression angle when the second component (2) is detected
Wherein l sh Indicating the installation height of the laser positioning equipment; l si Represents the distance at which the laser detects the second component (2); n represents the number of a plurality of the acquisition points.
By using the transfer robot calibration method, the transfer robot to be calibrated is fixed on the transfer robot calibration equipment to ensure that the static course is consistent with the calibration equipment, and the visual positioning equipment is calibrated by identifying the two-dimensional code image on the calibration equipment; meanwhile, the vertical baffle and the separable second component on the laser detection calibration equipment are used for carrying out regional data division according to laser angles and distances, the error direction and the size are determined through mean value calculation, and the laser deviation angle is calibrated, so that the code reading sensor and the mounting displacement and the angle offset of the laser are calibrated quickly and accurately, data correction is carried out, and the movement precision and the obstacle avoidance safety of the transfer robot are greatly improved.
To achieve the above object, in a third aspect, the present invention provides a non-transitory computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the transfer robot calibration method according to the second aspect of the present invention.
In order to achieve the above object, in a fourth aspect, the present invention provides a computing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for calibrating a transfer robot according to the second aspect of the present invention is implemented.
The non-transitory computer-readable storage medium and the computing apparatus according to the present invention have similar advantageous effects to those of the transfer robot calibration method according to the second aspect of the present invention, and will not be described in detail herein.
Drawings
FIG. 1 is a schematic top view of a transfer robot calibration apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic front view of a transfer robot calibration apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view of placement of a second component according to an embodiment of the invention;
FIG. 4 is a schematic flow chart illustrating a transfer robot calibration method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of determining a pitch angle offset according to an embodiment of the present invention.
Detailed Description
Embodiments in accordance with the present invention will now be described in detail with reference to the drawings, wherein like reference numerals refer to the same or similar elements throughout the different views unless otherwise specified. It is to be noted that the embodiments described in the following exemplary embodiments do not represent all embodiments of the present invention. They are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the claims, and the scope of the present disclosure is not limited in these respects. Features of the various embodiments of the invention may be combined with each other without departing from the scope of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement for transformation and upgrading of the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (Intelligent Logistics System) becomes a research hotspot in the Logistics field. The intelligent logistics system is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like by using artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The internet of things technology comprises sensing equipment, an RFID technology, laser infrared scanning, infrared induction identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology and uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and accurate data support is finally provided for business processes (such as links of transportation, warehousing, storing, picking, packaging, sorting, ex-warehouse, inventory, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The AI technology is used for endowing intelligent equipment such as an unmanned truck, an AGV, an AMR, a forklift, a shuttle, a stacker, an unmanned distribution vehicle, an unmanned aerial vehicle, a service robot, a mechanical arm, an intelligent terminal and the like to replace part of labor; 2) The manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.
In recent years, the modern logistics industry has a trend towards digitization and intelligence. Warehouse management is an indispensable part of modern logistics, wherein a transfer robot such as an AGV or an AMR is a main device for carrying goods in an intelligent warehouse, has the characteristics of safety, high efficiency and labor saving, is an important component part of modern logistics and industrial automation, but has the problem of poor positioning accuracy in the operation process of the transfer robot, and always restricts the application of the transfer robot in a plurality of industrial environments.
For a carrying robot based on two-dimensional code navigation, the information accuracy of a two-dimensional code is an important factor influencing the pose estimation accuracy, and the information of the two-dimensional code is obtained by identifying and acquiring a code reading sensor, so that the installation accuracy of the code reading sensor plays a decisive role in the information accuracy of the obtained two-dimensional code, and when the installation angle of the code reading sensor on the carrying robot is deviated, the two-dimensional code information acquired by the main control of the carrying robot is inaccurate. However, in the actual installation process, the code reading sensor cannot be guaranteed to be parallel to the chassis of the transfer robot with high precision, so that the external parameter calibration of the code reading sensor is very necessary. In the current market, whether the course of the carrying robot is completely free of deviation when the carrying robot is static cannot be guaranteed, so that a better calibration scheme is not available, and many manufacturers neglect the error, so that the operation precision is difficult to be improved better.
The installation error of laser can directly influence the deviation of the distance of the obstacle that transfer robot acquireed and the distance of actual obstacle, therefore the installation angle of laser also need have a calibration process, and then revises the data that laser detected, acquires the data that obtains the obstacle that is closer to reality to promote laser and keep away barrier precision and security. The laser is generally installed at the head (tail) of the transfer robot, and the deviation of the installation angle of the laser includes an error of a pitching angle or a left-right offset angle, but in the same situation, because it is difficult to ensure that the heading of the transfer robot is firstly positive, it is difficult to calibrate the installation angle error of the laser with higher precision. Therefore, most of the calibration of the obstacle avoidance laser of the transfer robot in the current market is in a range, and the actual and accurate calibration of the angle deviation is not available. In addition, in the prior art, the code reading sensor and the laser are generally calibrated separately, so that calibration steps are complicated, and the efficiency is low.
According to the invention, through the designed transfer robot calibration equipment, the transfer robot to be calibrated is fixed on the calibration equipment, the course is ensured to be positive, the code reading sensor is calibrated according to the two-dimensional code placed at the preset position, and meanwhile, the laser angle deviation calibration is carried out according to the baffle and the separable part arranged on the calibration equipment, so that the calibration efficiency is improved, and the calibration accuracy is also ensured.
Fig. 1 is a schematic structural top view of a transfer robot calibration apparatus according to an embodiment of the present invention, which includes a horizontally disposed first component 1 and a vertically disposed detachable second component 2, where the first component 1 has a horizontally disposed positioning image 3 and a positioning component 4 thereon for calibrating a visual positioning apparatus of a transfer robot, the first component has a width direction opposite to that of the first component, a vertical first baffle (11) and a vertical second baffle 12 are disposed, the first baffle 11 and the second baffle 12 are equidistant from a central axis of the first component 1 in a length direction, the second component 2 has a vertical adjustable gap (not shown in fig. 1) for light to pass through, and the first baffle 11, the second baffle 12, and the second component 2 are used for calibrating a laser positioning apparatus of the transfer robot. In the embodiment of the present invention, the first component 1 may be a calibration platform made of a steel plate which is not easy to deform, and the second component 2 may be a calibration accessory made of a steel column which is not easy to deform.
Fig. 2 is a schematic front view of a transfer robot calibration apparatus according to an embodiment of the present invention, which is described with reference to fig. 1. In the embodiment of the present invention, the width w of the first member 1 g The size of the robot is the same as that of the transfer robot to be calibrated, and the size of the robot is slightly larger or smaller without strict limitation. For example, the length l of the first part 1 g At least 50cm longer than the transfer robot to be calibrated, so as to facilitate the calibration of the transfer robot.
Optionally, the first member 1 has a plurality of positioning members 4 adapted to the transfer robot for fixing the transfer robot such that the chassis of the transfer robot is parallel to the first member 1 and such that the central axis of the transfer robot coincides with the central axis of the first member 1 in the longitudinal direction. In the embodiment of the present invention, 4 or more mounting holes may be provided in the first member 1 to be engaged with the chassis mounting holes of the transfer robot. After the transfer robot to be calibrated is installed through a plurality of installation holes reserved in design, due to high-precision machining, the chassis of the transfer robot can be structurally guaranteed to be parallel to the first part 1, and the central shaft of the transfer robot and the central shaft of the first part 1 are guaranteed to be in a vertical plane. Therefore, the carrying robot is fixedly arranged on the first component 1, so that the course of the carrying robot is ensured to be free of deviation when the carrying robot is static, and the subsequent accuracy of calibrating the visual positioning equipment and the laser positioning equipment of the carrying robot is improved.
Optionally, the positioning image 3 is arranged at a position suitable for the visual positioning device of the transfer robot, and is used for identifying the positioning image 3 by the visual positioning device after the transfer robot is fixed to the first component. In the embodiment of the invention, according to the installation position of the visual positioning equipment of the transfer robot to be calibrated, such as a code reading sensor (DSP) or other detection cameras, a corresponding groove with the size and the size of the two-dimensional code is arranged for pasting the two-dimensional code as the positioning image 3, so as to calibrate the visual positioning equipment of the transfer robot.
Optionally, the difference between the length of the first part and the length of the body of the transfer robot is greater than a preset value, and the first baffle 11 and the second baffle 12 are located between the laser positioning device of the transfer robot and the second part 2. In the embodiment of the present invention, assuming that the laser positioning device of the transfer robot is located at the front position, on the first member 1, at a distance l from the front a Two baffles are arranged outside the distance, namely a first baffle 11 and a second baffle 12 (the thickness can be 2 mm), the first baffle 11 and the second baffle 12 are perpendicular to the horizontal plane of the first part 1, the first baffle 11 and the second baffle 12 are uniformly distributed on two sides of the horizontal plane of the first part 1, the heights of the first baffle 11 and the second baffle 12 are the same, and the heights can be greater than twice of the installation height of the laser positioning equipment. In the embodiment of the present invention, the distance between the first baffle 11 and the second baffle 12 and the central axis of the first component 1 in the length direction is greater than a preset value. As shown in FIG. 2, the first baffle 11 and the second baffle 12 are at the same distance from the centerline of the first member 1, and l aw >10cm (with a gap in between to allow the laser to scan the second part 2 behind through the barrier), the width l of the first 11 and second 12 barriers sw Not less than 5cm. It should be understood that the above values can be adjusted according to actual requirements, and the present invention is not limited thereto.
Optionally, the second component 2 comprises a third baffle 21, a fourth baffle 22 and fixing posts 23, the fixing posts 23 are used for connecting the third baffle 21 and the fourth baffle 22, the height between the third baffle 21 and the fourth baffle 22 is adjustable to form the adjustable gap, so that light can pass through for corresponding detection and calibration. In the practice of the inventionIn the example, as shown in fig. 1, the second member 2 has a thin fixing post 23 for fixing two small steel plates (i.e., the third and fourth shutters 21 and 22) above and below the laser installation height line (i.e., the installation height l of the laser positioning device) sh ) Distance l delta Are equal. The fixing column 23 is used for adjusting the heights of the third barrier 21 and the fourth barrier 22, so that a gap with a preset height is formed between the third barrier 21 and the fourth barrier 22, and is used for calibrating the laser positioning device of the transfer robot. In the embodiment of the present invention, the third and fourth baffles 21 and 22 have a width l sp The size is at least greater than 7cm, preferably greater than 10cm. It can be understood that the above values can be adjusted according to actual requirements, so as to better calibrate the laser positioning device of the transfer robot, and the invention is not limited thereto.
Optionally, the first component 1 is further provided with a laser emitting device 5 horizontally mounted, a laser emitting direction of the laser emitting device 5 is parallel to a central axis of the first component 1 in the length direction, and the second component 2 is provided with a positioning hole for positioning according to laser emitted by the laser emitting device 5, so that the second component 2 is located at a preset position to calibrate the transfer robot. Fig. 3 is a schematic diagram illustrating the placement of the second component according to the embodiment of the present invention, wherein a mounting hole is further formed on the first component 1 for mounting a laser emitting device 5, and correspondingly, a positioning hole is formed on the second component 2 or on the bracket for placing the second component 2, so that when the laser emitted from the laser emitting device 5 can pass through the positioning hole, the first component 1 and the second component 2 can be ensured to be located on the same plane, thereby ensuring the accuracy and reliability of the calibration of the handling robot. It will be appreciated that the height of the support on which the second part 2 is placed is adjustable, so that the space formed between the third barrier 21 and the fourth barrier 22 faces the laser positioning device of the handling robot, which facilitates calibration of the laser positioning device.
By adopting the calibration equipment of the transfer robot, the transfer robot to be calibrated is fixed through the positioning part arranged on the calibration equipment, so that the course of the transfer robot when the transfer robot is static is ensured to be free from deviation from the calibration equipment, and the calibration accuracy of the transfer robot is improved. The image positioning equipment of the transfer robot is calibrated through the positioning image arranged at the corresponding position, and meanwhile, the corresponding laser angle and distance are obtained through the baffle in front of the laser positioning equipment, so that the laser positioning equipment is calibrated, and the calibration accuracy is ensured. The transfer robot calibration equipment provided by the embodiment of the invention can calibrate the image positioning equipment and the laser positioning equipment of the transfer robot at the same time, so that the calibration efficiency is improved, and the calibration accuracy is also ensured. And the separable second part can guarantee that the first part can be small-size while can guarantee to wait to mark the carrying robot laser positioning equipment far enough to avoid the influence that the deviation of laser itself brought, improve and mark the precision.
The embodiment of the second aspect of the invention also provides a transfer robot calibration method. Fig. 4 is a schematic flowchart of a transfer robot calibration method according to an embodiment of the present invention, including steps S1 to S2.
In step S1, the vision positioning device of the transfer robot to be calibrated is controlled to recognize the positioning image 3 on the first part 1 of the transfer robot calibration device, and the installation deviation of the vision positioning device is determined according to the obtained first data, wherein the transfer robot to be calibrated is fixed on the first part 1 of the transfer robot calibration device, and the second part 2 of the transfer robot calibration device is placed at a position away from the laser positioning device of the transfer robot to be calibrated by a preset length, so that the adjustable gap of the second part 2 faces the laser positioning device. In the embodiment of the invention, a transfer robot to be calibrated is fixed on a first part 1, then the first part 1 is placed on a horizontal ground or a horizontal bracket, and then a second part 2 is placed at a distance l from the head of the transfer robot d At a far position, laser is emitted through a laser emitting device 5 horizontally arranged on the first component 1, when the laser passes through a positioning hole on the second component 2 or the bracket, the adjustable gap of the second component 2 is enabled to be opposite to the laser positioning equipment of the transfer robot, and the second component 2 is considered to be placed at the right position at the momentThe transfer robot calibration can be started. It can be understood that after the second component 2 is placed, no other objects are in front of the front 4m of the head of the transfer robot, so as not to affect the calibration accuracy of the laser positioning device. It will be appreciated that the second part 2 is placed at a distance l d The distance may be more than 1m, and the distance may be adjusted according to the actual obstacle avoidance requirement, which is not limited in the present invention.
In the embodiment of the present invention, the distance between the upper and lower small steel plates (i.e. the third and fourth shutters 21 and 22) of the second member 2 may be adjusted according to the actually allowable pitch angle boundary value of the transfer robot, and whether the pitch angle deviation of the transfer robot exceeds a threshold value, for example, the distance l between the third and fourth shutters 21 and 22 and the installation height of the laser positioning device of the head of the transfer robot may be determined according to whether the laser scans and detects the third and fourth shutters 21 and 22 delta Satisfy atan (l) delta /l d ) Less than the pitch angle boundary value.
When the transfer robot is installed and the second part 2 is placed, the transfer robot can be calibrated. In the embodiment of the present invention, the two-dimensional code (positioning image 3) at the corresponding position is read by the code reading sensor (visual positioning device) of the transfer robot, and the two-dimensional code information { x } fixed on the first member 1 is determined off ，y off ，θ off As the first data, the mounting deviation of the code-reading sensor (which has been subjected to coordinate conversion), i.e., the read data { x }can be obtained off ，y off ，θ off And the displacement deviation and the angle deviation of the code reading sensor on the X axis and the Y axis relative to the chassis plane of the transfer robot are obtained. Assuming that the central axis of the transfer robot in the direction of the head is the Y axis and the horizontal line perpendicular to the Y axis is the X axis, as shown in fig. 2, the offset position is determined based on the actual coordinate setting of the read data, for example, when X is the X axis off 、y off 、θ off When both of them are larger than 0, it indicates that the actual attachment position of the code reading sensor is shifted downward to the right with respect to the center point of the transfer robot. After calibration, the actually used two-dimensional code information can be corrected to { x' a ＝x a -x off ，y′ a ＝y a -y off ，θ′ a ＝θ a -θ off In which x a 、y a 、θ a Represents data, x 'acquired by a code reading sensor' a 、y′ a 、θ′ a And representing the data after the posture deviation correction of the transfer robot.
In step S2, the laser positioning device is controlled to emit laser to scan the first barrier 11, the second barrier 12, and the second component 2 of the transfer robot calibration device, and the angle deviation of the laser positioning device is determined according to the obtained second data. In an embodiment of the present invention, the angular deviation includes a left-right angular deviation and a pitch angular deviation.
In the embodiment of the present invention, the second data includes a first included angle and a second included angle, the first included angle is a horizontal included angle with a central axis of the first component (1) along the horizontal direction when the laser positioning device scans and detects the end surface of the first baffle (11), and the second included angle is a horizontal included angle with a central axis of the first component (1) along the horizontal direction when the laser positioning device scans and detects the end surface of the second baffle (12). In the embodiment of the present invention, the laser angle emitted by the laser positioning device is 0 ° in the positive X-axis direction, 180 ° in the negative X-axis direction, and 90 ° in the positive Y-axis direction, as shown in fig. 2. When the laser positioning equipment of the transfer robot is calibrated, the laser positioning equipment is controlled to emit laser, and laser data including angles and distances are acquired, wherein each angle theta is i Corresponding to a distance l si . When the laser detects the opposite end faces of the first shutter 11 and the second shutter 12, the two distances are the closest to the positive direction (i.e. 90 °) of the Y axis
Record its corresponding angle theta 1 、θ 2 Respectively as a first angle and a second angle. It will be appreciated that the decision threshold for the sampling point may be set according to laser accuracy performance, for example not exceeding 5mm.
In the embodiment of the invention, the first included angle and the second included angle are determined according to the first included angleThe deflection direction is determined according to the size of the second included angle, and the left-right angle deviation is determined according to the average value of the first included angle and the second included angle. Alternatively, θ is calculated separately 1 、θ 2 Difference Δ θ from 90 1 ＝90-θ 1 、Δθ 2 ＝90-θ 2 Then, the left-right mounting angle deviation of the laser positioning device is Δ θ = (Δ θ =) 1 +Δθ 2 )/2. When Δ θ>When 0, the laser installation angle is deviated to the right, and when delta theta<When 0, the laser installation angle is deviated to the left, and the actual position of the calculated obstacle relative to the center of the AGV head is set to be { x = l { (x = l) } si *sin(θ i +Δθ)，y＝l si *cos(θ i + Δ θ). The mounting error of the laser is mainly the deviation of an angle, and the displacement deviation of the X axis and the Y axis can ensure the mounting precision due to the structural design, so the mounting displacement deviation is negligible.
Fig. 5 is a schematic flow chart illustrating a process of determining a pitch angle deviation according to an embodiment of the present invention, including steps S21 to S23.
In step S21, signals of a plurality of collecting points of the laser positioning device within a preset included angle range on a vertical plane along a central axis of the first component 1 in the length direction are acquired, and whether the second component 2 is detected is determined according to the signals of the plurality of collecting points. In an embodiment of the invention, data is first acquired at several points around 90 °, for example between 85 ° and 95 °. It can be understood that, for a high-precision laser, a more precise angle deviation can be calculated through the detected distance and angle data of an object, but for a short scanning distance, the precision is not sufficient (for example, the precision deviation exceeds the deviation of 5 mm), a more precise angle error cannot be calibrated through the data, assuming that the laser can scan a distance of 3m and the detection precision is 5mm, the actually detected data itself may cause a deviation of 3 degrees in the pitch angle, at this time, the calibration has no great significance, and the deviation of the general installation pitch angle is not too large.
In step S22, when the second part 2 is detected, the pitch angle is determined based on the ratio of the installation height of the laser positioning apparatus and the distance at which the second part 2 is detected by the laserAnd (5) degree deviation. In the embodiment of the present invention, as shown in fig. 2, when the scanning detects that there is an object within a specified distance (e.g., 4 m), the laser installation angle deviation is determined as the depression angle
Where n represents the number of points acquired around 90 °.
In step S23, when the second part 2 is not detected, the pitch angle deviation is determined based on the ratio of the distance between the laser positioning apparatus and the second part 2 and the distance at which the laser detects the first shutter 11 or the second shutter 12. In the embodiment of the present invention, as shown in fig. 2, if no object is detected within a specified distance (e.g. 4 m), the laser installation angle is considered to be the possible elevation deviation, which is
Where m denotes the data point (according to /) scanned to the baffle of the first component 1 si Size) of the display.
It can be understood that, in the embodiment of the present invention, after the calibration is finished, each calibration data may be automatically stored in the transfer robot body or uploaded to the server for storage, so as to correct the positioning parameters and improve the positioning accuracy of the transfer robot.
By adopting the transfer robot calibration method provided by the embodiment of the invention, the transfer robot to be calibrated is fixed on the transfer robot calibration equipment to ensure that the static course is consistent with the calibration equipment, and the visual positioning equipment is calibrated by identifying the two-dimensional code image on the calibration equipment; meanwhile, the vertical baffle and the separable second component on the laser detection calibration equipment are used for carrying out regional data division according to laser angles and distances, the error direction and the size are determined through mean value calculation, and the laser deviation angle is calibrated, so that the code reading sensor and the mounting displacement and the angle offset of the laser are calibrated quickly and accurately, data correction is carried out, and the movement precision and the obstacle avoidance safety of the transfer robot are greatly improved.
An embodiment of the third aspect of the present invention proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the transfer robot calibration method according to the second aspect of the present invention.
Generally, computer instructions for carrying out the methods of the present invention may be carried using any combination of one or more computer-readable storage media. Non-transitory computer readable storage media may include any computer readable medium except for the signal itself, which is propagating on a temporary basis.
A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" language or similar programming languages, and in particular may use Python and tensffow, pyTorch, etc. based platform frameworks suitable for neural network computing. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
An embodiment of the fourth aspect of the present invention provides a computing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for calibrating a transfer robot according to the second aspect of the present invention is implemented. It is to be understood that the computing device of the present invention may be a server or a computationally limited terminal device.
The non-transitory computer-readable storage medium and the computing device according to the third and fourth aspects of the present invention may be implemented with reference to the contents specifically described in the embodiment according to the second aspect of the present invention, and have similar beneficial effects to the calibration method for a transfer robot according to the embodiment of the second aspect of the present invention, and are not described herein again.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A transfer robot calibration apparatus, characterized by comprising: a first part (1) placed horizontally and a second detachable part (2) placed vertically,
the first component (1) is provided with a positioning image (3) and a positioning component (4) which are horizontally arranged and used for calibrating the visual positioning equipment of the transfer robot,
a first baffle plate (11) and a second baffle plate (12) which are vertical are oppositely arranged in the width direction of the first component, the distances between the first baffle plate (11) and the second baffle plate (12) and the central axis of the first component (1) in the length direction are equal,
the second part (2) is provided with an adjustable gap for light to pass through in the vertical direction,
the first baffle (11), the second baffle (12) and the second part (2) are used for calibrating laser positioning equipment of the transfer robot.
2. Transfer robot calibration apparatus according to claim 1, characterized in that the first part (1) has thereon a number of positioning parts (4) adapted to the transfer robot for fixing the transfer robot such that the chassis of the transfer robot is parallel to the first part (1) and such that the central axis of the transfer robot coincides with the longitudinal central axis of the first part (1); the positioning image (3) is arranged at a position suitable for the visual positioning device of the transfer robot, and is used for identifying the positioning image (3) by the visual positioning device after the transfer robot is fixed on the first component.
3. The transfer robot calibration apparatus according to claim 1 or 2, wherein the second member (2) includes a third flap (21), a fourth flap (22), and a fixing post (23), the fixing post (23) being for connecting the third flap (21) and the fourth flap (22), a height between the third flap (21) and the fourth flap (22) being adjustable to form the adjustable gap; the distance between the first baffle (11) and the second baffle (12) and the central axis of the first component (1) in the length direction is larger than a preset value.
4. The transfer robot calibration apparatus according to any one of claims 1-3, wherein the first component (1) further has a horizontally mounted laser emitting device (5), the laser emitting direction of the laser emitting device (5) is parallel to the central axis of the first component (1) in the length direction, and the second component (2) is provided with a positioning hole for positioning according to the laser emitted by the laser emitting device (5), so that the second component (2) is located at a preset position for calibration of the transfer robot.
5. A transfer robot calibration method is characterized by comprising the following steps:
controlling a visual positioning device of a transfer robot to be calibrated to recognize a positioning image (3) on a first part (1) of a transfer robot calibration device according to any one of claims 1-4, determining an installation deviation of the visual positioning device according to the obtained first data, wherein the transfer robot to be calibrated is fixed on the first part (1) of the transfer robot calibration device, and a second part (2) of the transfer robot calibration device is placed at a position away from a laser positioning device of the transfer robot to be calibrated by a preset length, so that an adjustable gap of the second part (2) is opposite to the laser positioning device; and
and controlling the laser positioning equipment to emit laser to scan a first baffle (11), a second baffle (12) and the second component (2) of the carrying robot calibration equipment, and determining the angle deviation of the laser positioning equipment according to the obtained second data.
6. The transfer robot calibration method according to claim 5, wherein the angle deviation comprises a left-right angle deviation, the second data comprises a first angle and a second angle, the first angle is a horizontal angle with respect to a central axis of the first component (1) along the horizontal direction when the laser positioning device scans and detects the end face of the first baffle (11), the second angle is a horizontal angle with respect to a central axis of the first component (1) along the horizontal direction when the laser positioning device scans and detects the end face of the second baffle (12), and the determining the angle deviation of the laser positioning device according to the second data comprises:
determining a deflection direction according to the sizes of the first included angle and the second included angle; and
and determining the left-right angle deviation according to the average value of the first included angle and the second included angle.
7. The transfer robot calibration method according to claim 5 or 6, wherein the angular deviation includes a pitch angular deviation,
the determining the angle deviation of the laser positioning device according to the angle of the laser emitted by the laser positioning device, the first baffle (11), the second baffle (12) and the second component (2) of the transfer robot calibration device comprises:
acquiring signals of a plurality of acquisition points of the laser positioning equipment within a preset included angle range on a vertical plane of a central axis along the length direction of the first component (1), and judging whether the second component (2) is detected or not according to the signals of the plurality of acquisition points;
when the second component (2) is detected, determining the pitch angle deviation according to the ratio of the installation height of the laser positioning device and the distance of the second component (2) detected by the laser; and
when the second component (2) is not detected, the pitch angle deviation is determined from the ratio of the distance between the laser positioning device and the second component (2) and the distance at which the laser detects the first stop (11) or the second stop (12).
8. The transfer robot calibration method according to claim 7, wherein the determining the pitch angle deviation from the ratio of the mounting height of the laser positioning device and the distance at which the laser detects the second part (2) when the second part (2) is detected comprises:
determining the laser installation angle deviation as a depression angle when the second component (2) is detected
Wherein l sh Indicating the installation height of the laser positioning equipment; l si Represents the distance at which the laser detects the second component (2); n represents the number of a plurality of the acquisition points.
9. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a transfer robot calibration method according to any one of claims 5-8.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements a transfer robot calibration method according to any one of claims 5 to 8.
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