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Combined calibration method between three-dimensional laser radar and mechanical arm of mobile operation robot

A 3D laser and mobile operation technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of not being able to meet the 3D environment perception of mobile operation robots, the inability of 2D lasers to complete 3D environment perception, and the impact of calibration results, so as to reduce dependence and improve The effect of calibration accuracy and simple calibration process

Active Publication Date: 2019-11-26
DALIAN UNIV OF TECH
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Problems solved by technology

However, the conversion accuracy obtained by this method is limited by the calibration object, especially when the line laser is far away from the calibration object, the calibration results are significantly affected; at the same time, the use of two-dimensional lasers cannot complete the three-dimensional environment perception, and cannot satisfy the three-dimensional environment perception of mobile robots. need for context awareness

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  • Combined calibration method between three-dimensional laser radar and mechanical arm of mobile operation robot

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[0050] The three-dimensional laser radar used in the specific implementation process of the present invention is the 16-line laser VLP-16 of Velodyne Company, the mechanical arm is a 6-DOF robotic arm SRQ05A-6D and its corresponding controller, and the square cardboard held by the end of the mechanical arm is a square Cardboard with a side length of 10 cm. The method proposed in the present invention is also suitable for 32-, 64-line or other specifications of three-dimensional laser radar, as well as mechanical arms with other degrees of freedom.

[0051] Take the text’s invention of 3D laser radar and robotic arm as an example, especially the 16-line 3D laser and 6-axis robotic arm. The horizontal scanning angle of the 3D laser is 360 degrees, the vertical scanning angle is ±15 degrees, the scanning frequency is 10Hz, and about 300,000 point cloud data are collected per second; the 6-axis robotic arm has 6 degrees of freedom, the payload is 5kg, and the joints run The speed...

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Abstract

The invention discloses a combined calibration method between a three-dimensional laser radar and a mechanical arm of a mobile operation robot, and belongs to the technical fields of autonomous targetrecognition, grabbing and human-computer cooperation of the mobile operation robot. According to the method, a common square paperboard is used as a reference object in a robot calibration process, three-dimensional point cloud acquisition is carried out through a three-dimensional laser radar loaded through the robot, the acquired point cloud is preprocessed, the square paperboard clamped through the tail end of the mechanical arm is recognized, a coordinate value of the mechanical arm in the three-dimensional laser radar is obtained, and the coordinate value of the mechanical arm in a controller is acquired through the mechanical arm controller; and the position of the mechanical arm is repeatedly adjusted for N times (N is larger than or equal to 8 ) and the corresponding coordinate values of the mechanical arm are obtained; and finally, the coordinate conversion relation between the coordinate of the mechanical arm in the three-dimensional laser radar and the coordinate of the mechanical arm controller through using a least square method is solved.

Description

technical field [0001] The invention belongs to the technical field of autonomous target identification, grasping and human-machine cooperation of a mobile operating robot, and relates to the joint work between a three-dimensional laser radar and a mechanical arm, in particular to a joint calibration method between a three-dimensional laser radar and a mechanical arm. Background technique [0002] The mobile robot is composed of three main components: the chassis of the mobile robot, the 3D laser radar installed on the chassis, and the multi-degree-of-freedom robotic arm. Perception, the robotic arm is used to grasp the target object and human-machine cooperation, and its composition is shown as figure 1 shown. The mobile robot is a new type of industrial robot that integrates multi-disciplinary advanced technologies such as machinery, control, and pattern recognition. Compared with traditional industrial robots, it has the characteristics of autonomous and flexible operati...

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Application Information

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IPC IPC(8): B25J5/00B25J19/02
CPCB25J5/007B25J19/022
Inventor 王超庄严李卓函闫飞
Owner DALIAN UNIV OF TECH
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