A joint calibration method between 3D lidar and manipulator of mobile robot

A 3D laser, mobile operation technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as the inability to meet the three-dimensional environment perception of mobile operation robots, the inability of two-dimensional lasers to complete three-dimensional environment perception, and the influence of calibration results, to reduce dependence and improve. The effect of calibration accuracy and simple calibration process

Active Publication Date: 2022-05-27
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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  • A joint calibration method between 3D lidar and manipulator of mobile robot
  • A joint calibration method between 3D lidar and manipulator of mobile robot
  • A joint calibration method between 3D lidar and manipulator of mobile robot

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Embodiment Construction

[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 robotic arm is the 6-DOF robotic arm SRQ05A-6D and its corresponding controller, and the square cardboard held by the end of the robotic arm is a square Cardboard with a side length of 10 cm. The method proposed in the present invention is also suitable for 32-line, 64-line or other specifications of three-dimensional lidar, as well as other degrees of freedom of the manipulator.

[0051] Take the text invention of 3D lidar 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 10 Hz, 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 can reach 180°...

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Abstract

The invention discloses a joint calibration method between a three-dimensional laser radar and a mechanical arm of a mobile operation robot, and belongs to the technical field of autonomous target identification, grasping and human-machine cooperation of the mobile operation robot. It uses ordinary square cardboard as a reference object in the robot calibration process, collects three-dimensional point clouds through the three-dimensional laser radar carried by the robot, preprocesses the acquired point cloud, and recognizes the square cardboard held by the end of the mechanical arm. The coordinate value of the arm in the three-dimensional laser radar is obtained by the controller of the robot arm; the position of the robot arm is adjusted repeatedly N times (N≥8), and the corresponding coordinate value is obtained, and finally the least squares is used Multiplication solves the coordinate transformation relationship between the coordinates of the manipulator in the 3D lidar and its controller.

Description

technical field [0001] The invention belongs to the technical field of autonomous target recognition, grasping and man-machine cooperation of mobile working robots, relates to the joint work between a three-dimensional laser radar and a mechanical arm, and particularly relates to a joint calibration method between the three-dimensional laser radar and the mechanical arm. Background technique [0002] The mobile working robot is composed of three main components: a mobile robot chassis, a 3D lidar mounted on the chassis, and a multi-degree-of-freedom robotic arm. The chassis can realize large-scale movement of the robot in the work scene, and the 3D lidar is responsible for completing the 3D environment. Perception, the robotic arm is used for target object grasping and human-machine collaboration, and its composition is shown as follows figure 1 shown. Mobile operation robot is a new type of industrial robot that integrates multi-disciplinary advanced technologies such as m...

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Application Information

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Patent Type & Authority Patents(China)
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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