CN108372518A - Robot turning error scaling method, apparatus and system - Google Patents
Robot turning error scaling method, apparatus and system Download PDFInfo
- Publication number
- CN108372518A CN108372518A CN201810016515.9A CN201810016515A CN108372518A CN 108372518 A CN108372518 A CN 108372518A CN 201810016515 A CN201810016515 A CN 201810016515A CN 108372518 A CN108372518 A CN 108372518A
- Authority
- CN
- China
- Prior art keywords
- robot
- fence
- error
- turning error
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- B25J19/02—Sensing devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses robot turning error scaling method, apparatus and systems, and rectangle fence is arranged first；After robot drives into fence, by the laser radar scanning environment in robot, 4 sidelines of fence are monitored, obtain initial attitude angle of the robot with respect to fence；It controls robot original place and rotates an angle；Current pose angle of the robot with respect to fence is obtained by laser radar；According to initial attitude angle, current pose angle and rotational angle, the turning error of calculating robot.The present invention can calculate the relative position error of the left-hand wheel and right-hand wheel of robot according to turning error, and demarcate the relative position error of wheel, it can be compensated for the error during robot subsequent motion, to reduce angular error when robot does turning motion.
Description
Technical field
The present invention relates to robot turning error scaling method, apparatus and systems.
Background technology
For the left-hand wheel and right-hand wheel of more wheel mobile robots there are the relative position error, which can lead to moving machine
Device people does angled error when turning motion, it is therefore desirable to the relative position error of wheel is demarcated, to be carried out for the error
Compensation.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide robot turning error scaling method, dresses
It sets and system, it is intended to solve the problems, such as angle of arrival error when the robot of the prior art does turning motion.
The purpose of the present invention is realized using following technical scheme：
A kind of robot turning error scaling method, including：
Rectangle fence is arranged in fence setting steps；
Initial attitude obtaining step passes through the laser radar scanning in robot after robot drives into fence
Environment monitors 4 sidelines of fence, obtains initial attitude angle a1 of the robot with respect to fence；
Step is rotated, robot original place rotational angle p is controlled；
Current pose obtaining step monitors 4 sidelines of fence by laser radar scanning environment, obtains robot phase
To the current pose angle a2 of fence；
Turning error calculates step, according to initial attitude angle a1, current pose angle a2 and rotational angle p, calculating robot
Turning error m：
Unit is degree/circle.
On the basis of the above embodiments, it is preferred that p=360 degree.
On the basis of above-mentioned any embodiment, it is preferred that robot is provided with revolver and right wheel；
This method further includes：
The relative position error calculates step, and according to the turning error m of robot, the relative position for calculating revolver and right wheel is missed
Difference.
On the basis of above-mentioned any embodiment, it is preferred that further include：
Turning error corrects step：
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain first attitude angle of the robot with respect to fence
b1；
Control robot original place rotation N circles；
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain second attitude angle of the robot with respect to fence
b2；
According to the first attitude angle b1, the second attitude angle b2 and turnning circle N, the turning error m ' of robot is recalculated：
Unit is degree/circle.
A kind of robot turning error caliberating device, including：
Fence setup module, for rectangle fence to be arranged；
Initial attitude acquisition module, for after robot drives into fence, passing through the laser radar in robot
Scanning circumstance monitors 4 sidelines of fence, obtains initial attitude angle a1 of the robot with respect to fence；
Rotating module, for controlling robot original place rotational angle p；
Current pose acquisition module obtains machine for by laser radar scanning environment, monitoring 4 sidelines of fence
Current pose angle a2 of the people with respect to fence；
Turning error computing module, for according to initial attitude angle a1, current pose angle a2 and rotational angle p, computer
The turning error m of device people：
Unit is degree/circle.
On the basis of the above embodiments, it is preferred that p=360 degree.
On the basis of above-mentioned any embodiment, it is preferred that robot is provided with revolver and right wheel；
Described device further includes：
The relative position error computing module calculates the opposite position of revolver and right wheel for the turning error m according to robot
Set error.
On the basis of above-mentioned any embodiment, it is preferred that further include：
Turning error corrects module, is used for：
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain first attitude angle of the robot with respect to fence
b1；
Control robot original place rotation N circles；
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain second attitude angle of the robot with respect to fence
b2；
According to the first attitude angle b1, the second attitude angle b2 and turnning circle N, the turning error m ' of robot is recalculated：
Unit is degree/circle.
A kind of robot turning error calibration system, including：
Robot turning error caliberating device in any of the above-described embodiment；
Fence, for providing calibration place；
Laser radar is mounted in robot, and laser radar is used for scanning circumstance, monitors 4 sidelines of fence.
Compared with prior art, the beneficial effects of the present invention are：
The invention discloses robot turning error scaling method, apparatus and systems, and rectangle fence is arranged first；In machine
After people drives into fence, by the laser radar scanning environment in robot, 4 sidelines of fence are monitored, obtain machine
Initial attitude angle of the people with respect to fence；It controls robot original place and rotates an angle；It is opposite that robot is obtained by laser radar
The current pose angle of fence；According to initial attitude angle, current pose angle and rotational angle, the turning error of calculating robot.This
Invention can calculate the relative position error of the left-hand wheel and right-hand wheel of robot according to turning error, and demarcate wheel
The relative position error, can compensate for the error during robot subsequent motion, be done to reduce robot
Angular error when turning motion.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 a show that a kind of robot provided in an embodiment of the present invention turns to front and back attitudes vibration schematic diagram；
Fig. 1 b show a kind of flow diagram of robot turning error scaling method provided in an embodiment of the present invention；
Fig. 2 shows a kind of structural schematic diagrams of robot turning error caliberating device provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural schematic diagram of robot turning error calibration system provided in an embodiment of the present invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As illustrated in figs. 1A and ib, an embodiment of the present invention provides a kind of robot turning error scaling methods, including：
Rectangle fence is arranged in fence setting steps S101；
Initial attitude obtaining step S102 passes through the laser radar in robot after robot drives into fence
Scanning circumstance monitors 4 sidelines of fence, obtains initial attitude angle a1 of the robot with respect to fence；
Step S103 is rotated, robot original place rotational angle p is controlled；
Current pose obtaining step S104 monitors 4 sidelines of fence by laser radar scanning environment, obtains machine
Current pose angle a2 of the people with respect to fence；
Turning error calculates step S105, according to initial attitude angle a1, current pose angle a2 and rotational angle p, computer
The turning error m of device people：
Unit is degree/circle.
The embodiment of the present invention does not limit application range, it is preferred that its can be applied to Intelligent Mobile Robot or
On wheeled robot.
The embodiment of the present invention does not limit p, it is preferred that p=360 degree.When p is 360 degree, revolute one is enclosed, m
=(a2-a1).
Preferably, robot can be provided with revolver and right wheel；This method can also include：The relative position error calculates step
Rapid S106 calculates the relative position error of revolver and right wheel according to the turning error m of robot.The embodiment of the present invention is to application
The revolver of the robot of this method and the number of right wheel do not limit, and revolver can have 2, and right wheel can have 2, this method
Can be applied to it is independent drive 4 rotate to wheeled robot.
The embodiment of the present invention can calculate the left-hand wheel of robot and the opposite position of right-hand wheel according to turning error
Error is set, and demarcates the relative position error of wheel, can be compensated for the error during robot subsequent motion,
To reduce angular error when robot does turning motion.
Preferably, the embodiment of the present invention can also include：Turning error corrects step：By laser radar scanning environment,
4 sidelines of fence are monitored, first attitude angle b1 of the robot with respect to fence is obtained；Control robot original place rotation N circles；Pass through
Laser radar scanning environment monitors 4 sidelines of fence, obtains second attitude angle b2 of the robot with respect to fence；According to first
Attitude angle b1, the second attitude angle b2 and turnning circle N, recalculate the turning error m ' of robot：
Unit is degree/circle.
The advantage of doing so is that averaging according to multi-turn error accumulation in the case of rotation multi-turn, machine can be improved
The computational accuracy of people's turning error.
In above-mentioned specific embodiment one, robot turning error scaling method, corresponding, this Shen are provided
Robot turning error caliberating device is please also provided.Since device embodiment is substantially similar to embodiment of the method, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.Device embodiment described below is only to illustrate
Property.
Specific embodiment two
As shown in Fig. 2, an embodiment of the present invention provides a kind of robot turning error caliberating devices, including：
Fence setup module 201, for rectangle fence to be arranged；
Initial attitude acquisition module 202, for after robot drives into fence, passing through the laser thunder in robot
Up to scanning circumstance, 4 sidelines of fence are monitored, obtain initial attitude angle a1 of the robot with respect to fence；
Rotating module 203, for controlling robot original place rotational angle p；
Current pose acquisition module 204 obtains machine for by laser radar scanning environment, monitoring 4 sidelines of fence
Current pose angle a2 of the device people with respect to fence；
Turning error computing module 205, for according to initial attitude angle a1, current pose angle a2 and rotational angle p, calculating
The turning error m of robot：
Unit is degree/circle.
The embodiment of the present invention does not limit p, it is preferred that p=360 degree.
Preferably, robot can be provided with revolver and right wheel；Described device can also include：The relative position error calculates
Module 206 calculates the relative position error of revolver and right wheel for the turning error m according to robot.
The embodiment of the present invention can calculate the left-hand wheel of robot and the opposite position of right-hand wheel according to turning error
Error is set, and demarcates the relative position error of wheel, can be compensated for the error during robot subsequent motion,
To reduce angular error when robot does turning motion.
Preferably, the embodiment of the present invention can also include：Turning error corrects module, is used for：Pass through laser radar scanning
Environment monitors 4 sidelines of fence, obtains first attitude angle b1 of the robot with respect to fence；It controls robot original place and rotates N
Circle；By laser radar scanning environment, 4 sidelines of fence are monitored, obtain second attitude angle b2 of the robot with respect to fence；Root
According to the first attitude angle b1, the second attitude angle b2 and turnning circle N, the turning error m ' of robot is recalculated：
Unit is degree/circle.
Specific embodiment three
As shown in figure 3, an embodiment of the present invention provides a kind of robot turning error calibration systems, including：
Robot turning error caliberating device 301 in specific embodiment two；
Fence 302, for providing calibration place；
Laser radar 303 is mounted in robot, and laser radar is used for scanning circumstance, monitors 4 sidelines of fence.
The embodiment of the present invention can calculate the left-hand wheel of robot and the opposite position of right-hand wheel according to turning error
Error is set, and demarcates the relative position error of wheel, can be compensated for the error during robot subsequent motion,
To reduce angular error when robot does turning motion.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality progress having
Property, oneself meets the function that Patent Law emphasized and promotes and use important document, the explanation more than present invention and attached drawing, only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device such as waits levying at approximations, the thunder
With, i.e., all according to equivalent replacement or modification etc. made by present patent application range, the patent application that should all belong to the present invention is protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiments, and it is attributed to right and wants
The range asked comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that can be as described above
Various other corresponding changes and deformation are made in technical solution and design, and all these change and deformation is all answered
This belongs within the protection domain of the claims in the present invention.
Claims (9)
1. a kind of robot turning error scaling method, which is characterized in that including：
Rectangle fence is arranged in fence setting steps；
Initial attitude obtaining step, after robot drives into fence, by the laser radar scanning environment in robot,
4 sidelines of fence are monitored, initial attitude angle a1 of the robot with respect to fence is obtained；
Step is rotated, robot original place rotational angle p is controlled；
Current pose obtaining step monitors 4 sidelines of fence by laser radar scanning environment, obtains robot and encloses relatively
The current pose angle a2 on column；
Turning error calculates step, and according to initial attitude angle a1, current pose angle a2 and rotational angle p, calculating robot's turns
To error m：
Unit is degree/circle.
2. robot turning error scaling method according to claim 1, which is characterized in that p=360 degree.
3. robot turning error scaling method according to claim 1 or 2, which is characterized in that robot is provided with a left side
Wheel and right wheel；
This method further includes：
The relative position error calculates step, according to the turning error m of robot, calculates the relative position error of revolver and right wheel.
4. robot turning error scaling method according to claim 1 or 2, which is characterized in that further include：
Turning error corrects step：
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain first attitude angle b1 of the robot with respect to fence；
Control robot original place rotation N circles；
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain second attitude angle b2 of the robot with respect to fence；
According to the first attitude angle b1, the second attitude angle b2 and turnning circle N, the turning error m ' of robot is recalculated：
Unit is degree/circle.
5. a kind of robot turning error caliberating device, which is characterized in that including：
Fence setup module, for rectangle fence to be arranged；
Initial attitude acquisition module, for after robot drives into fence, passing through the laser radar scanning in robot
Environment monitors 4 sidelines of fence, obtains initial attitude angle a1 of the robot with respect to fence；
Rotating module, for controlling robot original place rotational angle p；
Current pose acquisition module obtains robot phase for by laser radar scanning environment, monitoring 4 sidelines of fence
To the current pose angle a2 of fence；
Turning error computing module, for according to initial attitude angle a1, current pose angle a2 and rotational angle p, calculating robot
Turning error m：
Unit is degree/circle.
6. robot turning error caliberating device according to claim 5, which is characterized in that p=360 degree.
7. robot turning error caliberating device according to claim 5 or 6, which is characterized in that robot is provided with a left side
Wheel and right wheel；
Described device further includes：
The relative position error computing module, for the turning error m according to robot, the relative position for calculating revolver and right wheel is missed
Difference.
8. robot turning error caliberating device according to claim 5 or 6, which is characterized in that further include：
Turning error corrects module, is used for：
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain first attitude angle b1 of the robot with respect to fence；
Control robot original place rotation N circles；
By laser radar scanning environment, 4 sidelines of fence are monitored, obtain second attitude angle b2 of the robot with respect to fence；
According to the first attitude angle b1, the second attitude angle b2 and turnning circle N, the turning error m ' of robot is recalculated：
Unit is degree/circle.
9. a kind of robot turning error calibration system, which is characterized in that including：
Claim 5-8 any one of them robot turning error caliberating device；
Fence, for providing calibration place；
Laser radar is mounted in robot, and laser radar is used for scanning circumstance, monitors 4 sidelines of fence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016515.9A CN108372518B (en) | 2018-01-08 | 2018-01-08 | Method, device and system for calibrating steering error of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016515.9A CN108372518B (en) | 2018-01-08 | 2018-01-08 | Method, device and system for calibrating steering error of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108372518A true CN108372518A (en) | 2018-08-07 |
| CN108372518B CN108372518B (en) | 2020-07-31 |
Family
ID=63015561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016515.9A Active CN108372518B (en) | 2018-01-08 | 2018-01-08 | Method, device and system for calibrating steering error of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108372518B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571467A (en) * | 2018-11-23 | 2019-04-05 | 北京控制工程研究所 | Two-wheel differential robot motion model scaling method, device and mileage system |
| CN111515916A (en) * | 2020-04-29 | 2020-08-11 | 广州高新兴机器人有限公司 | Method and device for calibrating errors of front steering system of robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6138063A (en) * | 1997-02-28 | 2000-10-24 | Minolta Co., Ltd. | Autonomous vehicle always facing target direction at end of run and control method thereof |
| JP2011008637A (en) * | 2009-06-26 | 2011-01-13 | Fujitsu Ltd | Robot control apparatus, robot control program and robot control method |
| CN103921841A (en) * | 2013-01-15 | 2014-07-16 | 福特全球技术公司 | Methods For Correcting Steering Wheel Angle Errors |
| CN106926900A (en) * | 2017-03-28 | 2017-07-07 | 歌尔科技有限公司 | Rotating direction control method, device and two-wheel robot |
-
2018
- 2018-01-08 CN CN201810016515.9A patent/CN108372518B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6138063A (en) * | 1997-02-28 | 2000-10-24 | Minolta Co., Ltd. | Autonomous vehicle always facing target direction at end of run and control method thereof |
| JP2011008637A (en) * | 2009-06-26 | 2011-01-13 | Fujitsu Ltd | Robot control apparatus, robot control program and robot control method |
| CN103921841A (en) * | 2013-01-15 | 2014-07-16 | 福特全球技术公司 | Methods For Correcting Steering Wheel Angle Errors |
| CN106926900A (en) * | 2017-03-28 | 2017-07-07 | 歌尔科技有限公司 | Rotating direction control method, device and two-wheel robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571467A (en) * | 2018-11-23 | 2019-04-05 | 北京控制工程研究所 | Two-wheel differential robot motion model scaling method, device and mileage system |
| CN111515916A (en) * | 2020-04-29 | 2020-08-11 | 广州高新兴机器人有限公司 | Method and device for calibrating errors of front steering system of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108372518B (en) | 2020-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106155074B (en) | A kind of three axis Direct to the sun control method of satellite ensureing satellite-ground link | |
| CN108372518A (en) | Robot turning error scaling method, apparatus and system | |
| EP3582055B1 (en) | Solar panel cleaning robot positioning device and positioning method thereof | |
| CN102915044B (en) | A kind of robot head eye coordinate motion control method based on bionic principle | |
| CN103245335B (en) | A kind of autonomous Servicing spacecraft super close distance vision pose measuring method in-orbit | |
| CN206122838U (en) | Laser welding device with adjustable | |
| CN203902846U (en) | Carrying platform of load, photographing device and aircraft | |
| CN103175470A (en) | Reference sphere positioning and measuring method based on line-structured light vision sensor | |
| CN107085430A (en) | A kind of optimization method of wheeled robot parameter adjustment, device and system | |
| CN106842521A (en) | A kind of lens optical imaging system | |
| CN104865975A (en) | Solar tracking control system of large-scale solar power station and control method thereof | |
| CN107192375A (en) | A kind of unmanned plane multiple image adaptive location bearing calibration based on posture of taking photo by plane | |
| CN110001998A (en) | A kind of Large Aircraft Components frame structure docking guide device and method based on laser ranging | |
| CN110837257A (en) | AGV composite positioning navigation system based on iGPS and vision | |
| CN111127540A (en) | Automatic distance measurement method and system for three-dimensional virtual space | |
| CN203094459U (en) | Novel fixed wing positive photographing three-shaft cradle head | |
| Maegawa et al. | Ubiquitous display 2.0: Development of new prototype and software modules for improvement | |
| CN108037523A (en) | A kind of electron assistant beam alignment applied to unmanned plane | |
| CN104216202A (en) | Inertia gyroscope combined real-time visual camera positioning system and method | |
| CN207318882U (en) | The detection camera angle regulator of liquid crystal panel AOI equipment | |
| CN102541094B (en) | Based on tracing type photovoltaic electricity generation system and its implementation of dimensionally Magnetic Sensor | |
| CN103771729A (en) | Ion beam processing method capable of reducing travel | |
| CN104290102A (en) | Rapid positioning compensation method | |
| CN104898551B (en) | The double vision of full-automatic grass-removing robot feels self aligning system | |
| CN111993427A (en) | Self-stability-increasing control method, device, terminal, system and readable storage medium for aerial work robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 802, building 8, 1818-2, Wenyi West Road, Yuhang District, Hangzhou, Zhejiang 310000 Patentee after: Zhejiang Lishi industrial Interconnection Technology Co.,Ltd. Address before: Room 802, building 8, 1818-2, Wenyi West Road, Yuhang District, Hangzhou, Zhejiang 310000 Patentee before: ZHEJIANG LISHI ROBOT TECHNOLOGY Co.,Ltd. |