CN115902840A - Laser radar calibration method and device for single-steering-wheel AGV (automatic guided vehicle) and storage medium - Google Patents
Laser radar calibration method and device for single-steering-wheel AGV (automatic guided vehicle) and storage medium Download PDFInfo
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Abstract
The invention discloses a laser radar calibration method, a device and a storage medium for a single-steering-wheel AGV. And respectively acquiring the corresponding positioning coordinate and attitude angle of the laser radar on the initial moving point and the final moving point, and fitting the moving track by using an arc line to obtain the installation attitude angle of the laser radar. And the single steering wheel AGV spins by a set angle, acquires the corresponding positioning coordinate and attitude angle of the laser radar on a spinning initial point and a spinning end point respectively, and calculates to obtain the installation coordinate of the laser radar. And repeating the operations, eliminating error data, and outputting the installation attitude angle mean value and the installation coordinate mean value which accord with the judgment condition. Compared with the prior art, the method is more consistent with the motion rule of the kinematics model of the AGV with the single steering wheel, and the obtained installation attitude angle is more reliable and more practical. The method has low requirement on the calibration environment and is easier to eliminate the data polluted by interference.
Description
Technical Field
The invention relates to the technical field of AGV (automatic guided vehicle), in particular to a laser radar calibration method and device for an AGV with a single steering wheel and a storage medium.
Background
With the development of the AGV, the scenes of the AGV application are more and more rich. The installation position and the installation attitude angle of a laser radar which is generally installed in a single-steering-wheel AGV trolley need to be as accurate as possible so that the single-steering-wheel AGV trolley can be accurately positioned when being navigated.
In prior art, most AGV dollies use the mode of straight line fitting orbit to demarcate the radar, and to single rudder wheel AGV dolly, adopt the radar calibration data that straight line fitting orbit obtained, still there is the error great, the not high problem of accuracy inadequately.
Disclosure of Invention
The invention aims to provide a laser radar calibration method, a device and a storage medium for an AGV (automatic guided vehicle), which are used for solving one or more technical problems in the prior art and at least provide a beneficial selection or creation condition.
The solution of the invention for solving the technical problem is as follows: a laser radar calibration method and device for a single-steering-wheel AGV and a storage medium are provided.
According to an embodiment of the first aspect of the present invention, a laser radar calibration method for an AGV with a single steering wheel is provided, which includes the following steps:
initializing the rotation angle of the single steering wheel, and moving the single steering wheel AGV by a set distance;
respectively acquiring corresponding positioning coordinates and attitude angles of a laser radar on a movement initial point and a movement termination point, and fitting a movement track by using an arc to obtain an installation attitude angle of the laser radar;
adjusting the rotation angle of the single steering wheel, wherein the single steering wheel AGV spins a set angle, and respectively acquiring a corresponding positioning coordinate and an attitude angle of the laser radar at a spinning initial point and a spinning end point;
calculating to obtain the installation coordinates of the laser radar according to the installation attitude angle, the positioning coordinates and the attitude angles corresponding to the spin initial point and the spin termination point;
repeating the above operations to obtain n installation attitude angles and n installation coordinates, calculating a corresponding mean value, and eliminating the installation attitude angle and the installation coordinate with the largest difference with the corresponding mean value to obtain n-1 installation attitude angles and n-1 installation coordinates;
averaging the n-1 installation attitude angles and the n-1 installation coordinates again to obtain an installation attitude angle mean value and an installation coordinate mean value;
judging whether the difference value of the installation attitude angle mean value and the n-1 installation attitude angles and the difference value of the installation coordinate mean value and the n-1 installation coordinates are smaller than the corresponding set difference value threshold value or not;
and if so, outputting the installation attitude angle mean value and the installation coordinate mean value.
Further, the obtaining of the installation attitude angle of the laser radar specifically includes:
acquiring a first positioning coordinate and a first attitude angle of the laser radar at a movement initial point, and a second positioning coordinate and a second attitude angle of the laser radar at a movement termination point;
calculating to obtain a movement increment of the coordinate according to the first positioning coordinate and the second positioning coordinate;
fitting a moving track by using an arc, and calculating a formula by using an installation attitude angle according to the movement increment of the coordinate, the first attitude angle and the second attitude angle:
calculating to obtain an installation attitude angle theta of the laser radar, wherein delta y and delta x are movement increment of the coordinate, and alpha 1 Is a first attitude angle, α 2 Is the second attitude angle.
Further, the single steering wheel AGV spin setting angle respectively acquires the corresponding positioning coordinate and attitude angle of the laser radar on the spin initial point and the spin termination point specifically includes:
the single steering wheel AGV spins around the control point by a set angle;
and acquiring a third positioning coordinate and a third attitude angle of the laser radar at a spin initial point, and a fourth positioning coordinate and a fourth attitude angle of the laser radar at a spin finish point.
Further, the calculating the installation coordinate of the laser radar according to the installation attitude angle, the positioning coordinate and the attitude angle corresponding to the spin initial point and the spin termination point specifically includes:
constructing an arc model by using the control point, the spin initial point and the spin termination point;
calculating and obtaining the radius of the arc model and the coordinates of the control points according to the third positioning coordinate, the third attitude angle, the fourth positioning coordinate and the fourth attitude angle through the arc model;
acquiring the attitude direction of the AGV with the single steering wheel, establishing a right-hand coordinate system by taking the attitude direction as an X axis, and utilizing an installation coordinate calculation formula according to the coordinates, the radius, the installation attitude angle, the fourth positioning coordinate and the fourth attitude angle of the control point:
calculating to obtain the installation coordinate (X) of the laser radar l ，Y l ) Wherein (x) 0 ,y 0 ) Is the coordinate of the control point, R is the radius, theta is the installation attitude angle, (x) 4 ,y 4 ) For the fourth location coordinate, α 4 Is the fourth attitude angle.
Further, the calculating to obtain the radius of the arc model and the coordinates of the control point specifically includes:
calculating to obtain the linear distance between the spin initial point and the spin end point according to the third positioning coordinate and the fourth positioning coordinate;
calculating to obtain an attitude angle difference between the spin initial point and the spin end point according to the third attitude angle and the fourth attitude angle;
according to the linear distance and the attitude angle difference value, utilizing a radius calculation formula:
calculating to obtain the radius R of the arc model, wherein L is a linear distance, and delta alpha is an attitude angle difference;
according to the attitude angle difference value, the radius, the third positioning coordinate and the fourth positioning coordinate, utilizing a coordinate calculation formula of a control point:
calculating to obtain the coordinates (x) of the control points 0 ,y 0 ) Wherein (x) 3 ,y 3 ) Is the third location coordinate.
Further, the obtaining n installation attitude angles and n installation coordinates, calculating corresponding average values, and eliminating the installation attitude angle and the installation coordinate with the largest difference from the corresponding average values specifically includes:
calculating to obtain a first installation attitude angle mean value and a first installation coordinate mean value according to the n installation attitude angles and the n installation coordinates;
calculating the difference between the first installation attitude angle mean value and the n installation attitude angles, and eliminating the installation attitude angle with the largest difference;
and calculating the difference value between the first installation coordinate mean value and the n installation coordinates, and removing the installation coordinate with the largest difference value.
Further, the step of judging whether the difference between the installation attitude angle mean value and the n-1 installation attitude angles and the difference between the installation coordinate mean value and the n-1 installation coordinates are both smaller than the corresponding set difference threshold specifically includes:
the mean values of the installation attitude angles and n-1 installation attitude angles are subjected to difference calculation to obtain n-1 angle difference values, and the mean values of the installation coordinates and n-1 installation coordinates are subjected to difference calculation to obtain n-1 coordinate difference values;
and judging whether the n-1 angle difference values are all smaller than a set installation angle difference threshold value, and judging whether the n-1 coordinate difference values are all smaller than a set installation coordinate difference threshold value.
Further, the obtaining of the installation attitude angle of the laser radar further includes:
connecting the initial moving point and the final moving point, wherein the direction from the initial moving point to the final moving point is the moving track direction of the AGV with the single steering wheel;
and constructing a world coordinate system, and adding 180 degrees to the obtained installation attitude angle when the included angle between the moving track direction and the X axis of the world coordinate system is 90-270 degrees.
According to an embodiment of a second aspect of the present invention, there is provided an electronic apparatus including:
a memory for storing a program; a processor for executing the program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to execute the laser radar calibration method for the AGV with a single rudder wheel according to any one of the first aspect.
According to an embodiment of a third aspect of embodiments of the present invention, there is provided a storage medium including: there are stored computer executable instructions for performing a method of lidar calibration of a single steerable wheel AGV according to any of the first aspects.
The invention has the beneficial effects that: compared with the prior art, the method is more consistent with the motion rule of a kinematic model of the AGV with the single steering wheel, and the obtained installation attitude angle is more reliable and more practical. The installation coordinates of the laser radar can be calculated by only utilizing the corresponding positioning coordinates and attitude angles at the spin initial point and the spin termination point each time. In addition, the method determines and rejects data with larger errors through a mode of twice averaging and a mode of comparing error thresholds until the installation attitude angle mean value and the installation coordinate mean value are output, so that the calibration precision of the laser radar is improved, and the fluctuation error and the calibration error of the laser radar measurement data are reduced.
Drawings
FIG. 1 is a schematic flow chart of a laser radar calibration method for a single-steering wheel AGV according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an arc model of a laser radar calibration method for an AGV with a single steering wheel according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and are not to be construed as limiting the invention.
It should be noted that although the functional block division is performed in the system diagram, in some cases, the steps shown or described may be performed in a different order than the block division in the system or the flowchart. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the description of the present invention, it should be noted that unless otherwise explicitly defined, terms such as setup, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
In embodiments according to the first aspect of the present invention, referring to fig. 1, in some embodiments of the present invention, a laser radar calibration method for a single-steering wheel AGV includes the following steps:
and S100, initializing the rotation angle of the single steering wheel, and moving the single steering wheel AGV by a set distance.
In this embodiment, the turning angle of the steering wheel is set to 0 degree, so that the single steering wheel AGV can move as linearly as possible by the set distance, thereby reducing the space requirement of the calibration environment. Wherein the range of the set distance is as follows: 2 m to 3 m. I.e. the AGV can move 2 to 3 meters forward or backward each time with a single steering wheel.
S200, respectively obtaining the corresponding positioning coordinates and attitude angles of the laser radar on the initial moving point and the final moving point, and obtaining the installation attitude angle of the laser radar by utilizing an arc line to fit the moving track.
In this embodiment, at the movement initial point, the laser radar performs scanning positioning to acquire the positioning coordinate and the attitude angle at that time, and at the movement end point, the laser radar performs scanning positioning to acquire the positioning coordinate and the attitude angle at that time. And fitting the movement track of the laser radar by using an arc line according to the positioning coordinate and the attitude angle of the initial movement point and the positioning coordinate and the attitude angle of the final movement point, so as to obtain the installation attitude angle of the laser radar.
That is to say, the laser radar performs positioning detection before the single-steering-wheel AGV moves, and obtains a positioning coordinate and an attitude angle before the movement. And the laser radar carries out positioning detection when the single steering wheel AGV stops moving, and obtains a positioning coordinate and an attitude angle when the movement stops. After the movement is finished, the movement track of the laser radar is an arc, and the movement track of the laser radar is fitted by utilizing an arc line according to the positioning data before the movement and the positioning data when the movement is stopped, so that the installation attitude angle of the laser radar is obtained through calculation.
In S100, the rotation angle of the steering wheel is initialized, but the laser radar has a certain error, and thus the movement locus is actually a circular arc curve. Therefore, the calculation by using the method of the arc curve is more accurate and more accords with the actual moving condition, and if the moving track is fitted by adopting a straight line, the error of the obtained installation attitude angle is larger.
S300, adjusting the rotation angle of the single steering wheel, setting the spin angle of the AGV, and respectively acquiring the corresponding positioning coordinate and attitude angle of the laser radar on the spin initial point and the spin termination point.
In this embodiment, the angle of rotation of the steerable wheel is adjusted so that the steerable wheel AGV can spin by a set angle. And the laser radar is used for positioning on the spin initial point to obtain the positioning coordinate and the attitude angle at the moment, and is used for positioning on the spin termination point to obtain the positioning coordinate and the attitude angle at the moment. Namely, the laser radar carries out positioning detection before the single steering wheel AGV spins, and obtains a positioning coordinate and an attitude angle before spinning. And the laser radar carries out positioning detection when the single steering wheel AGV stops spinning to obtain a positioning coordinate and an attitude angle when the spinning is stopped.
And S400, calculating to obtain the installation coordinates of the laser radar according to the installation attitude angle, the positioning coordinates and the attitude angle corresponding to the spin initial point and the spin termination point.
In this embodiment, the installation coordinates of the laser radar are obtained by calculation through the installation attitude angle obtained in S200, the positioning coordinates and attitude angle of the spin initial point and the positioning coordinates and attitude angle of the spin end point obtained in S300.
Because the laser radar positioning data in the movement process is inaccurate before the installation attitude angle and the installation coordinate of the laser radar are determined, the calculation by using the positioning data in the movement process has larger errors.
And S500, repeating the operations to obtain n installation attitude angles and n installation coordinates, calculating a corresponding mean value, and eliminating the installation attitude angle and the installation coordinate with the largest difference with the corresponding mean value to obtain n-1 installation attitude angles and n-1 installation coordinates.
In this embodiment, S100 to S400 are repeatedly performed, resulting in n installation attitude angles and n installation coordinates. And calculating to obtain a corresponding average value according to the obtained n installation attitude angles and the n installation coordinates, namely calculating to obtain an average value of the n installation attitude angles and an average value of the n installation coordinates.
And according to the corresponding average value, removing the installation attitude angle with the largest difference with the corresponding average value, and remaining n-1 installation attitude angles. And according to the corresponding average value, removing the installation coordinate with the largest difference with the corresponding average value, and remaining n-1 installation coordinates.
By calculating the mean value and comparing the mean value with the mean value, the installation attitude angle and the installation coordinate which are obviously deviated from the corresponding mean value are removed, the mixing of error data is reduced, and the calibration precision is reduced.
S600, averaging the n-1 installation attitude angles and the n-1 installation coordinates again to obtain an installation attitude angle average value and an installation coordinate average value.
In this embodiment, the data with the largest error is eliminated by S500, and n-1 installation attitude angles and n-1 installation coordinates remain. And averaging the n-1 installation attitude angles to obtain an installation attitude angle average value. And averaging the n-1 installation coordinates to obtain an installation coordinate average value.
S700, judging whether the difference value of the installation attitude angle mean value and the n-1 installation attitude angles and the difference value of the installation coordinate mean value and the n-1 installation coordinates are smaller than the corresponding set difference threshold value.
In the embodiment, the residual installation attitude angles after being removed in the S500 are differed from the average installation attitude angle value obtained in the S600 to obtain an n-1 angle difference value, and whether the n-1 angle difference value is smaller than a corresponding difference value threshold value is judged;
subtracting the residual installation coordinates after the elimination in the S500 from the installation coordinate mean value obtained in the S600 to obtain n-1 coordinate difference values, and judging whether the n-1 coordinate difference values are smaller than corresponding difference value thresholds or not;
and S710, if yes, outputting the installation attitude angle mean value and the installation coordinate mean value.
In this embodiment, when the difference between the remaining installation attitude angles and the average installation attitude angle is smaller than the set installation attitude angle difference threshold, and the difference between the remaining installation coordinates and the average installation coordinate is smaller than the set installation coordinate difference threshold, the average installation attitude angles and the average installation coordinate are output as the final calibration result.
When the condition in S700 is not satisfied, the process returns to S100, and S100 to S400 are executed again to obtain a new set of installation attitude angle and installation coordinate, and S500 to S700 are executed again to perform the determination again until the determination condition in S700 is satisfied, and a reliable laser radar installation attitude angle and installation coordinate with small error and high accuracy are output.
According to the method, the movement track is fitted by using an arc line, and the installation attitude angle of the laser radar is obtained through calculation. Compared with the prior art, the method better conforms to the motion law of the kinematic model of the AGV with the single steering wheel, and the obtained installation attitude angle is more reliable and more practical. The installation coordinates of the laser radar can be calculated by only using the corresponding positioning coordinates and attitude angles on the spin initial point and the spin termination point each time. And the method determines and eliminates data with larger errors through a mode of twice averaging and a mode of comparing error thresholds until the installation attitude angle mean value and the installation coordinate mean value are output, so that the calibration precision of the laser radar is improved, and the fluctuation error and the calibration error of the laser radar measurement data are reduced.
In some embodiments of the present invention, in S200, the method specifically includes the following steps:
s210, scanning and positioning by the laser radar at the initial moving point to obtain a first positioning coordinate and a first attitude angle, and scanning and positioning by the laser radar at the final moving point to obtain a second positioning coordinate and a second attitude angle.
In this embodiment, the laser radar scans and locates before the AGV moves, and obtains a first locating coordinate (x) before moving 1 ,y 1 ) And a first attitude angle alpha 1 . The laser radar carries out scanning and positioning when the single steering wheel AGV stops moving to obtain a second positioning coordinate (x) when the movement stops 2 ,y 2 ) And a second attitude angle alpha 2 。
And S220, calculating to obtain a movement increment of the coordinates according to the first positioning coordinates and the second positioning coordinates obtained in the S210.
In this embodiment, the first location coordinate (x) is passed 1 ,y 1 ) And second location coordinates (x) 2 ,y 2 ) And calculating to obtain the movement increment delta x and delta y of the laser radar from the initial point to the final point.
S230, fitting the movement track of the laser radar by using an arc line, and obtaining the movement increment delta x, delta y and the first attitude angle alpha according to the movement increment delta x, delta y and the first attitude angle alpha obtained in the S220 1 And a second attitude angle alpha 2 And calculating a formula through the installation attitude angle:
and calculating to obtain the installation attitude angle theta of the laser radar.
In this embodiment, although the rotation angle of the single steering wheel is set to 0 ° in S100, there is a certain error, and therefore, the movement locus of the laser radar is actually a circular arc curve. Therefore, the calculation by using the method of the circular arc curve is more accurate and more accords with the actual moving condition, and if a straight line is adopted for fitting the moving railAnd the obtained installation attitude angle error is larger. According to the first attitude angle alpha obtained in S210 1 Second attitude angle alpha 2 And calculating the movement increment delta x and delta y obtained in the step S220 through an installation attitude angle calculation formula to obtain an installation attitude angle theta of the laser radar.
In some embodiments of the present invention, step S200 further comprises:
and S240, connecting the initial moving point with the final moving point, wherein the moving track direction of the single-steering-wheel AGV is from the initial moving point to the final moving point.
And S250, constructing a world coordinate system, judging an included angle between the moving track direction obtained in the S240 and the X axis of the world coordinate system, and adding 180 degrees to the installation attitude angle theta of the laser radar obtained in the S230 when the included angle is 90-270 degrees.
In this embodiment, the movement initial point and the movement end point are connected, the movement track direction of the AGV with a single steering wheel is the direction from the movement initial point to the movement end point, the included angle between the movement track direction obtained in S240 and the X axis of the world coordinate system is determined, when the included angle is between 0 ° and 90 °, the installation attitude angle θ is considered to be in the first quadrant, when the included angle is between 90 ° and 270 °, the installation attitude angle θ is considered to be in the second quadrant or the third quadrant, and at this time, the obtained installation attitude angle θ is added by 180 °. Tan in the formula for attitude angle calculation -1 When the attitude angle is in the second quadrant or the third quadrant during the calculation process, the calculation result of the processor is 180 degrees smaller than the actual value, so that the calculation result needs to be corrected.
And fitting the moving track by adopting a radian through S100, S200 and corresponding specific implementation steps, and calculating to obtain the installation attitude angle of the laser radar. Before the installation attitude angle of the laser radar is determined, the laser radar positioning data in the movement process is inaccurate, so that the positioning data in the movement process has larger errors when being calculated. Compared with the prior art, the radian fitting moving track is adopted to better accord with the motion rule of a kinematics model of the AGV with the single steering wheel, and the obtained installation attitude angle is more reliable and more practical.
In some embodiments of the present invention, in S300, the method specifically includes the following steps:
and S310, the single steering wheel AGV spins around a control point of the vehicle body, and spins a set angle.
In this embodiment the angle of rotation of the steerable wheels is adjusted so that the steerable wheels AGV can spin around the control point of the body. Wherein the set angle is 20 °. Due to the fact that a certain wheelbase exists between the single steering wheel and the driven wheel, 20 degrees of rotation is the most appropriate angle. If the spin angle is reduced, the error of the attitude angle of the laser radar is increased. If the spin angle is increased, the calibration environment needs to be adjusted, interference data is easy to occur, and the calibration difficulty is improved.
S320, recording a third positioning coordinate (x) of the laser radar at the spin initial point 3 ,y 3 ) And a third attitude angle alpha 3 And recording a fourth location coordinate (x) of the lidar at the spin termination point 4 ,y 4 ) And a fourth attitude angle alpha 4 。
In this embodiment, at the spin initiation point, the lidar performs scanning positioning to obtain a third positioning coordinate (x) 3 ,y 3 ) And a third attitude angle alpha 3 . At the spin termination point, the laser radar carries out scanning positioning to obtain a fourth positioning coordinate (x) 4 ,y 4 ) And a fourth attitude angle alpha 4 . Namely, the laser radar scans and positions before the single steering wheel AGV spins, and obtains a positioning coordinate and an attitude angle before spinning. And scanning and positioning measurement are carried out by the laser radar when the single steering wheel AGV stops spinning, and a positioning coordinate and an attitude angle when spinning is stopped are obtained.
Referring to fig. 2, in some embodiments of the present invention, in S400, the following steps are specifically included:
and S410, constructing an arc model through the control point acquired in the S310, the spin initial point acquired in the S320 and the spin end point.
S420, utilizing the arc model constructed in S410, and according to the third positioning coordinate (x) obtained in S320 3 ,y 3 ) Third attitude angle alpha 3 Fourth location coordinate (x) 4 ,y 4 ) And a fourth attitude angle alpha 4 And calculating to obtain the radius R of the arc model and the coordinates (x) of the control point 0 ,y 0 )。
S430, acquiring the body attitude direction of the AGV with the single steering wheel, constructing a right-hand coordinate system by taking the body attitude direction as an X axis, and constructing a coordinate (X) of a control point 0 ,y 0 ) Radius R, installation attitude angle theta, fourth positioning coordinate (x) 4 ,y 4 ) And a fourth attitude angle alpha 4 Using the installation coordinate calculation formula:
calculating to obtain the installation coordinate (X) of the laser radar l ，Y l )。
In this embodiment, referring to fig. 2, the control point is taken as the center O of the arc, and the arc in the arc model is the spin trajectory of the laser radar. I.e., a circular arc from the spin initiation point B to the spin termination point a.
Through the constructed circular arc model, the third positioning coordinate (x) of the spin initial point is determined 3 ,y 3 ) And a third attitude angle alpha 3 Fourth location coordinate (x) of spin end point 4 ,y 4 ) And a fourth attitude angle alpha 4 The radius R of the arc model and the coordinates (x) of the control point are obtained 0 ,y 0 ). Wherein, the radius R is the linear distance between the control point and the laser radar.
Acquiring the body attitude direction of the AGV with the single steering wheel, wherein the body attitude direction is the direction in which the control point points to the spin termination point, and in the figure 2, v 0 Is the vehicle body posture direction. And taking the posture direction of the vehicle body as an X axis, wherein the X axis is parallel to the horizontal plane and is perpendicular to the posture direction of the vehicle body to be used as a right-hand coordinate system, so as to obtain the coordinate system of the AGV with the single steering wheel.
According to the coordinates (x) of the control points 0 ,y 0 ) Radius R, installation attitude angle theta, fourth positioning coordinate (x) 4 ,y 4 ) And a fourth attitude angle alpha 4 Calculating the installation coordinate (X) of the laser radar by using the calculation formula of the installation coordinate l ，Y l ) I.e. the position coordinates of the laser radar relative to the single steerable wheel AGV cart.
Because the laser radar positioning data in the motion process is inaccurate before the installation attitude angle and the installation coordinate of the laser radar are determined, the positioning data in the motion process has larger errors when being used for calculation.
In some embodiments of the present invention, in S420, the method specifically includes the following steps:
s421, the third positioning coordinate (x) obtained in S320 is processed 3 ,y 3 ) And the fourth location coordinate (x) 4 ,y 4 ) And calculating to obtain a straight-line distance L between the two points from the spin initial point to the spin end point.
In this embodiment, the formula is calculated by the two-point distance:
and calculating to obtain the straight-line distance L between the two points from the spin initial point to the spin end point.
S422, the third attitude angle alpha acquired in S320 is processed 3 And a fourth attitude angle alpha 4 And performing difference calculation to obtain an attitude angle difference delta alpha between the spin initial point and the spin termination point.
S423, according to the linear distance L obtained in S421 and the posture angle difference Δ α obtained in S422, by the radius calculation formula:
and calculating to obtain the radius R of the arc model.
In this embodiment, the straight-line distance L obtained in S421 and the attitude angle difference Δ α obtained in S422 are calculated by the radius calculation formula to obtain the radius R of the circular arc model. Wherein, the radius R is the linear distance between the control point and the laser radar.
S424, the third positioning coordinate (x) obtained in S320 is obtained according to the attitude angle difference Δ α obtained in S422, the radius R obtained in S423, and the like 3 ,y 3 ) And fourth location coordinates (x) 4 ,y 4 ) And calculating through a coordinate calculation formula of the control points:
calculating to obtain the coordinates (x) of the control point 0 ,y 0 )。
In this embodiment, the third positioning coordinates (x) obtained in the radius R, S320 obtained in the attitude angle difference Δ α, S423 obtained in S422 are used as the first positioning coordinates 3 ,y 3 ) And fourth location coordinates (x) 4 ,y 4 ) And obtaining the coordinates of the control points through a coordinate calculation formula of the control points.
Through S300 and S400 and their corresponding implementation steps. The invention uses the positioning data of the initial point and the end point of the movement, and uses the laser radar in a static state to perform positioning, and calculates the obtained positioning data, so that the calculated data is more accurate, the error is reduced, and the calibration precision is improved.
In some embodiments of the present invention, the removing process in S500 specifically includes the following steps:
and S510, carrying out first averaging on the n installation attitude angles and the n installation coordinates obtained in the steps from S100 to S400 repeatedly to obtain a first installation attitude angle average value and a first installation coordinate average value.
In this embodiment, S100 to S400 are repeatedly performed, resulting in n installation attitude angles and n installation coordinates. The value of n can be determined according to the precision of a laser radar arranged on the AGV with the single steering wheel. Averaging the n installation attitude angles to obtain a first installation attitude angle; and averaging the n installation coordinates to obtain a first installation coordinate average value.
And S520, respectively subtracting the n installation attitude angles from the first installation attitude angle average value obtained in the S510, and eliminating the installation attitude angle with the largest difference value.
In this embodiment, the difference between the n installation attitude angles and the first installation attitude angle mean value is calculated to obtain the angle difference of the n installation attitude angles, the installation attitude angle corresponding to the largest angle difference is removed from the angle difference of the n installation attitude angles, and n-1 installation attitude angles are remained after the removal.
And S530, respectively subtracting the n installation coordinates from the first installation coordinate mean value obtained in the S510, and removing the installation coordinate with the largest difference value.
In the embodiment, difference calculation is carried out on n installation coordinates and the mean value of the first installation coordinate to obtain n installation coordinate difference values, the installation coordinate corresponding to the largest installation coordinate difference value in the n installation coordinate difference values is removed, and n-1 installation coordinates are remained after the removal.
Through the first averaging and the comparison with the average value, the installation attitude angles obviously deviating from the average value of the first installation attitude angles are removed, the installation coordinates obviously deviating from the first installation coordinates are removed, the mixing of error data is reduced, and the calibration precision is reduced.
In some embodiments of the present invention, in S700, the method specifically includes the following steps:
s710, respectively subtracting the n-1 installation attitude angles from the average value of the installation attitude angles to obtain n-1 angle difference values; and (5) respectively subtracting the n-1 installation coordinates from the average value of the installation coordinates to obtain n-1 coordinate difference values.
In this embodiment, n-1 installation attitude angles obtained in S520 are respectively subjected to difference calculation with the average installation attitude angle obtained in S600 to obtain n-1 angle difference values. And respectively carrying out difference calculation on the n-1 installation coordinates obtained in the step S530 and the installation coordinate mean value obtained in the step S600 to obtain n-1 coordinate difference values.
S720, judging whether the n-1 angle difference values are all smaller than the set installation angle difference threshold value, and judging whether the n-1 coordinate difference values are all smaller than the set installation coordinate difference threshold value.
In this embodiment, the n-1 angle difference obtained in S710 is compared with the set installation angle difference threshold, and it is determined whether the n-1 angle difference is smaller than the set installation angle difference threshold. And comparing the n-1 coordinate difference values obtained in the step S710 with the set installation coordinate difference threshold value, and judging whether the n-1 coordinate difference values are all smaller than the set installation coordinate difference threshold value.
Through S500-S700 and the corresponding specific implementation steps, the error data are removed through first averaging, the remaining data are subjected to second averaging, whether the remaining data reach the standard or not is judged according to the corresponding set difference threshold, if yes, repeated calibration is stopped, the average value obtained through calculation of the remaining data is output as final calibration data, and if not, calibration is continued to obtain a new group of installation attitude angles and installation coordinates. The output data are averaged twice, so that the data polluted by interference are eliminated, the error is reduced, the calibration precision is increased, and the calibration data have higher reliability.
According to an embodiment of the second aspect of the present invention, an electronic device includes: the memory is used for storing programs. The processor is used for executing the program stored in the memory, and when the processor executes the program stored in the memory, the processor is used for executing the laser radar calibration method for the single-rudder-wheel AGV.
The processor and memory may be connected by a bus or other means.
The memory, which is a non-transitory computer readable storage medium, may be used to store a non-transitory software program and a non-transitory computer executable program, such as the method for calibrating the installation error of the AGV dual-radar system described in the embodiments of the present invention. The processor executes the non-transitory software program and the instructions stored in the memory, so as to realize the laser radar calibration method for the single-steering-wheel AGV according to the embodiment of the first aspect of the invention.
The memory may include a storage program area and a storage parameter area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage parameter area can store and execute the method for calibrating the installation errors of the AGV and the double radars. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software programs and instructions required to implement the terminal selection method described above are stored in a memory, and when executed by one or more processors, the method for laser radar calibration of a single rudder wheel AGV according to the first aspect of the present invention is implemented.
According to an embodiment of the third aspect of the present invention, the present invention further provides a storage medium, where the storage medium stores computer-executable instructions, and the computer-executable instructions are used to execute the laser radar calibration method for an AGV with a single steering wheel according to the first aspect.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, parameter structures, program modules or other parameters, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, parameter structures, program modules or other parameters in a modulated parameter signal such as a carrier wave or other transport mechanism and may include any information delivery media.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention and its scope is defined by the claims appended hereto.
Claims (10)
1. A laser radar calibration method for a single-steering-wheel AGV is characterized by comprising the following steps:
initializing the rotation angle of the single steering wheel, and moving the single steering wheel AGV by a set distance;
respectively acquiring corresponding positioning coordinates and attitude angles of a laser radar on a movement initial point and a movement termination point, and fitting a movement track by using an arc line to obtain an installation attitude angle of the laser radar;
adjusting the rotation angle of the single steering wheel, wherein the single steering wheel AGV spins a set angle, and respectively acquiring the corresponding positioning coordinate and attitude angle of the laser radar at a spinning initial point and a spinning end point;
calculating to obtain the installation coordinates of the laser radar according to the installation attitude angle, the positioning coordinates and the attitude angles corresponding to the spin initial point and the spin termination point;
repeating the above operations to obtain n installation attitude angles and n installation coordinates, calculating a corresponding mean value, and eliminating the installation attitude angle and the installation coordinate with the largest difference with the corresponding mean value to obtain n-1 installation attitude angles and n-1 installation coordinates;
averaging the n-1 installation attitude angles and the n-1 installation coordinates again to obtain an installation attitude angle mean value and an installation coordinate mean value;
judging whether the difference value of the installation attitude angle mean value and the n-1 installation attitude angles and the difference value of the installation coordinate mean value and the n-1 installation coordinates are smaller than the corresponding set difference value threshold value or not;
and if so, outputting the installation attitude angle mean value and the installation coordinate mean value.
2. The method for calibrating the laser radar of the AGV with the single rudder wheel according to claim 1, wherein the obtaining of the installation attitude angle of the laser radar specifically includes:
acquiring a first positioning coordinate and a first attitude angle of the laser radar at a movement initial point, and a second positioning coordinate and a second attitude angle of the laser radar at a movement termination point;
calculating to obtain a movement increment of the coordinate according to the first positioning coordinate and the second positioning coordinate;
fitting a moving track by using an arc, and calculating a formula by using an installation attitude angle according to the movement increment of the coordinate, the first attitude angle and the second attitude angle:
calculating to obtain an installation attitude angle theta of the laser radar, wherein delta y and delta x are movement increment of the coordinate, and alpha 1 Is a first attitude angle, α 2 Is the second attitude angle.
3. The method for calibrating the laser radar of the AGV with the single steering wheel according to claim 1, wherein the setting of the spin angle of the AGV with the single steering wheel specifically includes the steps of obtaining the corresponding positioning coordinate and attitude angle of the laser radar at the initial spin point and the end spin point respectively:
the single steering wheel AGV spins around a control point by a set angle;
and acquiring a third positioning coordinate and a third attitude angle of the laser radar at a spin initial point, and a fourth positioning coordinate and a fourth attitude angle at a spin termination point.
4. The method for calibrating the laser radar of the AGV with the single steering wheel according to claim 3, wherein the calculating the installation coordinates of the laser radar according to the installation attitude angle, the positioning coordinates corresponding to the spin initial point and the spin end point and the attitude angle specifically comprises:
constructing an arc model by using the control point, the spin initial point and the spin termination point;
calculating and obtaining the radius of the arc model and the coordinates of the control points according to the third positioning coordinate, the third attitude angle, the fourth positioning coordinate and the fourth attitude angle through the arc model;
acquiring the attitude direction of the single steering wheel AGV, establishing a right-hand coordinate system by taking the attitude direction as an X axis, and calculating a formula by utilizing an installation coordinate according to the coordinate, the radius, the installation attitude angle, the fourth positioning coordinate and the fourth attitude angle of the control point:
calculating to obtain the installation coordinate (X) of the laser radar l ，Y l ) Wherein (x) 0 ,y 0 ) Is the coordinate of the control point, R is the radius, theta is the installation attitude angle, (x) 4 ,y 4 ) For the fourth location coordinate, α 4 Is the fourth attitude angle.
5. The method of claim 4, wherein the calculating to obtain the radius of the arc model and the coordinates of the control points specifically comprises:
calculating to obtain the linear distance between the spin initial point and the spin end point according to the third positioning coordinate and the fourth positioning coordinate;
calculating to obtain an attitude angle difference value between the spin initial point and the spin end point according to the third attitude angle and the fourth attitude angle;
according to the linear distance and the attitude angle difference value, utilizing a radius calculation formula:
calculating to obtain the radius R of the arc model, wherein L is a linear distance, and delta alpha is an attitude angle difference;
according to the attitude angle difference value, the radius, the third positioning coordinate and the fourth positioning coordinate, utilizing a coordinate calculation formula of a control point:
calculating to obtain the coordinates (x) of the control points 0 ,y 0 ) Wherein (x) 3 ,y 3 ) The third positioning coordinate.
6. The method of claim 1, wherein the obtaining n installation attitude angles and n installation coordinates and calculating corresponding average values, and the rejecting the installation attitude angle and the installation coordinate having the largest difference from the corresponding average values specifically comprises:
calculating to obtain a first installation attitude angle mean value and a first installation coordinate mean value according to the n installation attitude angles and the n installation coordinates;
calculating the difference between the first installation attitude angle mean value and the n installation attitude angles, and eliminating the installation attitude angle with the largest difference;
and calculating the difference value between the first installation coordinate mean value and the n installation coordinates, and removing the installation coordinate with the largest difference value.
7. The method for calibrating laser radar of an AGV with a single steering wheel according to claim 1, wherein the determining whether the difference between the mean value of the installation attitude angles and n-1 installation attitude angles and the difference between the mean value of the installation coordinates and n-1 installation coordinates are smaller than the corresponding set difference threshold specifically comprises:
the mean values of the installation attitude angles and n-1 installation attitude angles are subjected to difference calculation to obtain n-1 angle difference values, and the mean values of the installation coordinates and n-1 installation coordinates are subjected to difference calculation to obtain n-1 coordinate difference values;
and judging whether the n-1 angle difference values are all smaller than a set installation angle difference threshold value, and judging whether the n-1 coordinate difference values are all smaller than a set installation coordinate difference threshold value.
8. The method for calibrating the laser radar of the AGV with the single steering wheel according to claim 1, wherein the obtaining the installation attitude angle of the laser radar further comprises:
connecting the initial moving point and the final moving point, wherein the direction from the initial moving point to the final moving point is the moving track direction of the AGV with the single steering wheel;
and constructing a world coordinate system, and adding 180 degrees to the obtained installation attitude angle when the included angle between the moving track direction and the X axis of the world coordinate system is 90-270 degrees.
9. An electronic device, comprising:
a memory for storing a program; a processor for executing the program stored in the memory, the processor being adapted to perform a method for lidar calibration of a single-rudder wheel AGV according to any of claims 1 to 8 when the processor executes the program stored in the memory.
10. A storage medium, comprising: stored with computer-executable instructions for carrying out a method for lidar calibration of a single-rudder-wheel AGV according to any of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117109638A (en) * | 2023-10-24 | 2023-11-24 | 山东大学 | Online single-steering-wheel AGV parameter calibration method, system, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117109638A (en) * | 2023-10-24 | 2023-11-24 | 山东大学 | Online single-steering-wheel AGV parameter calibration method, system, equipment and medium |
| CN117109638B (en) * | 2023-10-24 | 2024-03-15 | 山东大学 | Online single-steering-wheel AGV parameter calibration method, system, equipment and medium |
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