CN113758499B - Method, device and equipment for determining positioning sensor assembly deviation compensation parameter - Google Patents
Method, device and equipment for determining positioning sensor assembly deviation compensation parameter Download PDFInfo
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Abstract
The invention discloses a method, a device and equipment for determining assembly deviation compensation parameters of a positioning sensor, and relates to the technical field of computers. The method comprises the following steps: acquiring position deviation points of the positioning object corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor relative to the imaging visual field center of the positioning sensor; determining the center coordinates and the radius of a deviation circle according to N position deviation points; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle. By the above steps, the fitting deviation compensation parameter of the positioning sensor can be accurately determined. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of an optical component of the positioning sensor is reduced, and the assembly steps are simplified.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, and a device for determining an assembly deviation compensation parameter of a positioning sensor.
Background
At present, a goods shelf handling trolley AGV in a goods arrival person object picking solution of a logistics warehouse commonly adopts a two-dimensional code navigation sensor for navigation. The two-dimensional code navigation sensor is one of key components of the AGV, acquires images of two-dimensional codes through a CCD or CMOS image sensor, processes the images, and finally obtains and outputs two-dimensional code coding information and position and angle deviation information of the sensor relative to the two-dimensional codes. The AGV control system can adjust the motion gesture of the AGV according to the information.
The two-dimensional code navigation sensor is a positioning sensor, and has high requirements on measurement precision and accuracy. The assembly deviation of the optical component in the two-dimensional code navigation sensor can seriously affect the measurement precision and accuracy. In addition, for other sensors that perform measurement and positioning based on images taken by the optical component, there is also a common problem of assembly misalignment of the optical component.
In carrying out the invention, the inventors of the present invention found that: aiming at the problem of the assembly deviation of the optical component, the current common practice is to ensure the assembly precision by adopting auxiliary tools such as a special tool clamp and the like, thereby ensuring the measurement precision and the accuracy of the sensor. However, this method has the problems of complicated and tedious assembly process, low efficiency and the like.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus and device for determining an assembly deviation compensation parameter of a positioning sensor, which can accurately determine the assembly deviation compensation parameter of the positioning sensor. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of an optical component of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
To achieve the above object, according to a first aspect of the present invention, there is provided a method of determining a positioning sensor assembly deviation compensation parameter.
The method for determining the assembly deviation compensation parameter of the positioning sensor comprises the following steps: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurement comprises: positioning a position deviation point of an object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor in the rotating process of the positioning object relative to the positioning sensor, and N is more than or equal to 3; determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle.
Optionally, determining the deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle includes: calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
Optionally, N is equal to 3, and the three preset angles are 0 °, 120 °, 240 °, respectively.
Optionally, calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle includes: calculating an included angle of a position deviation point under the preset angle of 0 DEG relative to a Y axis; and carrying out summation operation on the included angle of the position deviation point corresponding to the Y-axis and the rotation angle corresponding to the arbitrary position deviation point under the condition that the preset angle is 0 degree, so as to obtain the included angle of the arbitrary position deviation point corresponding to the Y-axis.
Optionally, the method further comprises: after determining the deviation compensation parameter, checking the deviation compensation parameter; and storing the deviation compensation parameter under the condition that the verification is passed.
Optionally, the positioning object is a two-dimensional code, and the positioning sensor is a two-dimensional code navigation sensor.
To achieve the above object, according to a second aspect of the present invention, there is provided an apparatus for determining a positioning sensor assembly deviation compensation parameter.
The device for determining the assembly deviation compensation parameter of the positioning sensor comprises: the acquisition module is used for acquiring sensor measurement results corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor; wherein the sensor measurement comprises: positioning a position deviation point of an object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor in the rotating process of the positioning object relative to the positioning sensor, and N is more than or equal to 3; the determining module is used for determining the center coordinates and the radius of the deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle.
To achieve the above object, according to a third aspect of the present invention, there is provided an electronic apparatus.
The electronic device of the present invention includes: one or more processors; and a storage means for storing one or more programs; the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of determining positioning sensor assembly deviation compensation parameters of the present invention.
To achieve the above object, according to a fourth aspect of the present invention, a computer-readable medium is provided.
The computer readable medium of the present invention has stored thereon a computer program which when executed by a processor implements the method of the present invention for determining positioning sensor assembly deviation compensation parameters.
To achieve the above object, according to a fifth aspect of the present invention, there is provided an apparatus for determining a positioning sensor assembly deviation compensation parameter.
The apparatus for determining a sensor assembly deviation compensation parameter of the present invention comprises: the acquisition control module is electrically connected with the motor and the positioning sensor respectively; the output shaft of the motor is connected with the rotary table, and the tail end of the motor is connected with the rotation angle measurer and is used for driving the rotary table to rotate by N preset angles under the control of the acquisition control module; n is more than or equal to 3; the turntable is fixedly provided with a positioning object and is used for driving the positioning object to rotate N preset angles relative to the positioning sensor; the positioning sensor is arranged above the positioning object through a fixed mounting piece and is aligned with the positioning object in the center in the vertical direction; the positioning sensor is used for measuring a positioning object rotating to a preset angle under the control of the acquisition control module; and the processing module is used for determining deviation compensation parameters according to the measurement results of the sensor when the positioning object rotates N preset angles.
Optionally, the fixed mount comprises: two fixing brackets and a cross beam which are vertically arranged; the positioning sensor is mounted on the cross beam, and the cross beam is mounted on the fixed support through a lock nut.
Optionally, the fixing support is further provided with a plurality of row holes for adjusting the installation height of the cross beam.
Optionally, the apparatus further comprises: the rotary table corner indicating device is fixedly arranged above the rotary table and is used for being matched with the position scribing on the rotary table to indicate whether the rotary table rotates to a specified position or not.
Optionally, the apparatus further comprises: the rotation angle calibration device is fixedly arranged above the turntable and is used for calibrating the rotation angle of the turntable by being matched with the positioning hole on the turntable and the rotation angle measurer.
Optionally, the apparatus further comprises: a base; the acquisition control module is fixedly arranged on the base, and the motor is arranged above the base through a motor fixing plate.
One embodiment of the above invention has the following advantages or benefits: the method comprises the steps of acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor, and determining a deviation compensation parameter according to the position deviation of the positioning object relative to the imaging visual field center of the positioning sensor in the sensor measurement results, so that the sensor assembly deviation compensation parameter can be accurately determined. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of an optical component of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic illustration of an optical assembly misalignment of a position sensor;
FIG. 2 is a schematic flow chart of a method of determining positioning sensor assembly deviation compensation parameters according to a first embodiment of the present invention;
FIG. 3 is a schematic illustration of a circle of deviation determined from a location deviation point;
FIG. 4 is a schematic diagram of the main modules of an apparatus for determining positioning sensor assembly deviation compensation parameters according to a second embodiment of the present invention;
FIG. 5 is a main construction diagram of an apparatus for determining a positioning sensor assembly deviation compensation parameter according to a third embodiment of the present invention;
FIG. 6 is a schematic diagram of an exemplary turntable structure according to a third embodiment of the present invention;
FIG. 7 is a main flow diagram of a method of determining positioning sensor assembly deviation compensation parameters according to a fourth embodiment of the present invention;
Fig. 8 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the various embodiments of the invention and the technical features of the embodiments may be combined with each other without affecting the implementation of the invention.
FIG. 1 is a schematic diagram of the assembly variation of the optical components of the position sensor. The effect of the optical component assembly deviation on the measurement accuracy of the positioning sensor is described below with reference to fig. 1.
The camera module is a key component of a positioning sensor such as a two-dimensional code navigation sensor. In the assembly process of the camera module, assembly deviation exists, and the assembly deviation is particularly expressed in that the axis of the lens is not perpendicular to the surface of the photosensitive element of the module, so that the physical center of the lens and the imaging visual field center are not overlapped any more, but certain position deviation exists. In short, the assembly deviation of the optical assembly can cause the eccentricity of the imaging field of view, so as to influence the measurement precision and accuracy of positioning sensors such as two-dimensional code navigation sensors.
In order to reduce the influence of the assembly deviation of the optical component, the prior art is to perform centering adjustment in the assembly process of the lens and the lens holder so as to improve the assembly precision as much as possible. Specifically, a module PCB (printed circuit board) is fixed on a centering tool, and cross-shaped graduated paper is arranged right below the module PCB, so that the center of the cross-shaped graduated paper is overlapped with the center of a module photosensitive imaging element. When centering adjustment is carried out, the lens is firstly installed on the lens seat, then the lens and the lens seat assembly are fixed on the module PCB by using screws, and the relative positions of the lens and the lens seat assembly relative to the photosensitive imaging element are required to be continuously finely adjusted in the screwing process, so that the center deviation of the lens and the lens seat assembly is within a certain range. In consideration of the fact that the positioning sensors such as the two-dimensional code navigation sensor and the like have high requirements on measurement accuracy, the requirements on the assembly accuracy of the optical component are high, fine adjustment is required to be continuously tried in the assembly process, and the whole assembly process is tedious and low in efficiency.
In view of the above, the invention provides a method, a device and equipment for determining the assembly deviation compensation parameter of a positioning sensor, which can accurately determine the deviation compensation parameter, further compensate the measurement result of the positioning sensor based on the determined deviation compensation parameter, not only can reduce or offset the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor, but also can reduce the requirement on the assembly precision of an optical component of the positioning sensor, simplify the assembly steps and improve the assembly efficiency.
Fig. 2 is a schematic flow chart of a method for determining positioning sensor assembly deviation compensation parameters according to a first embodiment of the present invention. As shown in fig. 2, a method for determining a positioning sensor assembly deviation compensation parameter according to an embodiment of the present invention includes:
Step S201: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurement comprises: the positioning object is positioned relative to a position deviation point of the imaging visual field center of the positioning sensor.
Wherein the positioning object remains aligned with the center of the photosensitive imaging element of the positioning sensor during rotation relative to the positioning sensor. Illustratively, the positioning sensor is a two-dimensional code navigation sensor, and the positioning object is a two-dimensional code. Besides, besides the two-dimensional code navigation sensor, the positioning sensor can also be other sensors for positioning based on the principle that an optical component such as a camera shoots an image, and correspondingly, the positioning object is an object used for positioning by matching with the positioning sensor.
In an optional example, when the positioning sensor is a two-dimensional code navigation sensor and the positioning object is a two-dimensional code, measurement results of the two-dimensional code navigation sensor can be obtained when the two-dimensional code rotates by N (N is an integer greater than or equal to 3) preset angles relative to the two-dimensional code navigation sensor. For example, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 ° may be obtained. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front-back left-right position deviation X 1 (the coordinate of the position deviation point on the X axis) and Y 1 (the coordinate of the position deviation point on the Y axis) of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor; when the rotation angle is 120 degrees, the front-back left-right position deviation x 2 and y 2 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained; when the rotation angle is 240 degrees, the front, back, left and right position deviations x 3 and y 3 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained. In addition, in the implementation, the value of N may be 4, 5 or other integer greater than or equal to 3, and the value of the preset angle may be flexibly set according to the requirement, for example, 30 °,60 ° or 100 °.
Step S202: and determining the center coordinates and the radius of the deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles.
Step S203: and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle.
Wherein, step S203 may further include: calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
Optionally, calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle includes: calculating an included angle of a position deviation point at a preset angle of 0 DEG relative to a Y axis or an X axis; and carrying out summation operation on the included angle of the position deviation point with the preset angle of 0 degree relative to the Y axis or the X axis and the rotation angle corresponding to the position deviation point to obtain the included angle of the position deviation point relative to the Y axis or the X axis. In addition, in the implementation, the included angle of any position deviation point relative to the Y axis or the X axis can be calculated according to the included angle of the position deviation point relative to the Y axis or the X axis under other preset angles.
For example, the center coordinates (x r,yr) and the radius r of the deviation circle can be determined according to the position deviation point coordinates (x 1,y1)、(x2,y2)、(x3,y3) of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor under the rotation angles of 0 °, 120 ° and 240 °; calculating the included angle of the coordinates (X, Y) of any position deviation point relative to the Y axis or the X axis according to the included angle of the coordinates (X 1,y1) of the position deviation point at 0 degrees relative to the Y axis or the X axis; then, the deviation compensation parameter is determined according to the center coordinates (X r,yr) and the radius r of the deviation circle and the included angle of the deviation point (X, Y) at any position relative to the Y axis or the X axis.
In an alternative example, the method of determining the positioning sensor assembly deviation compensation parameter includes the steps of: after determining the deviation compensation parameter, checking the deviation compensation parameter; storing the deviation compensation parameter when the verification passes (or is successful); the above procedure is exited in case the check fails (or fails). Through the steps, the accuracy and the reliability of the determined positioning sensor assembly deviation compensation parameters can be further improved.
According to the embodiment of the invention, the deviation compensation parameter of the positioning sensor can be accurately determined through the steps, so that the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameter, the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or counteracted, the requirement on the assembly precision of the optical component of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 3 is a schematic diagram of a deviation circle determined from a positional deviation. Step S202 in the first embodiment is described in detail below with reference to fig. 3.
The factors that the assembly deviation of the optical assembly affects the accuracy and precision of the measurement result (or the resolving result) of the positioning sensor the greatest are the included angle between the central axis of the lens assembly and the normal line of the surface of the photosensitive imaging element, and the front-back left-right deviation between the central point of the lens assembly and the central point of the surface of the photosensitive imaging element.
Assuming that the center of the photosensitive imaging element is perpendicularly projected to the surface of the positioning object (such as a two-dimensional code), the projection point coincides with the center point of the surface of the positioning object. If the positioning object is made to rotate around its own center point for one revolution, the measurement result obtained by the positioning sensor is plotted into a graph, and an approximate circle, i.e., a deviation circle, can be obtained. The front-back left-right deviation between the center point of the lens assembly and the center point of the surface of the photosensitive imaging element is reflected to the figure, and the figure is equivalent to the same translation of a circle on a coordinate system plane, namely the deviation of the center coordinates of the circle.
According to the above analysis, after the coordinates of the position deviation points of the positioning object relative to the center of the imaging field of view of the positioning sensor under the N preset angles are obtained in step S201, the center coordinates and the radius of the deviation circle can be determined according to the coordinates of the position deviation points under the three preset angles.
Further, when determining the center coordinates and the radius of the deviation circle according to the position deviation point coordinates at three preset angles, the following formula may be adopted:
A＝x1(y2-y3)-y1(x2-x3)+x2y3-x3y2
Furthermore, the center coordinates (x r,yr) and the radius r of the deviation circle can be obtained according to the above formula,
Next, the angle θ 0 between the position deviation point coordinates (x 1,y1) at the preset angle of 0 ° and the positive Y-axis direction may be calculated as follows:
After θ '0 is obtained, θ' 0 may be converted according to the sensor angle symbol definition to obtain θ 0, including in particular:
when x 1-xr is more than or equal to 0 and y 1-yr is less than 0, θ 0＝θ'0 +180 degrees;
when x 1-xr is less than or equal to 0 and y 1-yr is less than 0, θ 0＝θ'0 +180 degrees;
when x 1-xr is less than or equal to 0 and y 1-yr is more than 0, θ 0＝θ'0 +360 degrees;
Further, when y 1-yr =0 and x 1-xr > 0, θ 0 =90°; when y 1-yr =0 and x 1-xr <0, θ 0 =270 °.
Next, an included angle θ Δ between the coordinates (x, Y) of the offset point at any position and the positive Y-axis direction can be calculated according to θ 0, see the following formula:
θΔ＝θ+θ0；
Further, the deviation compensation parameter x bu、ybu can be determined according to the center coordinates (x r,yr) and the radius r of the deviation circle, and θ Δ, see the following formula:
xbu＝r*sinθΔ+xr；
ybu＝r*cosθΔ+yr；
further, the measurement result measured by the positioning sensor can be compensated according to the obtained deviation compensation parameter.
In the embodiment of the invention, the deviation compensation parameters of the positioning sensor are accurately determined, and the measurement result of the positioning sensor is compensated based on the determined deviation compensation parameters, so that the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or counteracted, the requirement on the assembly precision of the optical component of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 4 is a schematic diagram showing the main blocks of an apparatus for determining sensor assembly deviation compensation parameters according to a second embodiment of the present invention. As shown in fig. 4, an apparatus 400 for determining a sensor assembly deviation compensation parameter according to an embodiment of the present invention includes: an acquisition module 401 and a determination module 402.
The acquiring module 401 is configured to acquire sensor measurement results corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor. Wherein the sensor measurement comprises: the positioning object is positioned relative to a position deviation point of the imaging visual field center of the positioning sensor.
Wherein the positioning object remains aligned with the center of the photosensitive imaging element of the positioning sensor during rotation relative to the positioning sensor. Illustratively, the positioning sensor is a two-dimensional code navigation sensor, and the positioning object is a two-dimensional code. Besides, besides the two-dimensional code navigation sensor, the positioning sensor can also be other sensors for positioning based on the principle that an optical component such as a camera shoots an image, and correspondingly, the positioning object is an object used for positioning by matching with the positioning sensor.
In an alternative example, when the positioning sensor is a two-dimensional code navigation sensor and the positioning object is a two-dimensional code, the obtaining module 401 may obtain the measurement result of the two-dimensional code navigation sensor when the two-dimensional code rotates by N (N is an integer greater than or equal to 3) preset angles relative to the two-dimensional code navigation sensor. For example, the acquisition module 401 may acquire a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 °. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front-back left-right position deviation x 1 and y 1 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained; when the rotation angle is 120 degrees, the front-back left-right position deviation x 2 and y 2 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained; when the rotation angle is 240 degrees, the front, back, left and right position deviations x 3 and y 3 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained. In addition, in the implementation, the value of N may be 4,5 or other integer greater than or equal to 3, and the value of the preset angle may be flexibly set according to the requirement, for example, 30 °, 60 ° or 100 °.
The determining module 402 is configured to determine a center coordinate and a radius of a deviation circle according to a position deviation point of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle.
Illustratively, the determining module 402 determining the offset compensation parameter may further include: the determining module 402 calculates the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under three preset angles; the determining module 402 calculates the included angle of the position deviation point relative coordinate axis according to the included angle of the position deviation point relative coordinate axis under a preset angle; the determining module 402 determines the deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the included angle between any position deviation point and the coordinate axis.
Optionally, the determining module 402 calculates the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle includes: the determining module 402 calculates an included angle of a position deviation point at a preset angle of 0 degrees relative to a Y axis or an X axis; the determining module 402 sums the included angle of the position deviation point with respect to the Y axis or the X axis under the preset angle of 0 ° and the rotation angle corresponding to the arbitrary position deviation point, so as to obtain the included angle of the arbitrary position deviation point with respect to the Y axis or the X axis. In addition, in the implementation, the determining module 402 may also calculate the included angle of the arbitrary position deviation point with respect to the Y-axis or the X-axis according to the included angle of the position deviation point with respect to the Y-axis or the X-axis at other preset angles.
For example, the determining module 402 may determine the center coordinates (x r,yr) and the radius r of the deviation circle according to the coordinates (x 1,y1)、(x2,y2)、(x3,y3) of the position deviation point of the two-dimensional code relative to the imaging field of view center of the two-dimensional code navigation sensor under the rotation angles of 0 °, 120 °, and 240 °; the determining module 402 calculates the included angle of any position deviation point (X, Y) relative to the Y axis or the X axis according to the included angle of the position deviation point coordinate (X 1,y1) relative to the Y axis or the X axis under 0 degrees; the determination module 402 then determines the offset compensation parameter based on the center coordinates (X r,yr) and the radius r of the offset circle, and the angle of the arbitrary position offset point (X, Y) with respect to the Y-axis or the X-axis.
According to the embodiment of the invention, the deviation compensation parameter of the positioning sensor can be accurately determined through the device, so that the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameter, the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or counteracted, the requirement on the assembly precision of the optical component of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 5 is a main structural diagram of an apparatus for determining sensor assembly deviation compensation parameters according to a third embodiment of the present invention. Fig. 6 is a schematic view of an exemplary turntable structure according to a third embodiment of the present invention. As shown in fig. 5 and 6, an apparatus for determining a sensor assembly deviation compensation parameter according to an embodiment of the present invention includes: the device comprises an acquisition control module 1, a motor 2, a turntable 3, a rotation angle measurer 4, a positioning sensor 6 and a processing module 8.
The acquisition control module 1 is electrically connected with the motor 2 and the positioning sensor 6 respectively and is mainly used for controlling the motor 2 to rotate to a preset angle and controlling the positioning sensor 6 to measure when rotating to the preset angle. In specific implementation, the acquisition control module 1 and the positioning sensor 6 can be connected through the cable bundle 15, and various communication protocols can be adopted to transmit information between the two, such as TCP/IP, UDP, USB, RS232, RS485, TTL UART, SPI, I 2 C protocols and the like. Further, the acquisition control module 1 can be electrically connected with the rotation angle measurer 4 and is used for controlling the rotation angle measurer to measure the rotation angle of the motor in real time. In addition, the acquisition control module 1 can also be used for providing working power supply for the motor 2, the positioning sensor 6 and the rotation angle measurer 4.
And an output shaft of the motor 2 is connected with the turntable 3, and the tail end of the motor 2 is connected with the rotation angle measurer 4 and is used for driving the turntable 3 to rotate by N preset angles under the control of the acquisition control module 1. Wherein N is an integer greater than or equal to 3, and the preset angle may be 0 °, 120 °, 240 ° or other angle values.
In an alternative example, the apparatus for determining the sensor assembly deviation compensation parameter further comprises: a platform-type base 13. The base 13 is used for fixedly installing the acquisition control module 1, and the motor 2 is fixedly arranged above the base 13 through the motor fixing plate 14.
The turntable 3 is fixedly provided with a positioning object 5 and is used for driving the positioning object 5 to rotate N preset angles relative to the positioning sensor 6. Illustratively, the positioning sensor 6 is a two-dimensional code navigation sensor, the positioning object 5 is a two-dimensional code, and the two-dimensional code may be fixed on the turntable 3 by means of pasting or the like. Besides, besides the two-dimensional code navigation sensor, the positioning sensor 6 can also be another sensor for positioning based on the principle that an optical component such as a camera shoots an image, and accordingly, the positioning object 5 is an object used for positioning in cooperation with the positioning sensor.
The rotation angle measurer 4 is fixedly arranged at the tail end of the motor 2 and can measure the rotation angle of the motor in real time under the control of the acquisition control module 1. The rotation angle measurer 4 may be one of a multiturn potentiometer, an absolute encoder, a hall rotation angle measuring sensor, and the like, for example.
The positioning sensor 6 is disposed above the positioning object 5 by a fixing mount 7 and is aligned with the positioning object 5 in the vertical direction. The positioning sensor 6 is used for measuring the positioning object 5 rotating to a preset angle under the control of the acquisition control module 1. The measurement results of the positioning sensor 6 include: the positioning object is positioned relative to a position deviation point of the imaging visual field center of the positioning sensor.
For example, when the positioning sensor is a two-dimensional code navigation sensor, N measurement results under preset angles can be collected. For example, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 °. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front-back left-right position deviation x 1 and y 1 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained; when the rotation angle is 120 degrees, the front-back left-right position deviation x 2 and y 2 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained; when the rotation angle is 240 degrees, the front, back, left and right position deviations x 3 and y 3 of the two-dimensional code relative to the imaging visual field center of the two-dimensional code navigation sensor are obtained.
In an alternative example, the fixed mount 7 comprises: two vertically arranged fixing brackets 701 and a cross beam 702. The positioning sensor 6 is mounted on a cross beam 702, and the cross beam 702 is mounted on a fixed bracket 701 by a lock nut 703. Further, in the above alternative example, the fixing bracket 701 in the fixing mount 7 may further be provided with a plurality of row holes 704 for adjusting the mounting height of the cross beam 702, so as to achieve adjustment of the vertical height between the positioning sensor and the turntable, so that the apparatus may be suitable for positioning sensors with different mounting heights. It should be noted that the fixed mount may take other component structures in addition to the above without affecting the practice of the invention.
The processing module 8 is used for determining deviation compensation parameters according to the sensor measurement results when the positioning object rotates N preset angles. The processing module 8 may be one of the processing terminals. The processing terminal can be a PC, an HMI, or other embedded devices. In specific implementation, the processing terminal and the acquisition control module can adopt various communication protocols for information transmission, such as TCP/IP, UDP, USB, RS232, RS485, TTL UART, SPI, I 2 C protocol and the like. In addition, in an alternative example, the processing terminal may be further configured to issue control instructions to the acquisition control module, and collect, display, and so on, the operation data in real time.
In an alternative example, the apparatus of the embodiment of the present invention may further include: and a turntable rotation angle indicating device 9. The turntable rotation angle indicating device 9 is fixedly arranged above the turntable 3 and is used for being matched with the position score line 10 on the turntable 3 to indicate whether the turntable rotates to a specified position or not. Illustratively, the rotary table rotation angle indicating device 9 may be of an elongated hand structure similar to a timepiece hour, minute, second hand.
In an alternative example, the apparatus of the embodiment of the present invention may further include: the rotation angle calibration device 11 is fixedly arranged above the turntable 3 and is used for calibrating the rotation angle of the turntable by being matched with the positioning hole 12 on the turntable 3 and the rotation angle measurer 4. The simplest structure of the angle indexing means may be a pin, for example. When the rotation angle of the turntable is required to be accurately calibrated, the pin of the rotation angle calibration device 11 can be inserted into the positioning hole 12 on the turntable, and then the measured value of the rotation angle measurement sensor is read through the acquisition control unit, and the measured value is the rotation angle of the turntable. After a period of use, if the rotation angle of the turntable is not found to be the same as the rotation angle corresponding to the designated position through the turntable rotation angle indicating device 9, the rotation angle of the turntable can be recalibrated by adopting the method.
According to the embodiment of the invention, the deviation compensation parameter of the positioning sensor can be accurately measured through the equipment, so that the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameter, the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or counteracted, the requirement on the assembly precision of the optical component of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 7 is a main flow diagram of a method of determining positioning sensor assembly deviation compensation parameters according to a fourth embodiment of the present invention. In the embodiment of the invention, taking the positioning sensor as a two-dimensional code navigation sensor as an example, a detailed flow for determining the assembly deviation compensation parameter is provided. As shown in fig. 7, a method for determining a sensor assembly deviation compensation parameter according to an embodiment of the present invention includes:
Step S701: and installing a two-dimensional code navigation sensor, connecting the cables and supplying power.
By way of example, the method of embodiments of the present invention may be performed in conjunction with the apparatus shown in fig. 5. Specifically, in this step, the two-dimensional code navigation sensor may be fixedly mounted to the cross beam, and its mounting height is made the same as the actual working height. Next, the two-dimensional code navigation sensor may be connected to the acquisition control module 1 and the acquisition control module to the processing terminal by the cable harness 15, after which the power plug 16 is plugged into an external power outlet to power the device and wait for the system to start.
Step S702: and controlling the turntable to rotate to 0 DEG, and reading the resolving result.
For example, a corresponding control instruction can be issued to the acquisition control module through the processing terminal, and the acquisition control module measures the current angle of the turntable by controlling the rotation angle measurement sensor and compares the current angle with the target angle of 0 degrees. If the current angle is inconsistent with the target angle, the acquisition control module controls the motor to rotate so as to drive the turntable to rotate until the turntable rotates to the target angle of 0 degrees. And then, the acquisition control module sends a decoding instruction to the two-dimensional code navigation sensor, the two-dimensional code navigation sensor performs real-time calculation and uploads a calculation result to the processing terminal for display through the acquisition control module.
Step S703: and controlling the turntable to rotate to 120 degrees, and reading the resolving result.
For example, the processing terminal, the acquisition control module and the like can control the turntable to rotate to a target angle of 120 degrees, and the resolving result of the two-dimensional code navigation sensor under the angle is read.
Step S704: and controlling the turntable to rotate to 240 degrees, and reading the resolving result.
For example, the processing terminal, the acquisition control module and the like can control the turntable to rotate to a target angle of 240 degrees, and the resolving result of the two-dimensional code navigation sensor under the angle is read.
Step S705: and calculating a deviation compensation parameter according to the solution result.
In this step, the deviation compensation parameter of the two-dimensional code navigation sensor may be calculated according to the result of the solution at the target angle of 0 °, 120 °, 240 °. For a specific description of how the deviation compensation parameters are calculated, reference is made to the embodiment shown in fig. 2.
Step S706: and verifying the deviation compensation parameter.
In an alternative example, step S706 may further include: the two-dimensional code is controlled to rotate at a certain angle interval (for example, the two-dimensional code rotates from 0 degree to 350 degrees according to an angle interval of 10 degrees), and deviation compensation parameters under a plurality of rotation angles are verified; if the deviation compensation parameters under all the rotation angles are successfully verified, confirming that the deviation compensation parameters are successfully verified; otherwise, confirming that the deviation compensation parameter fails to verify.
For example, the two-dimensional code can be controlled to rotate to 0 ° and trigger the two-dimensional code navigation sensor to perform one-time calculation, and then the deviation compensation parameters determined in step S705 are used to compensate the calculation result, specifically, the position deviation in the calculation result. The positional deviations after the compensation are all 0 in theory, and the positional deviations after the compensation obtained in practice are values relatively close to 0. If the position deviation after the compensation actually obtained under the rotation angle exceeds a preset value interval, confirming that the deviation compensation parameter fails to verify; otherwise, the two-dimensional code can be controlled to rotate to 10 degrees, and the deviation compensation parameters under the rotation angle are checked.
In the case that the verification of the deviation compensation parameter is successful, step S707 is performed; in the event that verification of the offset compensation parameter fails, the process is exited.
Step S707: and saving the deviation compensation parameter.
According to the embodiment of the invention, the deviation compensation parameter of the positioning sensor can be accurately measured by adopting the steps, so that the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameter, the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or counteracted, the requirement on the assembly precision of the optical component of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Referring now to FIG. 8, there is illustrated a schematic diagram of a computer system 800 suitable for use in implementing an electronic device of an embodiment of the present invention. The computer system shown in fig. 8 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU) 801 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage section 808 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 801.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor comprises an acquisition module, a determination module. The names of these modules do not limit the module itself in some cases, for example, the acquisition module may also be described as "a module for acquiring sensor measurements corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer-readable medium carries one or more programs which, when executed by one of the devices, cause the device to perform the following: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurement comprises: positioning a position deviation point of an object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor in the rotating process of the positioning object relative to the positioning sensor, and N is more than or equal to 3; determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the position deviation point under a preset angle.
According to the technical scheme provided by the embodiment of the invention, the assembly deviation compensation parameter of the positioning sensor can be accurately determined. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of an optical component of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (14)
1. A method of determining positioning sensor assembly bias compensation parameters, the method comprising:
Acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurement comprises: positioning a position deviation point of an object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor in the rotating process of the positioning object relative to the positioning sensor, and N is more than or equal to 3;
Determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles;
determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and a position deviation point under a preset angle;
determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and a position deviation point under a preset angle comprises the following steps:
Calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
2. The method according to claim 1, wherein N is equal to 3, and the three predetermined angles are 0 °, 120 °, 240 °, respectively.
3. The method according to claim 1, wherein calculating the angle of any position deviation point relative to the coordinate axis according to the angle of the position deviation point relative to the coordinate axis at a predetermined angle comprises:
Calculating an included angle of a position deviation point under the preset angle of 0 DEG relative to a Y axis; and carrying out summation operation on the included angle of the position deviation point corresponding to the Y-axis and the rotation angle corresponding to the arbitrary position deviation point under the condition that the preset angle is 0 degree, so as to obtain the included angle of the arbitrary position deviation point corresponding to the Y-axis.
4. The method according to claim 1, wherein the method further comprises: after the deviation compensation parameter is determined,
Verifying the deviation compensation parameter; and storing the deviation compensation parameter under the condition that the verification is passed.
5. The method of any one of claims 1 to 4, wherein the positioning object is a two-dimensional code and the positioning sensor is a two-dimensional code navigation sensor.
6. An apparatus for determining positioning sensor assembly deviation compensation parameters, the apparatus comprising:
The acquisition module is used for acquiring sensor measurement results corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor; wherein the sensor measurement comprises: positioning a position deviation point of an object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor in the rotating process of the positioning object relative to the positioning sensor, and N is more than or equal to 3;
the determining module is used for determining the center coordinates and the radius of the deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and a position deviation point under a preset angle;
the determining module is further used for calculating the included angle of the position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining a deviation compensation parameter according to the center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
7. An electronic device, comprising:
one or more processors;
Storage means for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-5.
8. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-5.
9. An apparatus for determining positioning sensor assembly deviation compensation parameters, characterized in that it is adapted to implement the method for determining positioning sensor assembly deviation compensation parameters according to any one of claims 1 to 5, said apparatus comprising:
The acquisition control module (1) is electrically connected with the motor (2) and the positioning sensor (6) respectively;
The output shaft of the motor (2) is connected with the rotary table (3), and the tail end of the motor (2) is connected with the rotation angle measurer (4) and is used for driving the rotary table (3) to rotate by N preset angles under the control of the acquisition control module (1); n is more than or equal to 3;
the turntable (3) is fixedly provided with a positioning object (5) and is used for driving the positioning object (5) to rotate N preset angles relative to the positioning sensor;
The positioning sensor (6) is arranged above the positioning object (5) through a fixed mounting piece (7) and is aligned with the positioning object (5) in the center in the vertical direction; the positioning sensor (6) is used for measuring a positioning object (5) rotating to a preset angle under the control of the acquisition control module (1);
And the processing module (8) is used for determining deviation compensation parameters according to the sensor measurement results when the positioning object rotates N preset angles.
10. The apparatus according to claim 9, characterized in that the fixed mount (7) comprises: two fixing brackets (701) and a cross beam (702) which are vertically arranged; the positioning sensor (6) is mounted on the cross beam, and the cross beam (702) is mounted on the fixed bracket (701) through a lock nut (703).
11. The apparatus according to claim 10, wherein the fixing bracket (701) is further provided with a plurality of row holes (704) for adjusting the mounting height of the cross beam (702).
12. The apparatus of claim 9, wherein the apparatus further comprises:
The rotary table corner indicating device (9) is fixedly arranged above the rotary table (3) and is used for being matched with the position score line (10) on the rotary table (3) to indicate whether the rotary table rotates to a specified position or not.
13. The apparatus of claim 9, wherein the apparatus further comprises:
The rotation angle calibration device (11) is fixedly arranged above the turntable (3) and is used for calibrating the rotation angle of the turntable by being matched with the positioning hole (12) on the turntable (3) and the rotation angle measurer (4).
14. The apparatus of claim 9, wherein the apparatus further comprises: a base (13); the acquisition control module (1) is fixedly arranged on the base (13), and the motor (2) is arranged above the base (13) through a motor fixing plate (14).
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