CN115393428A - Positioning parameter calibration method and device for mobile robot - Google Patents
Positioning parameter calibration method and device for mobile robot Download PDFInfo
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- CN115393428A CN115393428A CN202210380202.8A CN202210380202A CN115393428A CN 115393428 A CN115393428 A CN 115393428A CN 202210380202 A CN202210380202 A CN 202210380202A CN 115393428 A CN115393428 A CN 115393428A
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- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a method and a device for calibrating positioning parameters of a mobile robot, and relates to the technical field of mobile robots. One embodiment of the method comprises: when the mobile robot moves in a moving area, respectively acquiring an identification code position and posture matrix of an identification code under a camera coordinate system and a hub angular velocity of the mobile robot at different moments; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of a world coordinate system; and constructing an optimization model based on the first attitude change matrix and the second attitude change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot. The embodiment reduces the cost and the workload required by calibration, and improves the calibration efficiency and the accuracy of the calibration result.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a method and a device for calibrating positioning parameters of a mobile robot.
Background
The mobile robot provided with the code scanning camera is widely applied to occasions such as factories and warehouses. The method uses wheel hub parameters (mainly including the radius of a left wheel hub, the radius of a right wheel hub and the distance between the left wheel hub and the right wheel hub) to construct a mileometer to carry out the relative positioning of the mobile robot, and uses a code scanning camera and a corresponding identification code to carry out the absolute positioning of the mobile robot. Therefore, accurate hub parameters and code scanning camera external parameters (installation position coordinates and angles of the camera) are very important for accurate positioning of the mobile robot.
In the existing method, a calibration frame method or a specific action distribution calibration method is usually adopted to calibrate the positioning parameters of the mobile robot.
The prior art has at least the following problems:
for the calibration method adopting the calibration frame, firstly, an additional calibration frame needs to be manufactured, so that the cost and the workload required by calibration are increased, and the accuracy of the calibration result is low due to human errors in the placement process; for the method of step-by-step calibration by adopting specific actions, the calibration efficiency is low and the operation flow is more complicated because the mobile robot can only be instructed to execute specific work to collect data and cannot utilize the data of the mobile robot in normal operation.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for calibrating a positioning parameter of a mobile robot, which can acquire an identifier code pose matrix and a hub angular velocity during an operation process of the mobile robot, further calculate to obtain a first pose change matrix of the identifier code in a camera coordinate system and a second pose change matrix of the camera in the robot coordinate system, and solve an optimization model by constructing the optimization model to obtain a calibrated positioning parameter, thereby simplifying a calibration process, reducing costs and workloads required by calibration, and improving calibration efficiency and accuracy of a calibration result.
In order to achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method for calibrating a positioning parameter of a mobile robot, including:
when the mobile robot moves in a moving area, respectively acquiring an identification code position and posture matrix of an identification code under a camera coordinate system and a hub angular velocity of the mobile robot at different moments; the identification code is arranged on the ground of a mobile area, and the camera is fixedly arranged on the mobile robot;
calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of a world coordinate system;
and constructing an optimization model based on the first attitude change matrix and the second attitude change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
Further, according to the identification code position matrix, calculating to obtain a first position change matrix of the camera, the method comprises the following steps:
and multiplying the identification code position and pose matrix at the current moment by the inversion matrix of the identification code position and pose matrix at the next moment to obtain a first position and pose change matrix of the camera.
Further, according to the angular velocity of the hub, a step of calculating a second attitude change matrix of the camera includes:
calculating to obtain a robot position and posture matrix of the mobile robot in a world coordinate system at different moments according to the wheel hub angular speeds at different moments;
multiplying the inversion matrix of the robot pose matrix at the current moment by the robot pose matrix at the next moment to obtain a robot pose change matrix of the mobile robot;
and calculating to obtain a second position and posture change matrix of the camera according to the position and posture change matrix of the robot.
Further, according to the robot position and posture change matrix, calculating to obtain a second position and posture change matrix of the camera, the method further comprises the following steps:
determining a transformation matrix between a camera coordinate system and a robot coordinate system;
and calculating to obtain a second attitude change matrix of the camera according to the attitude change matrix and the transformation matrix of the robot.
Further, an optimization module is constructed based on the first attitude change matrix and the second attitude change matrix, and the step of solving the optimization model comprises the following steps:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first posture change matrix and the second posture change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
Further, the positioning parameters comprise hub parameters and camera external parameters, wherein the hub parameters comprise a left wheel hub radius, a right wheel hub radius and a hub distance, and the camera external parameters are the pose of the camera in the robot coordinate system.
According to another aspect of the embodiments of the present invention, there is provided a positioning parameter calibration apparatus for a mobile robot, including:
the acquisition module is used for respectively acquiring an identification code position and posture matrix of the identification code under a camera coordinate system and the hub angular velocity of the mobile robot at different moments when the mobile robot moves in a moving area; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot;
the calculation module is used for calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of a world coordinate system;
and the calibration module is used for constructing an optimization module based on the first position and posture change matrix and the second position and posture change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
Further, the calibration module is further configured to:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first posture change matrix and the second posture change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
According to another aspect of the embodiments of the present invention, there is provided an electronic device for calibrating a positioning parameter of a mobile robot, including:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning parameter calibration method for the mobile robot as described in any one of the above.
According to a further aspect of the embodiments of the present invention, there is provided a computer readable medium, on which a computer program is stored, which when executed by a processor, implements the positioning parameter calibration method for a mobile robot as described above.
One embodiment of the above invention has the following advantages or benefits: when the mobile robot moves in a moving area, an identification code position matrix of an identification code under a camera coordinate system and the hub angular speed of the mobile robot at different moments are respectively acquired; the identification code is arranged on the ground of a mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; according to the angular speed of the hub, calculating to obtain a second attitude change matrix of the camera; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; the technical means of constructing an optimization model based on the first attitude change matrix and the second attitude change matrix and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot overcome the technical problems of higher cost and workload required by calibration, lower accuracy of a calibration result, low calibration efficiency and more complicated operation flow in the existing calibration method, and further achieve the purposes of obtaining an identification code attitude matrix and a hub angular velocity in the running process of the mobile robot, further calculating to obtain the first attitude change matrix and the second attitude change matrix of the camera, solving the optimization model to obtain the calibrated positioning parameters by constructing the optimization model, simplifying the calibration flow, reducing the cost and workload required by calibration and improving the technical effects of the calibration efficiency and the accuracy of the calibration result.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of a main flow of a positioning parameter calibration method for a mobile robot according to an embodiment of the present invention;
fig. 2a is a schematic diagram of a main flow of a positioning parameter calibration method for a mobile robot according to another embodiment of the present invention;
FIG. 2b is a schematic view of the mobile robot and coordinate system of the method of FIG. 2 a;
FIG. 3 is a schematic diagram of the main modules of the positioning parameter calibration apparatus for a mobile robot according to an embodiment of the present invention;
FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 5 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The existing calibration methods mainly comprise two types:
(1) A calibration frame method. The method comprises the steps that firstly, a calibration frame is manufactured, then a mobile robot is placed at a designated position of the calibration frame, the mobile robot is enabled to have a certain determined pose relative to the calibration frame, meanwhile, the pose of the mobile robot measured by an absolute pose sensor is read, and then the two poses are compared to calibrate the external parameters of the code scanning camera; the wheel hub parameters are then measured using a specific gauge.
(2) A method for calibrating steps of specific actions. On the basis of the existing kinematic equation, firstly, controlling the mobile robot to execute a group of specific actions, such as in-situ rotation and the like, for calibrating hub parameters; then, another specific group of actions is executed for calibrating code scanning camera external parameters.
Fig. 1 is a schematic diagram of a main flow of a positioning parameter calibration method for a mobile robot according to an embodiment of the present invention; as shown in fig. 1, a method for calibrating a positioning parameter of a mobile robot according to an embodiment of the present invention mainly includes:
step S101, when the mobile robot moves in a moving area, respectively acquiring an identification code position and posture matrix of an identification code under a camera coordinate system and a hub angular velocity of the mobile robot at different moments; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot.
Specifically, according to the embodiment of the invention, the mobile robot moves in a moving area on which an identification code is arranged (the specific arrangement mode can be an attaching mode or the like), a camera arranged on the mobile robot is used for collecting images of the identification code at different times, and an identification code position matrix of the identification code at different times under a camera coordinate system is obtained according to the images of the identification code. According to a specific implementation manner of the embodiment of the invention, at each moment, the identification code pose matrixes at different moments are determined through operations of searching, decoding and calculating the identification code poses in the acquired identification code image. When the identification code image is collected, the wheel hub angular speed of the mobile robot at different moments is collected.
The identification code is an image which can be used for positioning, and can be a bar code, a two-dimensional code, a QR code (one kind of two-dimensional bar code) and an Apriltag code (which is a visual reference library and is widely used in the field of AR robot camera calibration). By a specific marker (similar to a two-dimensional code, but with reduced complexity to meet real-time requirements, the marker can be detected quickly, and the relative position can be calculated), etc.
Step S102, calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; and the pose of the mobile robot at the initial moment is the origin of a world coordinate system.
Specifically, according to the embodiment of the present invention, the step of calculating the first pose change matrix of the camera according to the identifier code pose matrix includes:
converting the identification code position matrixes of the identification codes under the camera coordinate system at different moments to obtain the camera position matrixes of the cameras under the identification code coordinate system at different moments;
and multiplying the camera pose matrix at the current moment by the inverse matrix of the camera pose matrix at the next moment to obtain a first pose change matrix of the camera.
According to the embodiment of the invention, the identification code position and posture matrix of the identification code under the camera at a plurality of moments is known, and the camera position and posture matrix of the camera under an identification code coordinate system at a plurality of moments can be obtained by converting the identification code position and posture. According to the camera position and posture matrix at the adjacent moment, the position and posture variation quantity of the camera, namely the first position and posture variation matrix, can be obtained through calculation.
Further, according to the embodiment of the present invention, the step of obtaining the second attitude change matrix of the camera by calculation according to the angular velocity of the hub includes:
calculating to obtain a robot position and posture matrix of the mobile robot in a world coordinate system at different moments according to the wheel hub angular speeds at different moments;
multiplying the inversion matrix of the robot pose matrix at the current moment by the robot pose matrix at the next moment to obtain a robot pose change matrix of the mobile robot;
and calculating to obtain a second position and posture change matrix of the camera according to the position and posture change matrix of the robot.
In particular, the world coordinate system isThe method is constructed based on a moving area scene, the position of the mobile robot at the initial time is taken as the origin of a world coordinate system, namely the pose of the mobile robot at the initial time under the world coordinate system is (x) 0 ，y 0 ，θ 0 ). And calculating the linear velocity and the angular velocity of the mobile robot according to the angular velocities of the hubs at different moments. And calculating to obtain a robot pose matrix of the mobile robot in the world coordinate system at different moments according to the initial pose of the mobile robot in the world coordinate system at the initial moment and the linear speed and the angular speed of the mobile robot at different moments. And then, the pose change matrix of the robot can be obtained by calculation according to the pose matrix of the robot at the adjacent moment.
Further, according to the embodiment of the present invention, the step of calculating the second posture change matrix of the camera according to the robot posture change matrix further includes:
determining a transformation matrix between a camera coordinate system and a robot coordinate system;
and calculating to obtain a second attitude change matrix of the camera according to the attitude change matrix and the transformation matrix of the robot.
According to a specific implementation manner of the embodiment of the invention, a robot posture change matrix of the mobile robot is obtained. Because the camera and the mobile robot are fixedly connected, the relative pose between the camera and the mobile robot is not changed at different moments, and the position and pose change matrix of the robot and the position and pose change matrix of the camera can be switched through the transformation matrix between the camera coordinate system and the robot coordinate system. Therefore, the pose change matrix of the camera, namely the second pose change matrix, can be obtained through calculation according to the pose change matrix and the transformation matrix of the robot.
And S103, constructing an optimization model based on the first attitude change matrix and the second attitude change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
Specifically, according to an embodiment of the present invention, the step of constructing the optimization module based on the first posture change matrix and the second posture change matrix, and solving the optimization model includes:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first posture change matrix and the second posture change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
According to the embodiment of the invention, the second attitude change matrix of the camera is related to the positioning parameters (a function matrix of the hub parameters and the camera external parameters). If the positioning parameters of the mobile robot are completely accurate, the first posture change matrix should be equal to the second posture change matrix. However, in practice, there is an error in the positioning parameters, and the two parameters are not completely equal. Therefore, a least square method problem is established based on the first position and posture change matrix, the second position and posture change matrix, the two-dimensional rigid body transformation matrix and the two-norm matrix to obtain an optimized model, then the optimized model is solved to obtain calibrated positioning parameters, and the accuracy of a calibration result is obviously improved. Specifically, the least square method used for the solution may be gauss newton method, long Beige-Ma Kuite method (LM method), dogleg method (dog-leg method), or the like.
Illustratively, according to the embodiment of the invention, the positioning parameters include hub parameters and camera external parameters, wherein the hub parameters include a left wheel hub radius, a right wheel hub radius and a hub distance, and the camera external parameters are poses of the cameras in a robot coordinate system.
According to the technical scheme of the embodiment of the invention, when the mobile robot moves in the moving area, the identification code position matrix of the identification code under the camera coordinate system and the hub angular velocity of the mobile robot at different moments are respectively obtained; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; the technical means of constructing an optimization model based on the first attitude change matrix and the second attitude change matrix and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot overcome the technical problems of higher cost and workload required by calibration, lower accuracy of a calibration result, low calibration efficiency and more complicated operation flow in the existing calibration method, and further achieve the purposes of obtaining an identification code attitude matrix and a hub angular velocity in the running process of the mobile robot, further calculating to obtain the first attitude change matrix and the second attitude change matrix of the camera, solving the optimization model to obtain the calibrated positioning parameters by constructing the optimization model, simplifying the calibration flow, reducing the cost and workload required by calibration and improving the technical effects of the calibration efficiency and the accuracy of the calibration result.
Fig. 2a is a schematic diagram of a main flow of a positioning parameter calibration method for a mobile robot according to another embodiment of the present invention; as shown in fig. 2a, the method for calibrating a positioning parameter of a mobile robot according to an embodiment of the present invention mainly includes:
step S201, when the mobile robot moves in a moving area, acquiring identification code images at different moments by using a camera arranged on the mobile robot, and acquiring an identification code position matrix of the identification code at different moments in a camera coordinate system according to the identification code images; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot.
Specifically, according to the embodiment of the invention, the mobile robot moves in a moving area attached with an identification code on the ground, the camera fixedly arranged on the mobile robot is used for collecting identification code images at different moments, and at each moment, an identification code pose matrix at different moments is determined through operations of code searching, decoding and calculation of the identification code pose in the obtained identification code image. As shown in fig. 2b, in the schematic diagram of the mobile robot, it can be known that the robot coordinate system uses the central points of the left wheel hub and the right wheel hub as the origin, and the moving direction of the mobile robot as the x-axis. The camera coordinate system takes the pose of the camera at the initial moment as an origin.
Step S202, collecting the wheel hub angular speed of the mobile robot at different moments while collecting the identification code image.
According to the embodiment of the invention, the angular speed of the hub can be obtained through the sensor arranged on the hub.
Step S203, multiplying the identification code position matrix at the current moment by the inverse matrix of the identification code position matrix at the next moment to obtain a first position change matrix of the camera.
Identification code position and posture matrix of known identification codes under N +1 moments in camera coordinate system
K =0,1 … N, camera at the upper left corner of the formula represents a camera coordinate system, tag at the lower left corner of the formula represents an identification code, T represents a pose, and a first pose change matrix of the camera in N time intervals is calculated, wherein the specific formula is as follows:
where "") represents a matrix multiplication and "Inv ()" represents a matrix inversion.
Step S204, calculating to obtain a robot posture matrix of the mobile robot in a world coordinate system at different moments according to the hub angular speed at different moments; and the pose of the mobile robot at the initial moment is the origin of the world coordinate system.
Specifically, the angular speed of the left wheel hub of the mobile robot is w L,k Right wheel hub angular velocity of w R,k . According to the linear velocity v of the mobile robot k And angular velocity w k Function of the hub parameters (hub angular velocity and hub pitch):
wherein b is the hub pitch, r L Is the right wheel hub radius, r R Is the left wheel hub radius. In the embodiment of the invention, the pose (x) of the mobile robot at the initial calibration starting moment is specified 0 ,y 0 ,θ 0 ) The corresponding coordinate system is the world coordinate system, so the pose of the mobile robot at the initial time in the world coordinate system is (0,0,0). The robot pose of the mobile robot under a world coordinate system is
Wherein world coordinate system is represented by world in the upper left corner. Robot pose and corresponding vector representation (x) k ,y k ,θ k ) And the conversion can be carried out in a one-to-one correspondence mode. Combining the following formula, the robot pose of the mobile robot under the world coordinate system at different times can be calculated
Wherein x is k ＝x k-1 +v k *cosθ*dt
y k ＝y k-1 +v k *sinθ*dt
θ k ＝θ k-1 +w k *dt
And S205, multiplying the inversion matrix of the robot pose matrix at the current moment by the robot pose matrix at the next moment to obtain the robot pose change matrix of the mobile robot.
According to the embodiment of the invention, the pose change matrix of the robot is as follows:
step S206, determining a transformation matrix between a camera coordinate system and a robot coordinate system; and calculating to obtain a second attitude change matrix of the camera according to the attitude change matrix and the transformation matrix of the robot.
According to the embodiment of the invention, the pose (x) of the camera in the robot coordinate system c ,y c ,θ c ) For the camera external parameter, for the positioning parameter to be calibrated, the corresponding transformation matrix is
Because the camera is fixedly connected with the mobile robot, the transformation matrix can not be changed at different moments. Namely: the expression formula of the camera in the second attitude change matrix is as follows:
and step S207, constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first posture change matrix and the second posture change matrix.
In accordance with an embodiment of the present invention,
is a function including positioning parameters (hub parameters and camera external parameters), and theoretically, if the positioning parameters of the mobile robot are completely accurate, the first posture change matrix should be equal to the second posture change matrix. However, in practice, there is an error in the positioning parameters, and the two parameters are not completely equal.
Therefore, a least square method problem is constructed based on the first position posture change matrix, the second position posture change matrix, the two-dimensional rigid body change matrix and the two-norm matrix, and an optimized model is obtained:
and S208, solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
According to the embodiment of the invention, the positioning parameters comprise hub parameters and camera external parameters, wherein the hub parameters comprise a left wheel hub radius, a right wheel hub radius and a hub distance, and the camera external parameters are the pose of the camera in a robot coordinate system.
Specifically, the least square method used for the solution may be gauss newton method, long Beige-Ma Kuite method (LM method), dogleg method (dog-leg method), or the like. Through the solution of the optimization model, the calibrated positioning parameters can be obtained, and the accuracy of the calibration result is obviously improved.
According to the technical scheme of the embodiment of the invention, when the mobile robot moves in the moving area, the identification code position matrix of the identification code under the camera coordinate system and the hub angular velocity of the mobile robot at different moments are respectively obtained; the identification code is arranged on the ground of a mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; the technical means of constructing an optimization model based on the first attitude change matrix and the second attitude change matrix and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot overcome the technical problems of higher cost and workload required by calibration, lower accuracy of a calibration result, low calibration efficiency and more complicated operation flow in the existing calibration method, and further achieve the purposes of obtaining an identification code attitude matrix and a hub angular velocity in the running process of the mobile robot, further calculating to obtain the first attitude change matrix and the second attitude change matrix of the camera, solving the optimization model to obtain the calibrated positioning parameters by constructing the optimization model, simplifying the calibration flow, reducing the cost and workload required by calibration and improving the technical effects of the calibration efficiency and the accuracy of the calibration result.
FIG. 3 is a schematic diagram of the main modules of the positioning parameter calibration apparatus for a mobile robot according to an embodiment of the present invention; as shown in fig. 3, a positioning parameter calibration apparatus 300 of a mobile robot according to an embodiment of the present invention mainly includes:
the acquiring module 301 is configured to acquire an identification code position and posture matrix of the identification code in a camera coordinate system and a hub angular velocity of the mobile robot at different times when the mobile robot moves in the moving area; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot.
Specifically, according to the embodiment of the invention, the mobile robot moves in a moving area attached with the identification code on the ground, the camera arranged on the mobile robot is used for collecting images of the identification code at different moments, and the identification code position and posture matrix of the identification code at different moments under the camera coordinate system is obtained according to the images of the identification code. According to a specific implementation manner of the embodiment of the invention, at each moment, the identification code position matrixes at different moments are determined through operations of code searching, decoding and identification code position and pose calculation in the acquired identification code image. When the identification code image is collected, the wheel hub angular speed of the mobile robot at different moments is collected.
The calculation module 302 is used for calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; and the pose of the mobile robot at the initial moment is the origin of the world coordinate system.
Specifically, according to an embodiment of the present invention, the calculating module 302 is further configured to:
converting the identification code position matrixes of the identification codes under the camera coordinate system at different moments to obtain the camera position matrixes of the cameras under the identification code coordinate system at different moments;
and multiplying the camera pose matrix at the current moment by the inverse matrix of the camera pose matrix at the next moment to obtain a first pose change matrix of the camera.
According to the embodiment of the invention, the identification code position and posture matrix of the identification code under the camera at a plurality of moments is known, and the camera position and posture matrix of the camera under the identification code coordinate system at a plurality of moments can be obtained by converting the identification code position and posture. According to the camera pose matrix at the adjacent moment, the pose variation quantity of the camera, namely the first pose variation matrix, can be obtained through calculation.
Further, according to an embodiment of the present invention, the calculating module 302 is further configured to:
calculating to obtain a robot position matrix of the mobile robot in a world coordinate system at different moments according to the angular speeds of the hubs at the different moments;
multiplying the inversion matrix of the robot pose matrix at the current moment by the robot pose matrix at the next moment to obtain a robot pose change matrix of the mobile robot;
and calculating to obtain a second position and posture change matrix of the camera according to the position and posture change matrix of the robot.
Specifically, the world coordinate system is constructed based on the moving area scene, and the position of the mobile robot at the initial time is taken as the origin of the world coordinate system, that is, the pose of the mobile robot at the initial time in the world coordinate system is (x) 0 ，y 0 ，θ 0 ). And calculating the linear velocity and the angular velocity of the mobile robot according to the angular velocities of the hubs at different moments. And calculating to obtain a robot pose matrix of the mobile robot in the world coordinate system at different moments according to the initial pose of the mobile robot in the world coordinate system at the initial moment and the linear speed and the angular speed of the mobile robot at different moments. And then calculating to obtain a pose change matrix of the robot according to the pose matrix of the robot at the adjacent moment.
Further, according to an embodiment of the present invention, the calculating module 302 is further configured to:
determining a transformation matrix between a camera coordinate system and a robot coordinate system;
and calculating to obtain a second attitude change matrix of the camera according to the attitude change matrix and the transformation matrix of the robot.
According to a specific implementation of an embodiment of the present invention, a robot pose change matrix of a mobile robot is obtained. Because the camera and the mobile robot are fixedly connected, the relative pose between the camera and the mobile robot is not changed at different moments, and the position and pose change matrix of the robot and the position and pose change matrix of the camera can be switched through the transformation matrix between the camera coordinate system and the robot coordinate system. Therefore, the pose change matrix of the camera, namely the second pose change matrix, can be obtained through calculation according to the pose change matrix and the transformation matrix of the robot.
And the calibration module 303 is configured to construct an optimization module based on the first position and posture change matrix and the second position and posture change matrix, and solve the optimization model to obtain a positioning parameter calibrated by the mobile robot.
Specifically, according to an embodiment of the present invention, the calibration module 303 is further configured to:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first posture change matrix and the second posture change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
According to the embodiment of the invention, the second attitude change matrix of the camera is related to the positioning parameters (a function matrix of the hub parameters and the camera external parameters). If the positioning parameters of the mobile robot are completely accurate, the first posture change matrix should be equal to the second posture change matrix. However, in practice, there is an error in the positioning parameters, and the two parameters are not completely equal. Therefore, a least square problem is constructed based on the first position and posture change matrix, the second position and posture change matrix, the two-dimensional rigid body transformation matrix and the two-norm matrix to obtain an optimized model, and then calibrated positioning parameters can be obtained by solving the optimized model, so that the accuracy of a calibration result is obviously improved. Specifically, the least square method used for the solution may be gauss newton method, long Beige-Ma Kuite method (LM method), dogleg method (dog-leg method), or the like.
Illustratively, according to the embodiment of the invention, the positioning parameters include hub parameters and camera external parameters, wherein the hub parameters include a left wheel hub radius, a right wheel hub radius and a hub distance, and the camera external parameters are poses of the cameras in a robot coordinate system.
According to the technical scheme of the embodiment of the invention, when the mobile robot moves in the moving area, the identification code position matrix of the identification code under the camera coordinate system and the hub angular velocity of the mobile robot at different moments are respectively obtained; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; the technical means of constructing an optimization model based on the first attitude change matrix and the second attitude change matrix and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot overcome the technical problems of higher cost and workload required by calibration, lower accuracy of a calibration result, low calibration efficiency and more complicated operation flow in the existing calibration method, and further achieve the purposes of obtaining an identification code attitude matrix and a hub angular velocity in the running process of the mobile robot, further calculating to obtain the first attitude change matrix and the second attitude change matrix of the camera, solving the optimization model to obtain the calibrated positioning parameters by constructing the optimization model, simplifying the calibration flow, reducing the cost and workload required by calibration and improving the technical effects of the calibration efficiency and the accuracy of the calibration result.
Fig. 4 shows an exemplary system architecture 400 to which the positioning parameter calibration method of the mobile robot or the positioning parameter calibration apparatus of the mobile robot according to the embodiment of the present invention may be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405 (this architecture is merely an example, and the components included in a particular architecture may be adapted according to application specific circumstances). The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have various communication client applications installed thereon, such as a positioning parameter calibration application of the mobile robot, a web browser application, a search application, a data processing tool, etc. (for example only).
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a server (for example only) for a user to perform positioning parameter calibration/data processing of the mobile robot with the terminal devices 401, 402, 403. The server can analyze and process the received data such as the position and the pose of the identification code, the angular velocity of the hub and the like, and feed back a processing result (such as calibrated positioning parameters-only an example) to the terminal equipment.
It should be noted that the method for calibrating the positioning parameter of the mobile robot provided in the embodiment of the present invention is generally executed by the server 405, and accordingly, the positioning parameter calibration apparatus of the mobile robot is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use with a terminal device or server implementing embodiments of the present invention. The terminal device or the server shown in fig. 5 is only an example, and should not bring any limitation to the functions and the use range of the embodiment of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. 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 of the computer readable storage medium may include, but are not limited to: 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 present invention, 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. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes an acquisition module, a calculation module, and a calibration module. The names of the modules do not form a limitation on the modules themselves in some cases, for example, the acquiring module may also be described as a "module for respectively acquiring the identifier code pose matrix of the identifier code in the camera coordinate system and the hub angular velocity of the mobile robot at different moments when the mobile robot moves in the moving area".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: when the mobile robot moves in a moving area, respectively acquiring an identification code position matrix of an identification code in a camera coordinate system and a hub angular speed of the mobile robot at different moments; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; and constructing an optimization model based on the first attitude change matrix and the second attitude change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
According to the technical scheme of the embodiment of the invention, when the mobile robot moves in a moving area, the identification code position and posture matrix of the identification code under the camera coordinate system and the hub angular speed of the mobile robot at different moments are respectively obtained; the identification code is arranged on the ground of a mobile area, and the camera is fixedly arranged on the mobile robot; calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of the world coordinate system; the technical means of constructing the optimization model based on the first attitude change matrix and the second attitude change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot overcome the technical problems of higher cost and workload required by calibration, lower accuracy of calibration results, low calibration efficiency and more complicated operation process in the existing calibration method, and further achieve the purposes of obtaining the identification code attitude matrix and the hub angular velocity in the operation process of the mobile robot, further calculating to obtain the first attitude change matrix and the second attitude change matrix of the camera, solving the optimization model to obtain the calibrated positioning parameters by constructing the optimization model, simplifying the calibration process, reducing the cost and workload required by calibration, and improving the technical effects of the calibration efficiency and the accuracy of the calibration results.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for calibrating positioning parameters of a mobile robot is characterized by comprising the following steps:
when the mobile robot moves in a moving area, respectively acquiring an identification code position and posture matrix of an identification code under a camera coordinate system and a hub angular velocity of the mobile robot at different moments; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot;
calculating to obtain a first position and posture change matrix of the camera according to the identification code position and posture matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of a world coordinate system;
and constructing an optimization model based on the first position and posture change matrix and the second position and posture change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
2. The method for calibrating the positioning parameters of the mobile robot according to claim 1, wherein the step of calculating the first pose change matrix of the camera according to the identifier code pose matrix comprises:
and multiplying the position and pose matrix of the identification code at the current moment by the inversion matrix of the position and pose matrix of the identification code at the next moment to obtain a first position and pose change matrix of the camera.
3. The method for calibrating the positioning parameters of the mobile robot according to claim 1, wherein the step of calculating the second attitude change matrix of the camera according to the angular velocity of the hub comprises:
calculating to obtain a robot position and posture matrix of the mobile robot in a world coordinate system at different moments according to the wheel hub angular speeds at different moments;
multiplying an inversion matrix of the robot pose matrix at the current moment by the robot pose matrix at the next moment to obtain a robot pose change matrix of the mobile robot;
and calculating to obtain a second attitude change matrix of the camera according to the robot attitude change matrix.
4. The method for calibrating the positioning parameters of the mobile robot according to claim 3, wherein the step of calculating the second pose change matrix of the camera according to the pose change matrix of the robot further comprises:
determining a transformation matrix between a camera coordinate system and a robot coordinate system;
and calculating to obtain a second attitude change matrix of the camera according to the robot attitude change matrix and the transformation matrix.
5. The method for calibrating the positioning parameters of the mobile robot according to claim 1, wherein the step of constructing an optimization module based on the first attitude change matrix and the second attitude change matrix and solving the optimization model comprises:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first attitude change matrix and the second attitude change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
6. The method for calibrating the positioning parameters of the mobile robot according to claim 5, wherein the positioning parameters comprise hub parameters and camera external parameters, wherein the hub parameters comprise a left wheel hub radius, a right wheel hub radius and a hub distance, and the camera external parameters are the pose of the camera in the robot coordinate system.
7. A positioning parameter calibration device of a mobile robot is characterized by comprising:
the acquisition module is used for respectively acquiring an identification code position and posture matrix of an identification code under a camera coordinate system and the hub angular velocity of the mobile robot at different moments when the mobile robot moves in a moving area; the identification code is arranged on the ground of the mobile area, and the camera is fixedly arranged on the mobile robot;
the calculation module is used for calculating to obtain a first pose change matrix of the camera according to the identification code pose matrix; calculating to obtain a second attitude change matrix of the camera according to the angular velocity of the hub; the pose of the mobile robot at the initial moment is the origin of a world coordinate system;
and the calibration module is used for constructing an optimization module based on the first position and posture change matrix and the second position and posture change matrix, and solving the optimization model to obtain the positioning parameters calibrated by the mobile robot.
8. The positioning parameter calibration apparatus of claim 7, wherein the calibration module is further configured to:
constructing an optimization model according to the two-dimensional rigid body transformation matrix, the two-norm matrix, the first attitude change matrix and the second attitude change matrix;
and solving the optimization model by using a least square method, wherein the solved result is the positioning parameter calibrated by the mobile robot.
9. An electronic device for calibrating positioning parameters of a mobile robot, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| CN116372941A (en) * | 2023-06-05 | 2023-07-04 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
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| CN116372941A (en) * | 2023-06-05 | 2023-07-04 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
| CN116372941B (en) * | 2023-06-05 | 2023-08-15 | 北京航空航天大学杭州创新研究院 | Robot parameter calibration method and device and wheeled robot |
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