WO2022237375A1 - Procédé d'étalonnage d'appareil de positionnement, procédé d'étalonnage d'odomètre, produit-programme et appareil d'étalonnage - Google Patents

Procédé d'étalonnage d'appareil de positionnement, procédé d'étalonnage d'odomètre, produit-programme et appareil d'étalonnage Download PDF

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WO2022237375A1
WO2022237375A1 PCT/CN2022/084315 CN2022084315W WO2022237375A1 WO 2022237375 A1 WO2022237375 A1 WO 2022237375A1 CN 2022084315 W CN2022084315 W CN 2022084315W WO 2022237375 A1 WO2022237375 A1 WO 2022237375A1
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positioning device
autonomous mobile
mobile device
calibration method
calibration
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PCT/CN2022/084315
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English (en)
Chinese (zh)
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赵安
毛玉良
边铁栋
董政胤
吴锦河
武家弘
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灵动科技（北京）有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

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  • the present invention relates to the field of positioning of autonomous mobile equipment, and in particular to a positioning device calibration method for calibrating the positioning device of autonomous mobile equipment, an odometer calibration method for calibrating the odometer of autonomous mobile equipment, and corresponding computer programs products and calibration devices.
  • autonomous mobile devices such as mobile robots
  • Determining its own location is a prerequisite for completing various tasks of autonomous mobile devices, and it has always been a research hotspot in academia and industry.
  • an odometer which provides the displacement of the autonomous mobile device, and thus serves as the position of the autonomous mobile device or as an input condition for calculating the position.
  • the more accurate the odometer is the more helpful it is for the positioning of the autonomous mobile device, and one of the methods to improve the accuracy of the odometer is to perform accurate calibration.
  • Offline calibration needs to obtain the pose of the autonomous mobile device through manual measurement (such as measuring with a ruler or obtaining it from a scale paper), which may introduce measurement errors artificially, but cannot be automated, and the efficiency is low.
  • Online calibration uses an external perception positioning device (for example, a laser positioning sensor) installed on the body of the autonomous mobile device to estimate the pose of the autonomous mobile device in real time to achieve automatic labeling.
  • an external perception positioning device for example, a laser positioning sensor
  • a new systematic error is introduced into the measurement information. Therefore, it is also necessary to calibrate the external sensing positioning device.
  • an online calibration method in which two error calibration filters (EKF) are used to iteratively calibrate the odometer system error and the installation error of the external sensing positioning device, and the other error is ignored when calibrating one of the errors.
  • EKF error calibration filters
  • This method has strong nonlinearity and the operation process is relatively complicated; and according to the robot motion model, the six parameters that cause errors are divided into linear and nonlinear, and a large number of nonlinear calculations are required when performing nonlinear estimation of parameters, and The coupling relationship between parameters is not easy to understand intuitively.
  • the prior art still has many deficiencies in the calibration of odometry and positioning devices for autonomous mobile devices.
  • the object of the present invention is to provide an improved method for calibrating a positioning device and an odometer of an autonomous mobile device, so as to overcome the above-mentioned disadvantages of the prior art in at least one aspect.
  • a positioning device calibration method for calibrating a positioning device of an autonomous mobile device, wherein the positioning device is fixedly installed on the autonomous mobile device and is configured to be able to output the position of the positioning device Attitude information, wherein the positioning device calibration method includes the following steps:
  • the calibration parameters of the positioning device are determined, wherein the calibration parameters of the positioning device represent the position and direction of the positioning device in the autonomous mobile device.
  • the calibration parameters of the positioning device include the abscissa R x S and the vertical coordinate R y S of the origin of the coordinate system of the positioning device in the coordinate system of the autonomous mobile device, and the coordinate system of the positioning device relative to the coordinate system of the autonomous mobile device angle ⁇ S .
  • the calibration parameters of the positioning device are determined by the property that the pose of the positioning device on the autonomous mobile device remains unchanged during the movement.
  • the number of measurement moments in each group is greater than 2 respectively.
  • the motion path is a complete circle.
  • the pose information represents the pose of the positioning device in the world coordinate system.
  • the abscissa R x S and the ordinate R y S of the origin of the coordinate system of the positioning device in the coordinate system of the autonomous mobile device are obtained according to the at least two sets of pose information using the following formula:
  • ⁇ 0 represents the attitude angle of the autonomous mobile device in the world coordinate system at the first measurement moment
  • ⁇ k_0 represents the rotation angle of the autonomous mobile device from the first measurement moment to the k+1th measurement moment
  • ⁇ represents the radius of the motion path of the autonomous mobile device.
  • angle ⁇ S of the coordinate system of the positioning device relative to the coordinate system of the autonomous mobile device is obtained by the following formula:
  • ⁇ k represents the attitude angle of the autonomous mobile device in the world coordinate system at the k+1th measurement moment.
  • the pose information represents the pose of the positioning device in the coordinate system of the positioning device at the first measurement moment in each group of measurement moments.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device are obtained according to the at least two sets of pose information using the following formula:
  • ⁇ (k-1)_0 means autonomous movement
  • ⁇ k_(k-1) represents the rotation angle of the autonomous mobile device from the kth measurement moment to the k+1th measurement moment
  • ⁇ represents the autonomous movement
  • the pose information represents the pose of the positioning device in the coordinate system of the positioning device at the previous measurement moment in each group of measurement moments.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device are obtained according to the at least two sets of pose information using the following formula:
  • the number of measurement moments in each group is greater than 2, and the intervals between each group of measurement moments are equal.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device are obtained according to the at least two sets of pose information using the following formula:
  • the at least two motion paths include at least three motion paths.
  • the calibration parameters of the positioning device are determined by optimizing an objective function that minimizes the total error of calculation results under all motion paths with different radii.
  • the at least three motion paths are divided into multiple groups of motion paths each including two motion paths, the pose information corresponding to each group of motion paths is processed, and the standard deviation and mean value of the processing results are determined.
  • recalibration is performed if the standard deviation is large.
  • an odometer calibration method for calibrating an odometer of an autonomous mobile device, wherein the autonomous mobile device has a differential wheel motion system, and the odometer calibration method includes: using The positioning device installed on the autonomous mobile device is automatically calibrated, wherein the positioning device is calibrated by the positioning device calibration method according to the present invention.
  • the calibration parameters of the odometer include the left wheel radius r L , the right wheel radius r R and the wheel base b of the autonomous mobile device.
  • the left wheel radius r L , the right wheel radius r R and the wheel base b are obtained using the following formula:
  • ⁇ represents the angular velocity of the coordinate system of the autonomous mobile device
  • ⁇ R and ⁇ L represent the angular velocity of the left wheel and the right wheel, respectively.
  • the calibration parameters of the odometer are determined together with the calibration parameters of the positioning device in step S2 of the positioning device calibration method.
  • the following formula is used to calculate the calibration parameters of the odometer and/or the calibration parameters of the positioning device.
  • ⁇ k_(k-1) represents the rotation angle of the autonomous mobile device from the kth measurement moment to the k+1th measurement moment.
  • a computer program product comprising computer program instructions, wherein, when said computer program instructions are executed by one or more processors, said processors are capable of performing The inventive positioning device calibration method or the odometer calibration method according to the present invention.
  • a calibration device includes a processor and a computer-readable storage device communicatively connected to the processor, a computer program is stored in the computer-readable storage device, when the computer program When executed by the processor, it is used to implement the calibration method of the positioning device according to the present invention or the calibration method of the odometer according to the present invention.
  • the present invention determines the position and posture of the positioning device on the autonomous mobile device through at least two arc movements of the autonomous mobile device. At the same time, the calibration parameters of the odometer can be determined. This calibration method is easy to operate, the calibration result is accurate, and the calibration speed is fast.
  • Fig. 1 schematically shows a positioning device calibration method for calibrating a positioning device of an autonomous mobile device according to an exemplary embodiment of the present invention
  • Figure 2 schematically illustrates an autonomous mobile device moving along a circular arc-shaped motion path according to an exemplary embodiment of the present invention
  • Fig. 3 schematically shows a calibration device according to an exemplary embodiment of the present invention.
  • the present invention is applicable to autonomous mobile equipment, which can be any mechanical equipment that can autonomously move in space, such as unmanned vehicles, drones, robots, and the like.
  • an autonomous mobile device can be a storage robot, a cleaning robot, a family escort robot, a welcome robot, etc.
  • Autonomous mobile devices are usually equipped with odometry (proprioceptive sensors). During the movement of the autonomous mobile device, the odometer can output data such as the moving distance and angle of the autonomous mobile device.
  • the odometer is mainly based on the change of the pulse of the photoelectric encoder within the sampling period to calculate the change of the distance and direction angle of the autonomous mobile device relative to the ground, so as to calculate the initial position of the autonomous mobile device in the semantic map.
  • Autonomous mobile devices are often also equipped with externally aware positioning devices, such as lidar, depth cameras, etc.
  • the positioning device may be any positioning device based on the TOF positioning principle.
  • the positioning device is capable of determining the pose of the positioning device and, after calibration, can be used to determine the pose of the autonomous mobile device.
  • Fig. 1 schematically shows a positioning device calibration method for calibrating a positioning device of an autonomous mobile device according to an exemplary embodiment of the present invention.
  • the positioning device is fixedly installed on the autonomous mobile device and is configured to be able to output the pose information of the positioning device.
  • the calibration method of the positioning device includes the following steps:
  • Step S1 Make the autonomous mobile device move along at least two arc-shaped motion paths with mutually unequal radii at a uniform speed on a plane, such as a flat ground, wherein, during the movement along each motion path, respectively recording a set of pose information output by the positioning device at a set of at least two different measurement instants; and
  • Step S2 Determine the calibration parameters of the positioning device according to at least two sets of pose information output by the positioning device, wherein the calibration parameters of the positioning device represent the position and direction of the positioning device in the autonomous mobile device.
  • the position and attitude of the positioning device on the autonomous mobile device can be determined through the circular motion of the autonomous mobile device.
  • This positioning device calibration method is easy to operate, the calibration result is accurate, and the calibration speed is fast.
  • pose information includes position information and attitude angle information.
  • Step S1 may specifically include the following steps:
  • Step S11 Make the autonomous mobile device move on a plane at a uniform speed along a circular motion path with a first radius, wherein the first set of at least two different measurement moments during the motion is recorded at the first output of the positioning device.
  • Group pose information
  • Step S12 Make the autonomous mobile device move on a plane at a uniform speed along a circular motion path with a second radius different from the first radius, wherein a second group of at least two different measurement moments during the motion are recorded The second set of pose information output by the positioning device;
  • step S1 the number of measurement instants in each group is at least two.
  • the number of measurement moments in each group is greater than 2 respectively.
  • the motion path is a complete circle.
  • the motion path can also be a circular arc smaller or larger than 360°.
  • Fig. 2 schematically shows an autonomous mobile device moving along a circular arc-shaped motion path according to an exemplary embodiment of the present invention.
  • the world coordinate system XO W Y, the coordinate system XO R Y of the autonomous mobile device and the coordinate system XO S Y of the positioning device are shown in FIG. 2 .
  • the autonomous mobile device has a differential wheel motion system.
  • the differential wheel motion system includes two driving wheels: the left wheel and the right wheel, where the radius of the left wheel is r L , the radius of the right wheel is r R , and the wheelbase is b.
  • the origin O R of the coordinate system XO R Y of the autonomous mobile device is located at the center of the axes of the two driving wheels, the X direction can point to the forward direction of the autonomous mobile device, and the Y direction can point to the left wheel of the autonomous mobile device.
  • the calibration parameters of the odometry may include the left wheel radius r L , the right wheel radius r R and the wheel base b of the autonomous mobile device.
  • the odometer calibration method for calibrating the odometer of the autonomous mobile device may include: using a positioning device installed on the autonomous mobile device to perform automatic calibration, wherein the positioning device is calibrated by the calibration method of the positioning device according to the present invention device.
  • the angular velocity ⁇ of the autonomous mobile device satisfies the following formula (1):
  • ⁇ R and ⁇ L represent the angular velocity of the right wheel and the left wheel, respectively.
  • the autonomous mobile device can move along the arc-shaped motion path.
  • the known ⁇ R and ⁇ L can further be used to determine the calibration parameters of the odometer and the calibration parameters of the positioning device.
  • ⁇ represents the radius of the motion path.
  • the radius r L of the left wheel, the radius r R of the right wheel and the wheelbase b of the autonomous mobile device can be obtained using the above formula (1) and formula (2).
  • the positioning device is fixedly installed on the autonomous mobile device, and the installation plane of the positioning device can be parallel to the movement plane of the autonomous mobile device, that is, the ground.
  • the calibration parameters of the positioning device may include the abscissa R x S and the vertical coordinate R y S of the origin of the coordinate system of the positioning device in the coordinate system of the autonomous mobile device, and the angle ⁇ of the coordinate system of the positioning device relative to the coordinate system of the autonomous mobile device S.
  • ⁇ S can be represented by the angle between the X-axis of the coordinate system of the positioning device and the X-axis of the coordinate system of the autonomous mobile device.
  • the positioning device Since the positioning device is fixedly installed on the autonomous mobile device, at any time, the pose ( R x S , R y S , ⁇ S ) of the positioning device on the autonomous mobile device remains unchanged, and the calibration parameters of the positioning device It can be determined by this rigid body position invariance.
  • Figure 2 schematically shows the pose of an autonomous mobile device moving along a circular motion path at the first measurement moment in a set of measurement moments with a solid line, and shows the motion along the same motion path with a dotted line The pose of the autonomous mobile device at the second measurement moment in the same set of measurement moments.
  • the pose information represents the pose of the positioning device in the world coordinate system.
  • the abscissa R x S and the ordinate R y S of the origin of the coordinate system of the positioning device under the coordinate system of the autonomous mobile device can be obtained according to the at least two groups of pose information using the following formula (3):
  • the change of the position and orientation of the positioning device at the kth measurement moment relative to the first measurement moment in the world coordinate system can be determined by the following parameters :
  • the attitude angle ⁇ 0 of the autonomous mobile device in the world coordinate system at the first measurement moment the rotation angle ⁇ k_0 of the autonomous mobile device from the first measurement moment to the k+1th measurement moment, and the origin of the coordinate system of the positioning device
  • the position and orientation of the positioning device relative to the world coordinate system at different measurement moments can be obtained through the measurement of the positioning device.
  • step S2 formula (3) can be combined with formula (1) and formula (2), so that the calibration parameters of the odometer and the calibration parameters of the positioning device are determined together.
  • the angle ⁇ S of the coordinate system of the positioning device with respect to the coordinate system of the autonomous mobile device can be obtained by the following formula:
  • ⁇ k represents the attitude angle of the autonomous mobile device in the world coordinate system at the k+1th measurement moment.
  • the pose information represents the pose of the positioning device in the coordinate system of the positioning device at the first measurement moment in each group of measurement moments. This is especially true when no global map is fetched.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device can be obtained according to the at least two sets of pose information using the following formula (4):
  • step S2 formula (4) may be combined with formula (1) and formula (2), so that the calibration parameters of the odometer and the calibration parameters of the positioning device are determined together.
  • the pose information represents the pose of the positioning device in the coordinate system of the positioning device at the previous measurement moment in each group of measurement moments. This also works especially well when no global map is fetched.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device are obtained according to the at least two sets of pose information using the following formula (5):
  • the time interval between a group of measurement moments whose total number is greater than 2 is fixed as T.
  • the angle of rotation of the positioning device will then be constant from any measurement instant to the next. As shown in the following formula (6):
  • ⁇ k_(k-1) represents the rotation angle of the autonomous mobile device from the kth measurement moment to the k+1th measurement moment.
  • This formula can be used to calculate the calibration parameters of the odometer and/or the calibration parameters of the positioning device.
  • the pose change of the positioning device from any measurement moment to the next measurement moment will also be constant. Equalizing the time interval between each set of measurement instants advantageously simplifies measurements and calculations.
  • the calibration parameters R x S , R y S and ⁇ S of the positioning device are obtained according to the pose information using the following formula (7):
  • the error of the positioning device obeys the Gaussian white noise distribution and the measurement time is sufficient, the error can be effectively reduced and the amount of calculation can be greatly reduced. Since the pose changes are constant, the correctness of the measured data can be verified by calculating the standard deviation of the data. Data anomalies can be indicated when the standard deviation of the measured data is too large or the distribution of pose changes deviates too much from the normal distribution.
  • Formula (1), formula (2), formula (6) and formula (7) can be combined to determine the calibration parameters of the odometer and the calibration parameters of the positioning device.
  • the mean value of the time interval T, the angular velocity ⁇ R of the right wheel, the angular velocity ⁇ L of the left wheel and the pose change of the positioning device between two measurement instants is known.
  • the calibration parameters of the odometer to be solved, the calibration parameters of the positioning device and the process variables ⁇ k_(k-1) , ⁇ and ⁇ can be output.
  • the at least two motion paths include at least three motion paths.
  • at least three sets of pose information can be determined by the positioning device.
  • calibration parameters of the positioning device may be determined according to the at least three sets of pose information output by the positioning device. More motion paths are beneficial to reduce errors.
  • the calibration parameters of the positioning device are determined by optimizing an objective function that minimizes the total error of calculation results under all motion paths with different radii.
  • the at least three motion paths are divided into multiple groups of motion paths respectively including two motion paths, the pose information corresponding to each group of motion paths is processed and the standard deviation and mean value of the processing results are determined.
  • the standard deviation and mean value may be, for example, the standard deviation and mean value of pose changes between two adjacent measurement moments.
  • the standard deviation and mean value may also be the standard deviation and mean value of the determined calibration parameters of the positioning device.
  • the standard deviation can be used to measure the accuracy of the calibration.
  • recalibration is performed if the standard deviation is large.
  • Fig. 3 schematically shows a calibration device according to an exemplary embodiment of the present invention.
  • the calibration device may include a processor 10 and a computer-readable storage device 20 communicatively connected with the processor 10 .
  • Computer program instructions for calibration are stored in computer readable storage device 20 .
  • the processor 10 can call the computer program instructions stored in the computer-readable storage device 20, and execute the calibration method according to the present invention.
  • the computer-readable storage medium 20 can include, for example, a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • a non-volatile memory such as a hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the processor 10 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or any conventional processor or the like.
  • the marking device also includes, for example: a user interface 30 for interacting with the user, which for example includes a display screen and/or an input unit such as a keyboard; a network interface 40 for data communication with a network server, which for example includes a standard wired interface and/or a wireless interface; a communication bus 50 for connecting the various components of the calibration device.
  • a user interface 30 for interacting with the user, which for example includes a display screen and/or an input unit such as a keyboard
  • a network interface 40 for data communication with a network server, which for example includes a standard wired interface and/or a wireless interface
  • a communication bus 50 for connecting the various components of the calibration device.
  • the invention also relates to a computer program product comprising computer program instructions which, when executed by one or more processors 10, enable said processors 10 to execute the positioning device according to the invention Calibration method or the odometer calibration method according to the present invention.

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Abstract

Procédé d'étalonnage d'appareil de positionnement permettant d'étalonner un appareil de positionnement d'un dispositif mobile autonome. L'appareil de positionnement est monté à demeure sur le dispositif mobile autonome et peut émettre en sortie des informations de pose. Le procédé d'étalonnage d'appareil de positionnement consiste : à provoquer le déplacement du dispositif mobile autonome dans un plan à une vitesse constante le long d'au moins deux trajets de déplacement en forme d'arc présentant différents rayons, un ensemble d'informations de pose émises en sortie par l'appareil de positionnement étant enregistré à un ensemble d'au moins deux instants de mesure différents dans le processus de déplacement le long de chaque trajet de déplacement, respectivement ; et à déterminer des paramètres d'étalonnage de l'appareil de positionnement en fonction des au moins deux ensembles d'informations de pose émis en sortie par l'appareil de positionnement, les paramètres d'étalonnage de l'appareil de positionnement représentant la position et la direction de l'appareil de positionnement dans le dispositif mobile autonome. L'invention concerne également un procédé d'étalonnage d'odomètre permettant d'étalonner un odomètre d'un dispositif mobile autonome, un produit-programme informatique et un appareil d'étalonnage. Un appareil de positionnement et un odomètre peuvent être étalonnés de manière efficace et précise.
PCT/CN2022/084315 2021-05-13 2022-03-31 Procédé d'étalonnage d'appareil de positionnement, procédé d'étalonnage d'odomètre, produit-programme et appareil d'étalonnage WO2022237375A1 (fr)

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