CN117415858B - Rudder angle compensation calibration method and system for single steering wheel mobile robot and storage medium - Google Patents
Rudder angle compensation calibration method and system for single steering wheel mobile robot and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides a rudder angle compensation calibration method and system for a single-rudder-wheel mobile robot and a storage medium, wherein the method comprises the following steps: when the ith rotation is determined, the mileage center position of the current mobile robot car bodyAnd marks the current calibration coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Adjusting steering angle of steering wheelThe car body is at a calibrated angleI times back and forth in-situ rotations, and record the ith rotationIs positioned atThe calibration coordinates on the middle Y axis areThe method comprises the steps of carrying out a first treatment on the surface of the Taking several calibration coordinatesThe average value Y' of the steering wheel Y-axis reference installation position; repeatedly acquiring corresponding rotation calibration anglesWhen (1)To calculateTo the compensation value of (2) for the rotation of the vehicle bodyAt the time of angle calibrationAnd performing corresponding compensation. Thereby ensuring the precision of the mobile robot in-situ rotation under different rudder angle angles and directions.
Description
Technical Field
The invention relates to a steering wheel calibration technology of a mobile robot, in particular to a steering angle compensation calibration method, a system and a storage medium of a single steering wheel mobile robot.
Background
The mobile robot is an indispensable intelligent device for carrying goods in an intelligent factory, and a single steering wheel structure is the most widely used structure when the mobile robot carries a pallet. After the control end sends an action command to the mobile robot, the robot calculates the action command as an execution command of the motor according to the motion model parameters of the mobile robot. Therefore, before the mobile robot performs various actions, in order to ensure that the mobile robot can accurately perform the actions according to the expected actions, parameter calibration of the mobile robot needs to be performed first.
For the command of the single steering wheel mobile robot to rotate in situ, because the single steering wheel mobile robot is expected to rotate in situ around the mileage center, the corresponding rudder angle is calculated according to the installation position of the steering wheel relative to the mileage center, so that the rotation center of the robot coincides with the mileage center. For a single steering wheel mobile robot, the position of the mileage center is shown in fig. 1, and is at the midpoint of the wheel axes of the two fixed wheels. The rotation center refers to the fixed point around which the robot rotates, and the position thereof is shown in fig. 2.
Thus when the following assumptions are made:
suppose 1: the installation position of the steering wheel relative to the mileage center is accurate;
suppose 2: the issuing and executing of rudder angle is accurate, and no angle deviation exists.
When either of the hypothesis 1 or the hypothesis 2 is not satisfied, the rotation center and the mileage center of the robot in-situ rotation will not coincide at this time, which may cause a change in the position of the robot mileage center on the map before and after the rotation. In the operation of rotating the robot in place to retrieve the goods, the actual position of the robot is changed, which results in inaccurate insertion and retrieval of the goods. While assumptions 1 and 2 are often not satisfied, calibration is required to compensate for the resulting errors for the problem that assumptions 1 and 2 are not satisfied.
In the field of automatic calibration of mobile robots, most calibration methods are based on positioning information and offline odometer information, and the motion parameters of the robots and the mounting positions of sensors are obtained by using an optimization method, as described in documents [ 1-3 ], but for single steering wheel vehicle bodies, the mounting positions of steering wheels in the Y direction do not influence the calculation of the odometers, so that calibration cannot be performed through the schemes, and the schemes do not consider the problem of rudder angle compensation under different angles.
In the scheme of document [4] of the applicant, although the installation position of the steering wheel can be calibrated, when the installation position of the steering wheel in the Y direction is calibrated, the actually calibrated installation position of the steering wheel in the Y direction is possibly coupled with the steering angle compensation because the steering angle compensation is not considered, and the in-situ rotation performance is good when the steering angle is rotated to +/-90 degrees cannot be ensured.
Reference is made to:
[1] method and device for calibrating motion model of double-wheel differential robot and odometer system, patent grant publication number: CN109571467B.
[2] Parameter joint calibration method, system, equipment and storage medium of mobile robot, patent grant publication number: CN116026368B.
[3] Method and device for calibrating AGV steering wheel installation position and storage medium patent publication number: CN114700987a.
[4] Calibration method and system for steering wheel installation position of mobile robot and storage medium are disclosed in patent grant publication number CN116061194B.
Disclosure of Invention
Therefore, the main purpose of the invention is to provide a single steering wheel mobile robot rudder angle compensation calibration method, a system and a storage medium, so as to ensure the accuracy of the mobile robot in-situ rotation under different rudder angle angles and directions.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a rudder angle compensation calibration method for a single-rudder wheel mobile robot, comprising the steps of:
step S100 when it is determined that the ith rotation is currently movingMileage center position of robot car bodyAnd marks the current calibration coordinate system；
Step S200, adjusting steering angle of steering wheelThe car body is at a calibrated angleBack and forth i times of in-situ rotation by a multiple of 180 DEG, and recording the ith rotationIs positioned atThe calibration coordinates on the middle Y axis are = WhereinTo know the Y-axis mounting position of the steering wheel,indicating the ith rotationIs positioned atDistance on the middle Y axis;
step S300, several times of calibration coordinates are takenThe average value Y' of the steering wheel Y-axis reference installation position;
step S400 repeats steps S100 to SS200, obtaining a corresponding rotation calibration angleWhen (1)To calculateIs a compensation value of (1):
。
to rotate the car bodyWhen (1)Corresponding compensation is carried out, wherein X is the known X-axis installation position of the steering wheel.
In a possible preferred embodiment, wherein the steering wheel rudder angleWherein x and y are the known steering wheel X, Y axle mounting positions, respectively.
In a possibly preferred embodiment, wherein the nominal angleIs + -180 deg..
In a possibly preferred embodiment, wherein the known X, Y axle mounting position coordinates of the steering wheel are employed includes: measurement, or any of the ways of theoretical data acquisition/pushing.
In a possibly preferred embodiment, wherein the nominal angleIn order to drive the mobile robot to move to form in-situ rotation, the steering angle of the steering wheel can be causedAngle of deviation.
In a possibly preferred embodiment, the steps further comprise: step S500 of obtaining a preset number of calibration anglesCorresponding toAfter the compensation value, a linear interpolation method is used for estimating the calibration angle with the known calibration angleCorresponding toAt different angles of demarcation between compensation valuesAnd (5) compensating values.
In order to achieve the above object, according to a second aspect of the present invention, there is also provided a rudder angle compensation calibration system of a single-rudder wheel mobile robot, comprising:
the storage unit is used for storing a program comprising the rudder angle compensation calibration method steps of the single-rudder-wheel mobile robot, so that the program is timely adjusted and executed by the control unit, the data acquisition unit and the processing unit;
the data acquisition unit is used for acquiring the mileage center position of the current mobile robot car body after the ith rotationAnd the origin is taken as the origin, the straight direction of the current car body is taken as the X axis, the lateral direction is taken as the Y axis, and a calibration coordinate system is marked；
A control unit for adjusting steering angle of steering wheelThe car body is at a calibrated angleI times back and forth in-situ rotations;
a processing unit for calculating the ith rotationIs positioned atCalibration coordinates on the middle Y-axis = And take several calibration coordinatesThe average value Y' of the steering wheel Y-axis reference installation position; then corresponding rotation is calibrated to an angleWhen (1)Brings in the compensation formula:
。
calculating a compensation value of the corresponding vehicle body when rotating + -theta calibration angles so as to control steering angle of steering wheelsAnd compensating.
In order to achieve the above object, according to a third aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the single steering wheel mobile robot rudder angle compensation calibration method as described in any one of the above.
The method, the system and the storage medium for calibrating the rudder angle compensation of the single-rudder-wheel mobile robot solve the problem that deviation exists between issuing and executing of the rudder angle in practice, so that the rudder angle of the rudder at different angles and directions can be compensated and corrected, and the actual angle of the rudder angle can execute the issuing angle more accurately. Thereby improving the control precision of the single steering wheel mobile robot body during in-situ rotation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a mileage center position of a single steering wheel mobile robot according to the prior art;
FIG. 2 is a schematic view of the rotation center position of a single steering wheel mobile robot according to the prior art;
FIG. 3 is a schematic diagram showing the structural relationship between the rudder angle and the mileage center and the calibration coordinate system when the single-steering-wheel mobile robot rotates in situ in the single-steering-wheel mobile robot rudder angle compensation calibration method of the invention;
FIG. 4 is a schematic view of the pose of the single steering wheel mobile robot before in-situ rotation in the single steering wheel mobile robot rudder angle compensation calibration method of the invention;
FIG. 5 is a schematic view of the position and the posture of the single steering wheel mobile robot after in-situ rotation in the single steering wheel mobile robot rudder angle compensation calibration method of the invention;
FIG. 6 is a schematic diagram of the structural relationship during rudder angle compensation in the single-rudder-wheel mobile robot rudder angle compensation calibration method of the invention;
fig. 7 is a schematic structural diagram of a rudder angle compensation calibration system of the single-rudder-wheel mobile robot.
Detailed Description
In order that those skilled in the art can better understand the technical solutions of the present invention, the following description will clearly and completely describe the specific technical solutions of the present invention in conjunction with the embodiments to help those skilled in the art to further understand the present invention. It will be apparent that the embodiments described herein are merely some, but not all embodiments of the invention. It should be noted that embodiments and features of embodiments in this application may be combined with each other by those of ordinary skill in the art without departing from the inventive concept and conflict. All other embodiments, which are derived from the embodiments herein without creative effort for a person skilled in the art, shall fall within the disclosure and the protection scope of the present invention.
Furthermore, the terms "first," "second," "S100," "S200," and the like in the description and in the claims and drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the features so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those described herein. Also, the terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. Unless specifically stated or limited otherwise, the terms "disposed," "configured," "mounted," "connected," "coupled" and "connected" are to be construed broadly, e.g., as being either permanently connected, removably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this case will be understood by those skilled in the art in view of the specific circumstances and in combination with the prior art.
In view of the problems of the prior art mentioned in the background art, in order to be able to ensure the accuracy of the mobile robot in-situ rotation at different rudder angles and directions, the present invention intends to provide a solution to enable the actual angle of the rudder angle to perform the issuing angle more accurately by compensating for the rudder angle at different rudder angles and directions.
Specifically, as shown in fig. 3 to 6, the rudder angle compensation calibration method for the single-steering wheel mobile robot provided by the invention comprises the following exemplary steps:
step (a)S100, firstly recording the mileage center position of the current mobile robot car body when the ith rotation or in the initial state is determinedAnd byMarking a current calibration coordinate system by taking the vehicle body travelling direction as an original point, the vehicle body travelling direction as an X-axis positive direction and the vehicle body left side as a Y-axis positive direction。
Step S200, adjusting steering angle of steering wheel(the rudder angle is set to be negative clockwise and positive anticlockwise) so that the vehicle body is at a calibrated angleI times back and forth in-situ rotations, and record the ith rotationIs positioned atThe calibration coordinates on the middle Y axis are = WhereinTo know the Y-axis mounting position of the steering wheel,indicating the ith rotationIs positioned atMiddle Y axisDistance above.
Wherein in the present example, the calibration angleIn practice, steering angle of steering wheel can be caused when the mobile robot is driven to move to form in-situ rotationThe angle of the deviation will be described below by taking ±180° as an example.
Wherein in the present example, the steering angle of the steering wheelThe calculation formula of (2) is as follows:
formula (1)
Wherein x and y are respectively known steering wheel X, Y axle mounting positions, namely, the method comprises the following steps: the steering wheel X, Y axle mounting position obtained in either the actual measurement, or the theoretical data acquisition/pushing, including the solutions obtained using prior known techniques, is measured.
Specifically, taking four in-place rotations as an example, the example steps are as follows:
step S201 calculates steering wheel rudder angle according to formula (1)Make rudder angle atThe positive solution of the two is that the vehicle body in-situ positive value is rotated 180 degrees, and the position of the mileage center of the vehicle body is marked in the step S100Thereby measuring the mileage center position at that timeThe calibration coordinate system established in step S100Coordinates on the middle Y-axis (May be positive or negative) as shown in fig. 5. At this time, the calibration coordinates of the steering wheel in the 1 st rotation in the Y-axis direction are calculatedShould be as follows = WhereinTo know the Y-axis mounting position of the steering wheel,indicating the 1 st rotationIs positioned atDistance on the Y axis.
Step S202 repeating step S100 to mark the position of the current vehicle mileage center at the 2 nd rotationCalibration coordinate systemCalculating steering wheel rudder angle according to formula (1)Make rudder angle atThe positive solution between them makes the car body in situThe positive value rotates by 180 degrees to measure the mileage center position at the momentIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, the calibration coordinates of the steering wheel in the Y-axis direction at the time of the 2 nd rotationShould be as follows = WhereinIndicating the 2 nd rotationIs positioned atDistance on the Y axis.
Step S203 repeats step S100 to mark the position of the current vehicle body mileage center at the 3 rd rotationCalibration coordinate systemCalculating steering wheel rudder angle according to formula (1)Make rudder angle atThe positive solution between the two is that the car body is rotated 180 degrees in a negative value in situ (if the car body is rotated in situ in the previous step, the calculated rudder angle is85 deg., the rudder angle should be-95 deg. at this time). Measuring the mileage center position at this timeIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, the calibration coordinates of the steering wheel in the 3 rd rotation in the Y-axis directionShould be as follows = WhereinIndicating the 3 rd rotationIs positioned atDistance on the Y axis.
Step S204 the step S100 is repeated to mark the position of the current vehicle mileage center at the 4 th rotationCalibration coordinate systemCalculating steering wheel rudder angle according to formula (1)Make rudder angle atAnd at the positive solution position, the vehicle body rotates by minus 180 degrees in situ. Measuring the mileage center position at this timeIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, the calibration coordinates of the steering wheel in the 4 th rotation in the Y-axis directionShould be as follows = WhereinIndicating the 4 th rotationIs positioned atDistance on the Y axis.
Step S300, several times of calibration coordinates are takenAs the average Y' of the steering wheel Y-axis reference mounting position.
For example, taking an average value according to the 4-time rotation result, the final calibrated Y-axis reference installation position is:
y’=(+++)/4
of course, although this example illustrates a scheme of calculating y' after 4 rotations, in practice, those skilled in the art can increase/decrease the number of rotations to obtain more/less according to actual needsTo calculate the average y', so the 4 rotations of the above example do not limit the number of rotations. Those skilled in the art can make the selection according to actual needs.
Furthermore, in practice, the lateral deviation before and after rotation is coupled with the deviation of the installation position Y of the steering wheel and the steering angle of the steering angle, so that the calibration result is inaccurate. Therefore, in order to integrate the factors of different angles and rotation directions, after the Y-axis reference mounting position of the steering wheel is obtained, the steering angle angles under different angles and rotation directions can be calculatedAnd compensating.
Step S400 is repeated from step S100 to step S200 to obtain corresponding rotation calibration anglesWhen (1)To calculateIs a compensation value of (1):
formula (2)
Accordingly, the vehicle body is rotatedWhen (1)Corresponding compensation is carried out, wherein X is the X-axis installation position of the known steering wheelAnd (5) placing.
For example, following the above example of 4 rotations, the actual angle corresponding to these 4 rudder angle rotations is also to be compensated, which steps include:
step S401 is to repeat step S100 and step S200, so as to record the center position of the mileage of the car body when the rudder angle of the car body is rotated 180 degrees to carry out the 5 th rotationIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, when the rudder angle positive value is rotated 180 °, the compensation value of the rudder angle is approximately:
。
step S402, repeating step S100 and step S200, and recording the center position of the mileage of the vehicle body when the rudder angle of the vehicle body rotates by 180 degrees to perform the 6 th rotationIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, when the rudder angle positive value is rotated 180 °, the compensation value of the rudder angle is approximately:
。
step S403 is to repeat step S100 and step S200 to record the center position of the vehicle mileage when the rudder angle of the vehicle body is rotated 180 degrees to perform 7 th rotationAt the time of calibratingLabel systemCoordinates on the middle Y-axis. At this time, when the rudder angle positive value is rotated 180 °, the compensation value of the rudder angle is approximately:
。
step S404, repeating step S100 and step S200, and recording the center position of the mileage of the vehicle body when the rudder angle of the vehicle body rotates by-180 degrees for 8 th rotationIn a calibrated coordinate systemCoordinates on the middle Y-axis. At this time, when the rudder angle positive value is rotated 180 °, the compensation value of the rudder angle is approximately:
。
and so on, the rudder angle can be calculated and obtained respectively in the following way: rudder angle compensation value when positive value rotates + -180 DEG and negative value rotates + -180 deg. Thereby will correspond toIs compensated to the corresponding steering angle of the steering wheelAfter the compensation calibration is finished.
The experimental examples will be further described below.
Assume that the actual installation position of the steering wheel is (1 m,0.1 m) in a calibration coordinate system with the mileage center as the origin of coordinates. Because a certain error exists in manual measurement, the rudder angle cannot accurately execute the issuing angle, and the compensation calibration is performed according to the above-mentioned example steps assuming that the measured steering wheel mounting position is (1 m,0.09 m).
First, the robot body is kept stationary, and a calibration coordinate system shown in fig. 4 is established. The positive value of the angle when the rudder angle is rotated in place is calculated according to the formula (1) to beThe vehicle body is then controlled to rotate 180 deg. in situ. Because there is a certain error between the actual issuing and executing of the rudder angle of the robot, the actual angle of the rudder angle of the robot is 94.14 degrees, assuming that the error of the rudder angle under the angle and the direction is-1 degrees. According to the position diagram of the rotation center in FIG. 2, the equation of the steering wheel perpendicular bisector at this time is
。
Carry-inThe rotation center coordinates were found to be (0, 0.027 m). The coordinates of the mileage center in the calibration coordinate system shown in step S100 after the robot rotates 180 ° around the rotation center (0, 0.027 m) become 0.054m, that is=0.054m, then = =0.117。
Then, the rudder angle rotation of-180 degrees, the rudder angle rotation of 180 degrees and the rudder angle rotation of-180 degrees are measured, respectively, assuming that the measured values=0.03m，=-0.04m，= -0.05m, then=0.105，=0.07，=0.065, the calibration result Y' of the steering wheel Y direction is: y' = =. Degree+++)/4 = 0.0892。
At this time, there is an error between the calculated steering wheel Y-axis reference installation position and the actual installation position, which is affected by an angular deviation existing between actual issuing and execution of the steering angle. The nominal Y' will be used below for the installation position in the rudder angle Y direction when calculating the rudder angle compensation.
Firstly, repeating the step S100, and calculating that the rudder angle positive value angle during the in-situ rotation at the moment isThe trolley is then controlled to rotate 180 ° in situ. Since there is a certain error between the actual issuing and executing of the rudder angle of the robot, the actual angle of the rudder angle of the robot is 94.0973 ° assuming that the rudder angle error is-1 ° at this angle and direction. According to the position diagram of the rotation center in fig. 2, the equation of the steering wheel perpendicular bisector of the robot at this time is:
。
carry-inThe rotation center coordinate was found to be (0, 0.0284 m). After the robot rotates 180 degrees around the rotation center (0, 0.0284 m), the coordinates of the vehicle body mileage center in the current calibration coordinate system become 0.0568m, namely= 0.0568m, the rudder angle compensation value at this time, which is obtainable according to formula (2), is:
。
and then verifying the calibration result. Repeating the above steps, and calculating that the rudder angle positive angle in the in-situ rotation isThe trolley is then controlled to rotate 180 ° in situ, the issued rudder angle being 96.7131 ° since the rudder angle compensation when the rudder angle positive value rotation 180 ° has been calibrated is 1.6158 °.
Still assuming that the rudder angle error is-1 deg. at this angle and direction, the actual rudder angle is 95.7131 deg.. The equation of the steering wheel perpendicular bisector at this time is:
。
carry-inThe rotation center coordinate is (0,0.0) can be obtained. The coordinates of the mileage center in the calibration coordinate system after the robot rotates 180 ° around the rotation center (0,0.0) become 0.0m.
Thereby, after compensation calibration, the error of the in-situ rotation is reduced to 0.0m from the original 0.0568 m. Because the rudder angle compensation of the actual robot has the nonlinear property, if the actual robot still has in-situ rotation errors after calibration, the actual robot can be calibrated for multiple times until the precision meets the requirement.
In addition, the rudder angle compensation calibration of the vehicle body under the conditions that the calibration angle rotates by-180 degrees at positive value and rotates by 180 degrees at negative value and rotates by-180 degrees at negative value is respectively carried out in the similar way, so that rudder angle compensation values under different rudder angle angles and directions can be obtained.
On the other hand, in an alternative embodiment, after a certain number of rudder angle compensation values are obtained, a linear interpolation method may be used to expand the compensation values under different calibration angles.
Thus, the method steps of the present example further comprise: step S500 of obtaining a preset number of calibration anglesCorresponding toAfter the compensation value, a linear interpolation method is used for estimating the calibration angle with the known calibration angleCorresponding toAt different angles of demarcation between compensation valuesAnd (5) compensating values.
On the other hand, as shown in fig. 7, the invention also provides a rudder angle compensation calibration system of the single-rudder wheel mobile robot, which corresponds to the compensation calibration method and comprises the following steps:
the storage unit is used for storing a program comprising the rudder angle compensation calibration method steps of the single-rudder-wheel mobile robot, so that the program is timely adjusted and executed by the control unit, the data acquisition unit and the processing unit;
the data acquisition unit is used for acquiring the mileage center position of the current mobile robot car body after the ith rotationAnd the origin is taken as the origin, the straight direction of the current car body is taken as the X axis, the lateral direction is taken as the Y axis, and a calibration coordinate system is marked；
A control unit for adjusting steering angle of steering wheelThe car body is at a calibrated angleI times back and forth in-situ rotations;
a processing unit for calculating the ith rotationIs positioned atCalibration coordinates on the middle Y-axis = And take several calibration coordinatesThe average value Y' of the steering wheel Y-axis reference installation position; then corresponding rotation is calibrated to an angleWhen (1)Brings in the compensation formula:
。
calculating a compensation value of the corresponding vehicle body when rotating + -theta calibration angles so as to control steering angle of steering wheelsAnd compensating.
On the other hand, the invention also provides a computer readable storage medium, corresponding to the compensation calibration method, wherein the computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the method for compensating and calibrating the rudder angle of the single-steering wheel mobile robot is realized.
In summary, the method, the system and the storage medium for calibrating the rudder angle compensation of the single-rudder-wheel mobile robot solve the problem that deviation exists between issuing and executing of the rudder angle in practice, so that the rudder angle of the rudder at different angles and directions can be compensated and corrected, and the actual angle of the rudder angle can execute the issuing angle more accurately. Thereby improving the control precision of the single steering wheel mobile robot body during in-situ rotation.
In addition, although the present example is described by taking a single steering wheel chassis structure of a mobile robot as an example, in practice, the structure of the single steering wheel mobile robot may be changed more, for example, the rear wheel of the single steering wheel cart is changed to a structure composed of more fixed wheels, so the present invention is not limited to the single steering wheel chassis structure implementing the above-described exemplary embodiment, and any single steering wheel chassis structure that can apply the method of the present invention and obtain the corresponding technical effects is within the scope of the present invention.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
It will be appreciated by those skilled in the art that the system, apparatus and their respective modules provided by the present invention may be implemented entirely by logic programming method steps, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc., except for implementing the system, apparatus and their respective modules provided by the present invention in a purely computer readable program code. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
Furthermore, all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program, where the program is stored in a storage medium and includes several instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps in the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (8)
1. A rudder angle compensation calibration method of a single-steering-wheel mobile robot comprises the following steps:
step S100 determines the mileage center position of the current mobile robot vehicle body when the ith rotation is determinedAnd marks the current calibration coordinate system +.>；
Step S200, adjusting steering angle of steering wheelThe car body is at the nominal angle ∈ ->Back and forth i times of in-situ rotation by a multiple of 180 DEG, and recording +.>Is in->The nominal coordinate on the middle Y-axis is +.> = />Wherein->For knowing the Y-axis mounting position of the steering wheel, < >>Represents +.>Is in->Distance on the middle Y axis;
step S300, several times of calibration coordinates are takenThe average value Y' of the steering wheel Y-axis reference installation position;
step S400 is repeated from step S100 to step S200 to obtain corresponding rotation calibration anglesTime->To calculate +.>Is a compensation value of (1):
；
to rotate the car bodyTime->Corresponding compensation is carried out, wherein X is the known X-axis installation position of the steering wheel.
2. The single steering wheel mobile robot rudder angle compensation calibration method according to claim 1, wherein the steering wheel rudder angle isWherein x and y are the known steering wheel X, Y axle mounting positions, respectively.
3. The single steering wheel mobile robot rudder angle compensation calibration method according to claim 1, wherein the calibration angleIs + -180 deg..
4. The single steering wheel mobile robot rudder angle compensation calibration method according to claim 1, wherein the known X, Y axis mounting position coordinates of the steering wheel are adopted, comprising: and measuring and obtaining.
5. The single steering wheel mobile robot rudder angle compensation calibration method according to claim 1, wherein the calibration angleIn order to drive the mobile robot to move to rotate in situ, the steering angle of steering wheel can be caused>Angle of deviation.
6. The single steering wheel mobile robot rudder angle compensation calibration method according to claim 1, wherein the steps further include:
step S500 of obtaining a preset number of calibration anglesCorresponding->After the compensation value, a linear interpolation method is used to estimate the angle +.>Corresponding->The +.>And (5) compensating values.
7. A single steering wheel mobile robot rudder angle compensation calibration system, comprising:
a storage unit, configured to store a program including the steps of the rudder angle compensation calibration method for the single-steering wheel mobile robot according to any one of claims 1 to 6, so that the control unit, the data acquisition unit, and the processing unit can timely perform adjustment;
the data acquisition unit is used for acquiring the mileage center position of the current mobile robot car body after the ith rotationAnd using the same as the origin, marking a calibration coordinate system by taking the straight running direction of the current car body as the X axis and the side direction as the Y axis>；
A control unit for adjusting steering angle of steering wheelThe car body is at the nominal angle ∈ ->I times back and forth in-situ rotations;
a processing unit for calculating the ith rotationIs in->Calibrated coordinates on the middle Y-axis +.> = />And take several calibration coordinates +.>The average value Y' of the steering wheel Y-axis reference installation position; then corresponding rotation calibration angle +.>Time->Brings in the compensation formula:
；
calculating a compensation value of the corresponding vehicle body when rotating + -theta calibration angles so as to control steering angle of steering wheelAnd compensating.
8. A computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the single steering wheel mobile robot rudder angle compensation calibration method according to any one of claims 1 to 6.
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