CN107677207A - Laser range sensor site error scaling method based on EKF - Google Patents
Laser range sensor site error scaling method based on EKF Download PDFInfo
- Publication number
- CN107677207A CN107677207A CN201710941979.6A CN201710941979A CN107677207A CN 107677207 A CN107677207 A CN 107677207A CN 201710941979 A CN201710941979 A CN 201710941979A CN 107677207 A CN107677207 A CN 107677207A
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- Prior art keywords
- range sensor
- laser
- laser range
- flat board
- error
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
-
- 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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of laser range sensor error in mounting position scaling method based on EKF, belong to robotic technology field.Device used in the present invention is made up of mechanical arm, mounting bracket, laser range sensor, flat board, laser tracker.Mounting bracket is connected in mechanical arm tail end, and laser range sensor is arranged on mounting bracket.This method is based on laser range sensor measurement distance principle, derives measurement distance error model, and carries out parameter identification to the error in mounting position of laser range sensor using the method for EKF, to improve measurement accuracy.This method considers influence of the measurement error to demarcation, has the advantages that stated accuracy is high.
Description
Technical field
The present invention relates to robot technology, it is more particularly related to a kind of swashing based on EKF
Ligh-ranging sensor mounting location error calibrating method.
Background technology
Surface normal e measurement technology is one of key technology important in aviation boring and riveting machine device people, is swashed using contactless
The surface normal measuring method of ligh-ranging sensor is a kind of conventional method.The normal measure method of laser range sensor formula
Higher is required to the position installation progress of sensor.In actual applications, due in the assembling process of laser range sensor, by
Cause installation error to be present in a variety of causes, can not ensure to be consistent with theoretical CAD model, and then result in laser displacement biography
The decline of sensor measurement accuracy, normal measure requirement can not be met, therefore the error in mounting position of laser range sensor is entered
Rower is fixed to have very important significance to improving normal measure precision tool.It is the most frequently used side that demarcation is directly carried out to installation site
Method, this method does not consider that measurement error etc. influences not using the theoretical position data of sensor, therefore demarcation essence be present
The problems such as degree is not high, therefore measurement error is filtered, can preferably it be carried by carrying out demarcation to the error of installation site
High stated accuracy.
The content of the invention
For prior art, object of the present invention is to provide a kind of laser ranging biography based on EKF
Sensor error in mounting position scaling method, this method are based on laser range sensor measurement distance principle, derive measurement distance
Error model, and use the method for EKF to carry out parameter to the error in mounting position of laser range sensor and distinguish
Know, to improve measurement accuracy.
Device used in the present invention is made up of mechanical arm, mounting bracket, laser range sensor, flat board, laser tracker.
Mounting bracket is connected in mechanical arm tail end, and laser range sensor is arranged on mounting bracket.
The present invention is achieved through the following technical solutions.
This method comprises the following steps：
Step 1：Laser tracker is fixed on the ground, and the measurement range of laser tracker includes mounting bracket peace
Space where plate；
Step 2：Mobile mechanical arm allows laser range sensor laser beam to get on flat board, and distance is in Laser Measuring
Away from transducer range, three datum holes on laser tracker measurement mounting bracket, the space bit based on three datum holes is set up
Vertical tool coordinates system；
Step 3：Fixed flat planar, laser tracker measure three locus under tool coordinates system on flat board, so
The space equation of flat board is fitted afterwards；
Step 4：Seek linear equation of the laser range sensor laser beam in tool coordinates system；
Step 5：Straight line where seeking laser range sensor laser beam and flat board intersection point；
Step 6：The length of laser range sensor launch point and intersection point is sought, and establishes error model；
Step 7：The reading of now laser range sensor is recorded, calculates measurement error in length；
Step 8：N-1 step 2 is repeated to the operation of step 7 and records the data of correlation, n is more than or equal to 6；
Step 9：Parameter identification is carried out using EKF, iterated, until meeting required precision, you can ask
Obtain laser range sensor error in mounting position.
Compared with the prior art, the beneficial effects of the present invention are：It is of the present invention based on EKF
Laser range sensor site error scaling method, this method consider influence of the measurement error to demarcation, have stated accuracy
The advantages that high.
Brief description of the drawings
Fig. 1 is laser range sensor error in mounting position peg model schematic diagram in the present invention.
In figure：1. mechanical arm；2. mounting bracket；3. laser range sensor；4. flat board；5. laser tracker；
Embodiment：
Below by with reference to accompanying drawing, the invention will be further described.
Embodiments of the present invention：
Referring to Fig. 1, device used in the present invention by mechanical arm 1, mounting bracket 2, laser range sensor 3, flat board 4, swash
Optical tracker system 5 forms.Mounting bracket 2 is connected in the end of mechanical arm 1, and laser range sensor 3 is arranged on mounting bracket 2.
The step of being the inventive method below, is described in detail.
The specific implementation step of the inventive method is as follows：
Step 1：Laser tracker 5 is fixed on the ground, and the measurement range of laser tracker 5 includes mounting bracket 2
With the place space of flat board 4；
Step 2：Mobile mechanical arm 1 allows the laser beam of laser range sensor 3 to get on flat board 4, and distance is swashing
In the range of ligh-ranging sensor 3, laser tracker 5 measures three datum hole I, datum hole O and the datum hole J on mounting bracket 2, so
After establish tool coordinates system OXYZ, its mesopore O is origin, and OI is X-axis, and OJ is Y-axis, and the direction of Z axis is determined according to right-hand rule；
Step 3：Fixed flat planar 4, laser tracker 5 measures datum hole U on flat board 4, datum hole V, datum hole W is in instrument
Locus under coordinate system, the space equation for then fitting flat board 4 are：
Ax+by+cz=d
Wherein, a, b, c, d are plane equation parameter；
Step 4：Nominal positions and direction of the launch point P of laser range sensor 3 under tool coordinates system are [xP,yP,zP,
mp,np,qp], linear equation of the laser range sensor laser beam in tool coordinates system is：
Step 5：Straight line where seeking the laser beam of laser range sensor 3 and the intersection point Q of flat board 4, it is under tool coordinates system
Coordinate (xQ,yQ,zQ) can be expressed as：
Step 6：The length L for seeking the launch point P of laser range sensor 3 and intersection point Q is
Above formula is also denoted as：
L=g (xP,yP,zP,mP,nP,qP)
The differential equation of above formula is：
Wherein：ΔΦ=[Δ xP ΔyP ΔzP ΔmP ΔnP ΔqP
]T
Step 7：Record the reading L of now laser range sensor 3c, calculate measurement error in length Δ L=Lc-L；
Step 8：N-1 step 2 is repeated to the operation of step 7 and records the data of correlation, n is more than or equal to 6；
Step 9：Parameter identification is carried out using EKF；EKF system equation is initially set up,
Equation is expressed as：
Yk=Yk-1+ωk-1
Wherein, Y=ΔΦs, ωk-1It is 6 × 1 system noise matrix；Then observational equation is established：
Zk=HkYk+vk
Wherein, Zk=Δ L, Hk=Jk,vkIt is 1 × 1 observation noise matrix；
Final parameter identification can be iterated, until meeting required precision, you can try to achieve by EKF
The error in mounting position of laser range sensor 3.
Claims (1)
- A kind of 1. laser range sensor error in mounting position scaling method based on EKF, it is characterised in that：Device used in the present invention is made up of mechanical arm, mounting bracket, laser range sensor, flat board, laser tracker；Installation Frame is connected in mechanical arm tail end, and laser range sensor is arranged on mounting bracket；This method comprises the following steps：Step 1：Laser tracker is fixed on the ground, and the measurement range of laser tracker includes mounting bracket and flat board institute In space；Step 2：Mobile mechanical arm allows laser range sensor laser beam to get on flat board, and distance passes in laser ranging In sensor range, three datum holes on laser tracker measurement mounting bracket, work is established in the locus based on three datum holes Has coordinate system；Step 3：Fixed flat planar, laser tracker measure three locus under tool coordinates system on flat board, then intended Close out the space equation of flat board；Step 4：Seek linear equation of the laser range sensor laser beam in tool coordinates system；Step 5：Straight line where seeking laser range sensor laser beam and flat board intersection point；Step 6：The length of laser range sensor launch point and intersection point is sought, and establishes error model；Step 7：The reading of now laser range sensor is recorded, calculates measurement error in length；Step 8：N-1 step 2 is repeated to the operation of step 7 and records the data of correlation, n is more than or equal to 6；Step 9：Parameter identification is carried out using EKF, iterated, until meeting required precision, you can try to achieve sharp Ligh-ranging sensor mounting location error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710941979.6A CN107677207A (en) | 2017-10-11 | 2017-10-11 | Laser range sensor site error scaling method based on EKF |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710941979.6A CN107677207A (en) | 2017-10-11 | 2017-10-11 | Laser range sensor site error scaling method based on EKF |
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| Publication Number | Publication Date |
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| CN107677207A true CN107677207A (en) | 2018-02-09 |
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| CN201710941979.6A Pending CN107677207A (en) | 2017-10-11 | 2017-10-11 | Laser range sensor site error scaling method based on EKF |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109000703A (en) * | 2018-05-18 | 2018-12-14 | 深圳市沃特沃德股份有限公司 | Automatic parameter scaling method and system |
| CN111366070A (en) * | 2018-12-25 | 2020-07-03 | 苏州笛卡测试技术有限公司 | Multi-axis space coordinate system calibration method for combined type line laser measurement system |
| CN111380467A (en) * | 2019-12-30 | 2020-07-07 | 宁波大正工业机器人技术有限公司 | Self-calibration method of laser displacement sensor |
| CN112815836A (en) * | 2020-12-30 | 2021-05-18 | 廊坊市亿创科技有限公司 | Position conversion method of robot point laser |
| CN114894116A (en) * | 2022-04-08 | 2022-08-12 | 苏州瀚华智造智能技术有限公司 | Measurement data fusion method and non-contact measurement equipment |
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| CN105404238A (en) * | 2015-10-22 | 2016-03-16 | 南京航空航天大学 | Probe position linearization calibration method for on-machine laser measurement |
| CN107152911A (en) * | 2017-06-01 | 2017-09-12 | 无锡中车时代智能装备有限公司 | Based on the PSD dot laser sensors fed back and the scaling method of robot relative position |
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| CN101968341A (en) * | 2010-08-31 | 2011-02-09 | 南京理工大学 | Industrial robot zero-position self-calibration method and device |
| CN105404238A (en) * | 2015-10-22 | 2016-03-16 | 南京航空航天大学 | Probe position linearization calibration method for on-machine laser measurement |
| CN107152911A (en) * | 2017-06-01 | 2017-09-12 | 无锡中车时代智能装备有限公司 | Based on the PSD dot laser sensors fed back and the scaling method of robot relative position |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109000703A (en) * | 2018-05-18 | 2018-12-14 | 深圳市沃特沃德股份有限公司 | Automatic parameter scaling method and system |
| WO2019218430A1 (en) * | 2018-05-18 | 2019-11-21 | 深圳市沃特沃德股份有限公司 | Automatic parameter calibration method and system |
| CN109000703B (en) * | 2018-05-18 | 2020-06-30 | 深圳市无限动力发展有限公司 | Automatic parameter calibration method and system |
| CN111366070A (en) * | 2018-12-25 | 2020-07-03 | 苏州笛卡测试技术有限公司 | Multi-axis space coordinate system calibration method for combined type line laser measurement system |
| CN111366070B (en) * | 2018-12-25 | 2022-04-29 | 苏州笛卡测试技术有限公司 | Multi-axis space coordinate system calibration method for combined type line laser measurement system |
| CN111380467A (en) * | 2019-12-30 | 2020-07-07 | 宁波大正工业机器人技术有限公司 | Self-calibration method of laser displacement sensor |
| CN112815836A (en) * | 2020-12-30 | 2021-05-18 | 廊坊市亿创科技有限公司 | Position conversion method of robot point laser |
| CN114894116A (en) * | 2022-04-08 | 2022-08-12 | 苏州瀚华智造智能技术有限公司 | Measurement data fusion method and non-contact measurement equipment |
| CN114894116B (en) * | 2022-04-08 | 2024-02-23 | 苏州瀚华智造智能技术有限公司 | Measurement data fusion method and non-contact measurement equipment |
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