CN-116117820-B - Positioning error compensation method, mobile robot and mobile robot system

CN116117820BCN 116117820 BCN116117820 BCN 116117820BCN-116117820-B

Abstract

The embodiment of the invention provides a mobile robot positioning error compensation method, a mobile robot and a mobile robot system, and relates to the field of robots. The method for compensating the positioning error of the mobile robot is applied to position compensation when the mobile robot moves between stations, the mobile robot comprises a robot body, a first camera and a second camera, wherein the first camera and the second camera are arranged on the robot body, when the mobile robot enters the next station, the first camera is used for acquiring first position information of a first preset point position corresponding to the first camera, which is arranged on the station, the second camera is used for acquiring second position information corresponding to a second preset point position corresponding to the second camera, which is arranged on the station, and the actual position information of the mobile robot is obtained according to the first preset position information of the first preset point position, the second preset position information of the second preset point position, the first position information and the second position information.

Inventors

CHEN SHUAI
CHEN JUNTAI
CHEN LEI
LIU XULE

Assignees

杭州飞钛航空智能装备有限公司

Dates

Publication Date: 20260505
Application Date: 20230223

Claims (9)

1. The method for compensating the positioning error of the mobile robot is applied to position compensation when the mobile robot moves between stations and is characterized in that: The mobile robot includes: the robot body can act according to a preset process; a first camera and a second camera disposed on the robot body; The method comprises the following steps: When the mobile robot enters the next station, acquiring first position information of a first preset point position corresponding to the first camera, which is arranged at the station, by using the first camera, and acquiring second position information corresponding to a second preset point position corresponding to the second camera, which is arranged at the station, by using the second camera, wherein the first preset point position and the second preset point position are reference positions determined when the mobile robot is arranged in the preset process of the station, and correspond to the station and the preset process corresponding to the station; Obtaining actual position information of the mobile robot according to first preset position information of the first preset point position, second preset position information of the second preset point position, first position information and second position information; the mobile robot is compensated according to the actual position information, and the step of compensating the mobile robot according to the actual position information comprises the following steps: and compensating the preset process of the mobile robot working at the station according to the actual position information, so that the mobile robot acts according to a preset path.
2. The method for compensating for the positioning error of the mobile robot according to claim 1, wherein, The method further includes determining first set position information of the first camera on the robot body and second set position information of the second camera on the robot body; The step of obtaining the actual position information of the mobile robot according to the first preset position information of the first preset point position, the second preset position information of the second preset point position, the first position information and the second position information comprises the following steps: Converting the first position information into first target position information according to the first preset position information, and converting the second position information into second target position information according to the second preset position information, wherein the first target position information represents actual relative position information between the first preset point position and the mobile robot, and the second target position information represents actual relative position information between the second preset point position and the mobile robot; and obtaining the actual position information according to the first preset position information, the second preset position information, the first target position information and the second target position information.
3. The method for compensating for the positioning error of the mobile robot according to claim 2, wherein, The mobile robot further comprises a third camera arranged at the determined position of the robot body; The step of determining a first set position of the first camera on the robot body and a second set position of the second camera on the robot body includes; acquiring first calibration position information of a first calibration part by using the first camera, acquiring second calibration position information of a second calibration part by using the second camera, and acquiring third calibration position information of a third calibration part by using the third camera, wherein the first calibration part, the second calibration part and the third calibration part are arranged in the visible range of the first camera, the second camera and the third camera, and the relative position relation of the three is known; And obtaining the first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body according to the first calibration position information, the second calibration position information and the third calibration position information.
4. The mobile robot positioning error compensation method according to claim 3, wherein the step of obtaining the first setting position of the first camera on the robot body and the second setting position of the second camera on the robot body according to the first calibration position information, the second calibration position information, and the third calibration position information comprises: Converting the first calibration position information into first coordinate information under the first camera coordinate system, converting the second calibration position information into second coordinate information under the second camera coordinate system, and converting the third calibration position information into third coordinate information under the mobile robot coordinate system; and obtaining third coordinate information of the first setting position under the mobile robot coordinate system and fourth coordinate information of the second setting position under the mobile robot coordinate system according to the third coordinate information and the position relation among the first calibration part, the second calibration part and the third calibration part.
5. The mobile robot positioning error compensation method according to claim 4, wherein the step of obtaining third coordinate information of the first set position in the mobile robot coordinate system and fourth coordinate information of the second set position in the mobile robot coordinate system according to the third coordinate information and the positional relationship among the first calibration part, the second calibration part, and the third calibration part comprises: according to the corresponding relation between the third coordinate information and the third calibration part, fifth coordinate information of the first calibration part under the mobile robot coordinate system and sixth coordinate information of the second calibration part under the mobile robot coordinate system are calculated; And obtaining coordinate information of the first setting position under the mobile robot coordinate system according to the fifth coordinate information and the third coordinate information, and obtaining coordinate information of the second setting position under the mobile robot coordinate system according to the sixth coordinate information and the fourth coordinate information.
6. The method for compensating for a positioning error of a mobile robot according to claim 5, wherein the step of acquiring, with the first camera, first position information of a first preset point location corresponding to the first camera provided at the station and acquiring, with the second camera, second position information corresponding to a second preset point location corresponding to the second camera provided at the station when the mobile robot enters the next station comprises: When the mobile robot enters the next station, acquiring seventh coordinate information of the first preset point position under the first camera coordinate system by using the first camera, and acquiring eighth coordinate information of the second preset point position under the second camera coordinate system by using the second camera; And obtaining the actual position information according to seventh coordinate information, the eighth coordinate information, the coordinate information of the first setting position under the mobile robot coordinate system and the coordinate information of the second setting position under the mobile robot coordinate system.
7. The method for compensating for the positioning error of a mobile robot as claimed in claim 6, wherein, The step of compensating the mobile robot according to the actual position information comprises the following steps: Compensating a preset process of the mobile robot according to the actual position information, so that the mobile robot acts according to a preset path; the step of compensating the preset process of the mobile robot according to the actual position information to enable the mobile robot to act according to a preset path pair comprises the following steps: obtaining a first compensation quantity matrix through a transformation matrix according to the coordinate information of the first setting position in the mobile robot coordinate system and the seventh coordinate information; Obtaining a second compensation quantity matrix through a transformation matrix according to the coordinate information of the second setting position in the mobile robot coordinate system and the eighth coordinate information; And compensating the preset process of the mobile robot according to the first compensation quantity matrix and the second compensation quantity matrix.
8. A mobile robot, comprising: the robot body can act according to a preset process; The first camera is used for acquiring first position information of a first preset point position corresponding to the first camera, which is arranged at a station, when the mobile robot enters a next station, and the second camera is used for acquiring first position information of a second preset point position corresponding to the second camera, which is arranged at the station, when the mobile robot enters the next station, wherein the first preset point position and the second preset point position are reference positions determined when the mobile robot is arranged in the preset process of the station, and the reference positions correspond to the station and the preset process corresponding to the station; A memory; a processor in communication with the robot body, the first camera, and the second camera, and A mobile robot positioning error compensation device disposed in the memory and including one or more software functional modules executed by the processor, the mobile robot positioning error compensation device comprising: The mobile robot comprises an acquisition module, a first camera, a second camera and a first position information acquisition module, wherein the acquisition module is used for acquiring first position information of a first preset point position corresponding to the first camera and arranged at the station by utilizing the first camera when the mobile robot enters a next station, and acquiring second position information corresponding to a second preset point position corresponding to the second camera and arranged at the station by utilizing the second camera; The calculation module is used for obtaining the actual position information of the mobile robot according to the first preset position information of the first preset point position, the second preset position information of the second preset point position, the first position information and the second position information; And the compensation module is used for compensating the preset process of the mobile robot working at the station according to the actual position information, so that the mobile robot acts according to a preset path.
9. A mobile robot system comprising the mobile robot of claim 8 and a calibration fixture; the mobile robot further comprises a third camera, and the third camera is arranged at the execution tail end of the mobile robot; The calibration tool is provided with a first calibration part, a second calibration part and a third calibration part with known position relations; the mobile robot can obtain the setting positions of the first camera and the second camera in the robot body through the setting position information of the first calibration part, the second calibration part, the third calibration part and the third camera in the robot body.

Description

Positioning error compensation method, mobile robot and mobile robot system Technical Field The invention relates to the field of robots, in particular to a mobile robot positioning error compensation method, a mobile robot and a mobile robot system. Background To save investment costs, a robot is often used to move between several stations to perform different preset processes (off-line programming according to the processing purpose) to achieve different processing requirements. However, when the robot moves between different stations, different position deviations are generated in the positioning process, so that errors cannot meet the requirements, even an off-line programming program cannot be used, and the processing program needs to be reprogrammed at each time of positioning of different stations, so that the cost is increased, and the use is inconvenient. Disclosure of Invention The object of the present invention includes, for example, providing a mobile robot positioning error compensation method, a mobile robot and a mobile robot system capable of compensating a mobile robot according to actual position information of a movement and a person thereof, thereby eliminating the need to reprogram a processing program when positioning repeatedly, to reduce costs and improve convenience of use. Embodiments of the invention may be implemented as follows: In a first aspect, the present invention provides a method for compensating a positioning error of a mobile robot, which is applied to position compensation when the mobile robot moves between stations, the mobile robot includes: the robot body can act according to a preset process; a first camera and a second camera disposed on the robot body; The method comprises the following steps: When the mobile robot enters the next station, acquiring first position information of a first preset point position corresponding to the first camera, which is arranged at the station, by using the first camera, and acquiring second position information corresponding to a second preset point position corresponding to the second camera, which is arranged at the station, by using the second camera, wherein the first preset point position and the second preset point position are reference positions determined when the mobile robot is arranged in the preset process of the station, and correspond to the station and the preset process corresponding to the station; Obtaining actual position information of the mobile robot according to first preset position information of a first preset point position, second preset position information of a second preset point position, the first position information and the second position information; And compensating the mobile robot according to the actual position information. In an alternative embodiment, the method further comprises determining first setup position information of the first camera on the robot body and second setup position information of the second camera on the robot body; The step of obtaining the actual position information of the mobile robot according to the first preset position information of the first preset point position, the second preset position information of the second preset point position, the first position information and the second position information comprises the following steps: Converting the first position information into first target position information according to the first preset position information, and converting the second position information into second target position information according to the second preset position information, wherein the first target position information represents actual relative position information between the first preset point position and the mobile robot, and the second target position information represents actual relative position information between the second preset point position and the mobile robot; and obtaining the actual position information according to the first preset position information, the second preset position information, the first target position information and the second target position information. In an alternative embodiment, the mobile robot further includes a third camera disposed at a determined position of the mobile robot body; The step of determining a first set position of the first camera on the robot body and a second set position of the second camera on the robot body includes; Acquiring first calibration position information of a first calibration part by using the first camera, acquiring second calibration position information of a second calibration part by using the second camera, and acquiring third calibration position information of a third calibration part by using the third camera, wherein the first calibration part, the second calibration part and the third calibration part are arranged in the visible range of the first camera, the second camera and the third camera, and the relative position relation of the