Mechanical arm calibration method and device and computer readable storage medium
By acquiring the height data of the bucket axis, adjusting the movement of the robotic arm using a laser height gauge, collecting attitude sensor data, and establishing error solving equations, the problem of the complex and time-consuming process of robotic arm calibration was solved, achieving the effect of simplifying and accelerating calibration.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- FJ DYNAMICS CO LTD
- Filing Date
- 2022-10-14
- Publication Date
- 2026-06-05
AI Technical Summary
In existing technologies, the calibration process for robotic arms is complex and time-consuming, especially the calibration of sensors in the guidance system, which involves many steps and is very difficult.
By using the bucket's axis height data as a benchmark, the robot arm's movement is adjusted in real time using a laser height gauge. Attitude sensor data is collected, and an installation error solution equation is established to gradually calibrate the attitude sensors of the boom, extension arm, and bucket, simplifying the calibration process.
This reduces the difficulty of calibrating the robotic arm, shortens the calibration time, and improves the simplicity and accuracy of the calibration process.
Smart Images
Figure CN116330270B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of excavator control technology, specifically to a robotic arm calibration method, device, and computer-readable storage medium. Background Technology
[0002] In related technologies, engineering vehicles with robotic arms, such as excavators, are equipped with guidance systems. These systems display the robotic arm's movement status and data to assist in operations. To ensure the guidance system accurately displays the robotic arm's movement status and data, the sensors of the robotic arm and guidance system need to be calibrated after the user purchases the engineering vehicle. This calibration process is performed using high-precision measuring instruments such as total stations. The calibration operation involves numerous steps, is quite complex, and is time-consuming. Summary of the Invention
[0003] In view of this, this application provides a robotic arm calibration method, apparatus, and computer-readable storage medium, which simplifies the robotic arm calibration process and shortens the calibration time. The technical solution of this application is as follows:
[0004] In a first aspect, this application provides a method for calibrating a robotic arm, the robotic arm comprising a boom, an extension arm, and a bucket connected in sequence, wherein a first attitude sensor, a second attitude sensor, and a third attitude sensor are respectively disposed on the boom, the extension arm, and the connecting rod of the extension arm, and the method for calibrating the robotic arm includes:
[0005] Real-time acquisition of the height data of the bucket's axis;
[0006] The movement of the robotic arm is controlled to keep the axis of the bucket at a preset height based on the height data, and the first data from the first attitude sensor and the second data from the second attitude sensor are collected during the movement of the robotic arm.
[0007] Based on the first data, the second data, and the preset height, the installation errors of the first attitude sensor and the second attitude sensor are obtained, and the boom and the extension arm are calibrated.
[0008] Continue to control the movement of the robotic arm to keep the tip of the bucket at a preset position, and collect the third data from the third attitude sensor during the movement of the robotic arm;
[0009] Based on the third data, the correspondence between the bucket and the third attitude sensor is obtained, and the bucket is calibrated.
[0010] In one possible implementation, the preset height includes a first preset height and a second preset height, wherein the second preset height is greater than the first preset height;
[0011] The control of the robotic arm's movement, maintaining the bucket's axis at a preset height based on the height data, and collecting first data from the first attitude sensor and second data from the second attitude sensor during the robotic arm's movement, includes:
[0012] The bucket's axis is controlled to move at a first preset height, and the first data and the second data at the first preset height are collected.
[0013] The bucket's axis is controlled to move at a second preset height, and the first data and the second data at the second preset height are collected.
[0014] In one possible implementation, obtaining the installation errors of the first attitude sensor and the second attitude sensor based on the first data, the second data, and the preset height includes:
[0015] Establish the equations for solving installation errors;
[0016] The installation error is obtained by solving the equation for solving the installation error using the first data, the second data, and the preset height.
[0017] In one possible implementation, the preset height includes a first preset height and a second preset height, and the installation error solution equation includes:
[0018] H1=L1sin(X 1i +a)+L2sin(Y 1i +b);
[0019] H2=L1sin(X 2i +a)+L2sin(Y 2i +b);
[0020] Wherein, H1 is the first preset height, H2 is the second preset height, L1 is the length of the boom, L2 is the length of the extender arm, and X... 1i For the i-th first data point at the first preset height, Y 1i For the i-th second data point at the first preset height, X 2i For the i-th first data point at the second preset height, Y 2i Let be the i-th second data point at the second preset height, where a is the installation error of the first attitude sensor and b is the installation error of the second attitude sensor.
[0021] In one possible implementation, obtaining the correspondence between the bucket and the third attitude sensor based on the third data, and calibrating the bucket, includes:
[0022] Obtain the bucket angle corresponding to the third data;
[0023] Establish the solution equation between the third data and the bucket angle;
[0024] The coefficients of the solution equation are obtained using the third data and the bucket angle;
[0025] The conversion equation between the third data and the bucket angle is obtained based on the coefficient, and the bucket is calibrated based on the conversion equation.
[0026] In one possible implementation, the equations to be solved include:
[0027] P = T1Pr 4 +T2Pr 3 +T3Pr 2 +T4Pr+T5;
[0028] Wherein, P is the bucket angle, T1, T2, T3, T4 and T5 are the coefficients, and Pr is the third data.
[0029] In one possible implementation, obtaining the bucket angle corresponding to the third data includes:
[0030] Based on the first data and the second data, the axis coordinates of the bucket are obtained;
[0031] The bucket angle is obtained based on the axis coordinates of the bucket, the coordinates of the preset point, and the length of the bucket.
[0032] In one possible implementation, the height data of the bucket's axis is obtained using a laser altimeter.
[0033] Secondly, this application also provides a robotic arm calibration device, wherein the robotic arm includes a boom, an extension arm, and a bucket connected in sequence, and a first attitude sensor, a second attitude sensor, and a third attitude sensor are respectively disposed on the boom, the extension arm, and the connecting rod of the extension arm; the robotic arm calibration device includes:
[0034] The height data acquisition module is used to acquire the height data of the bucket's axis in real time;
[0035] The first data acquisition module is used to control the movement of the robotic arm, keep the axis of the bucket at a preset height according to the height data, and acquire the first data of the first attitude sensor and the second data of the second attitude sensor during the movement of the robotic arm.
[0036] The first calibration module is used to obtain the installation error of the first attitude sensor and the second attitude sensor based on the first data, the second data and the preset height, and to calibrate the boom and the extension arm.
[0037] The second data acquisition module is used to continue controlling the movement of the robotic arm, keeping the tip of the bucket at a preset position, and acquiring the third data from the third attitude sensor during the movement of the robotic arm.
[0038] The second calibration module is used to obtain the correspondence between the bucket and the third attitude sensor based on the third data, and to calibrate the bucket.
[0039] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the robotic arm calibration method.
[0040] The beneficial effects of the technical solution provided in this application include at least the following:
[0041] In one or more embodiments of this application, the robotic arm is calibrated by using the height data of the bucket's axis as reference data. Compared to other calibration methods or other reference data, this method is less difficult to operate. Furthermore, during the calibration process, only the height data of the bucket's axis needs to be measured, without any other operations, making the calibration process simpler. Moreover, by calibrating the boom and extension arm first, the difficulty of calibrating the robotic arm can be reduced during the bucket calibration process, thereby shortening the calibration time. Attached Figure Description
[0042] Figure 1 This is a schematic diagram of the structure of a robotic arm calibration system provided in an embodiment of this application.
[0043] Figure 2 This is a schematic diagram of the structure of a mechanical arm of an excavator provided in an embodiment of this application.
[0044] Figure 3 This is a flowchart illustrating a robotic arm calibration method provided in an embodiment of this application.
[0045] Figure 4 This is a schematic diagram of a process for collecting attitude sensor data provided in an embodiment of this application.
[0046] Figure 5 This is a schematic diagram of a process for obtaining the installation error of an attitude sensor according to an embodiment of this application.
[0047] Figure 6 This is a schematic diagram of a process for obtaining the correspondence between the bucket and the third attitude sensor, provided in an embodiment of this application.
[0048] Figure 7 This is a flowchart illustrating a method for obtaining the bucket angle provided in an embodiment of this application.
[0049] Figure 8 This is a schematic diagram of the structure of a robotic arm calibration device provided in an embodiment of this application. Detailed Implementation
[0050] It should be noted that in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.
[0051] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.
[0052] Please refer to Figure 1 , Figure 1 An exemplary schematic diagram of a robotic arm calibration system provided in an embodiment of this application is shown. Figure 1 As shown, the robotic arm calibration system 100 includes a control module 110, a first attitude sensor 120, a second attitude sensor 130, a third attitude sensor 140, and a height measuring instrument 150, all of which are connected to the control module 110. The robotic arm calibration system 100 of this embodiment can be applied to various engineering vehicles equipped with robotic arms, such as excavators.
[0053] The engineering vehicle in this application embodiment is generally equipped with a guidance system. This system uses attitude sensors on the robotic arm to display the current movement status of the robotic arm in real time, including the stroke of the robotic arm's hydraulic rod, and the angles of the boom, extension arm, and bucket. To ensure the guidance system can accurately display the movement status of the robotic arm, the robotic arm and the attitude sensors mounted on it generally need to be calibrated after the engineering vehicle is delivered to the user. This calibration eliminates errors in the installation of the attitude sensors on the robotic arm, as well as assembly errors of the robotic arm.
[0054] Please refer to Figure 2 , Figure 2 An exemplary schematic diagram of the structure of a mechanical arm for an excavator provided in an embodiment of this application is shown. Figure 2 As shown, the excavator's robotic arm 200 includes a boom 210, an extension arm 220, a bucket 230, and a connecting rod 240 between the extension arm 220 and the bucket 230.
[0055] Next, combined Figure 1 and Figure 2 This application introduces a robotic arm calibration method provided by an embodiment. See details below. Figure 3 This is a flowchart illustrating a robotic arm calibration method provided in an embodiment of this application. The robotic arm includes a boom, an extension arm, and a bucket connected in sequence. A first attitude sensor 120, a second attitude sensor 130, and a third attitude sensor 140 are respectively installed on the boom, the extension arm, and the extension arm's connecting rod. The method specifically includes the following steps:
[0056] Step S31: Obtain the height data of the bucket's axis in real time.
[0057] In this embodiment, the height measuring instrument 150 includes a laser height measuring instrument, which comprises a laser emitter, a laser receiver, a magnetic reflector, and a laser turntable. The laser emitter emits a laser beam, the magnetic reflector magnetically adheres to the bucket axis of the bucket 230 of the robotic arm 200 to reflect the laser beam, and the laser receiver receives the reflected laser beam to calculate the height of the magnetic reflector, which is the height data of the bucket axis. The laser turntable is equipped with the laser emitter and laser receiver to control the angle of emitting and receiving the laser beam. Compared to calibration equipment such as full-station platforms, this laser height measuring instrument is easier to operate, and during its use, only the height data of the bucket axis needs to be measured, without any other operations, making the calibration process simpler.
[0058] In this embodiment, when the height measuring instrument 150 is a laser height measuring instrument, it can be an independent device that communicates remotely with the control module 110 via wired or wireless means. Before calibrating the robotic arm 200, it needs to be set up. For example, the laser height measuring instrument can be set up below the robotic arm 200, and after leveling it, the laser turntable is adjusted so that the laser emitter and laser receiver are aligned with the bucket axis. The magnetic reflector is installed on the bucket axis. During the calibration process of the robotic arm 200, the control module 110 can obtain the height data of the bucket axis of the robotic arm 200 in real time through the laser height measuring instrument, and then adjust the movement state of the robotic arm 200 based on this height data.
[0059] Step S32: Control the movement of the robotic arm, keep the axis of the bucket at a preset height according to the height data, and collect the first data from the first attitude sensor and the second data from the second attitude sensor during the movement of the robotic arm.
[0060] In this embodiment of the application, during the calibration of the boom 210 and extension arm 220 of the robotic arm 200, the control module 110 controls the robotic arm 200 to move. During the movement, the bucket axis of the robotic arm 200 is kept at a preset height according to the height data of the height measuring instrument 150. During the movement, multiple sets of attitude sensor data are collected through the first attitude sensor 120 and the second attitude sensor 130.
[0061] For example, at the beginning of the above steps, the bucket axis of the robotic arm 200 can be controlled to reach a preset height. Then, a set of first and second data are collected. Next, the boom 210 and extension arm 220 of the robotic arm 200 are controlled to extend forward by a certain stroke. By monitoring the height data, the bucket axis is finally kept at the preset height, and a second set of first and second data is collected. This process is repeated to obtain multiple sets of first and second data. Since each set of attitude data has a corresponding preset height, the preset height is known as a fixed quantity when calculating the installation error of the attitude sensor based on the attitude sensor data, thereby reducing the computational load.
[0062] Step S33: Based on the first data, the second data, and the preset height, obtain the installation errors of the first attitude sensor and the second attitude sensor, and calibrate the boom and the extension arm.
[0063] In this embodiment, the excavator guidance system can calculate a height data corresponding to the preset height by acquiring the first data and the second data. Before calibration, installation errors may cause the calculated height data to be different from the preset height. Therefore, the installation error can be introduced as an unknown quantity into the formula for calculating the height data of the guidance system. By solving multiple sets of first data, second data, and the fixed preset height, the installation errors of the first attitude sensor and the second attitude sensor can be calculated.
[0064] In this embodiment, the preset height can be calculated from the first data, the second data, and the installation error. That is, given the preset height and multiple sets of first and second data, the aforementioned error can be quickly calculated. Since the preset height is fixed, the computational workload for calculating the installation error is reduced. After obtaining the installation error of the first attitude sensor 120 and the second attitude sensor 130, the boom 210 and the extension boom 220 can be calibrated, enabling the excavator guidance system to accurately display the current movement status of the boom 210 and the extension boom 220.
[0065] Step S34: Continue to control the movement of the robotic arm, keep the tip of the bucket at the preset position, and collect the third data from the third attitude sensor during the movement of the robotic arm.
[0066] In this embodiment, after calibrating the boom 210 and extension arm 220 of the robotic arm 200, the control module 110 can control the robotic arm 200 to move again and perform the calibration process for the bucket 230. Maintaining the bucket tip at a preset point during the movement of the bucket 230 can be considered as the bucket 230 rotating around that preset point. The bucket axis of the bucket 230 and the preset point form a circular motion trajectory, with the preset point as the origin of the circular motion trajectory and the arc representing the motion trajectory of the bucket axis.
[0067] In this embodiment, the tip of the bucket 230 is controlled to remain at a preset point, that is, the bucket axis of the bucket 230 is controlled to rotate around the preset point. For example, the bucket 230 can be controlled to tilt outward to the limit position first, and then the tip of the bucket can be moved to the preset point by controlling the boom 210 and the extension arm 220 to collect the first set of third data. Then, the bucket 230 is controlled to tilt inward for a certain distance and the tip of the bucket can be moved to the preset point again by controlling the boom 210 and the extension arm 220 to collect the second set of third data. This process is repeated to collect multiple sets of third data of the robotic arm 200 during its movement.
[0068] Step S35: Based on the third data, obtain the correspondence between the bucket and the third attitude sensor, and calibrate the bucket.
[0069] In this embodiment, the third attitude sensor is mounted on the connecting rod 240 between the boom 220 and the bucket 230. This connecting rod 230 is close to the bucket axis, and during the movement of the bucket axis, the connecting rod 230 and the bucket axis are relatively fixed. Therefore, the data from the third attitude sensor mounted on the connecting rod 230 corresponds to the movement of the bucket 230, and the movement data of the bucket 230 can be calculated using this third data. That is, after the boom 210 and boom 220 are calibrated, the correspondence between the bucket and the third attitude sensor is calculated using multiple sets of acquired third data. This correspondence includes polynomials that convert the third data into the movement state of the bucket 230, etc., which are not limited here. Finally, the calibration of the bucket 230 is completed through the correspondence between the bucket 230 and the third attitude sensor 140.
[0070] In this embodiment, a height gauge is used as the detection device for acquiring reference data during the calibration process. Compared to other detection devices, it is easier to operate, and during the calibration process, only the height data of the bucket axis needs to be measured, without any other operations, making the calibration process simpler. Furthermore, by calibrating the boom and extension arm first, the difficulty of calibrating the robotic arm can be reduced during the bucket calibration process, thereby shortening the calibration time.
[0071] For example, such as Figure 4 The diagram shown is a schematic representation of a process for acquiring attitude sensor data according to an embodiment of this application. Figure 4 The attitude sensor data acquisition process is one implementation of step S32 above. The preset height includes a first preset height and a second preset height, where the second preset height is greater than the first preset height. Specifically, it includes the following steps:
[0072] Step S41: Control the bucket axis to move at a first preset height, and collect first data and second data at the first preset height.
[0073] In this embodiment of the application, in order to make the final installation error more accurate, two preset heights can be set to control the movement of the robotic arm 200, and multiple first data and multiple second data can be collected during the movement.
[0074] For example, the control module 110 can first control the bucket axis of the robotic arm 200 to maintain a first preset height based on the height data, causing the boom 210 and the extension arm 220 to extend forward or retract backward. Simultaneously, the first attitude sensor 120 and the second attitude sensor 130 collect multiple first data points and multiple second data points during the movement. The timestamps of the multiple first data points correspond one-to-one with the timestamps of the multiple second data points.
[0075] Step S42: Control the bucket's axis to move at a second preset height, and collect first data and second data at the second preset height.
[0076] In this embodiment of the application, after collecting the attitude sensor data at the first preset height, the control module 110 can control the bucket axis of the robotic arm 200 to remain at the second preset height according to the height data, and collect multiple first data and multiple second data during the movement as a second set of data.
[0077] In this embodiment, attitude sensor data is collected at different first and second preset heights before subsequent installation error calculation is performed, making the installation error more accurate.
[0078] For example, such as Figure 5 The diagram shown is a schematic representation of a process for obtaining the installation error of an attitude sensor according to an embodiment of this application. Figure 5 The acquisition process is one implementation of step S33 above, specifically including the following steps:
[0079] Step S51: Establish the equation for solving the installation error.
[0080] In this embodiment, the first data can be the pitch angle data of the boom 210, the second data can be the pitch angle data of the extender 220, and the installation error of the first attitude sensor 120 can be a radian error, as can the installation error of the second attitude sensor 130. The preset height includes a first preset height and a second preset height, and the formula for solving the installation error equation includes:
[0081] H1=L1sin(X 1i +a)+L2sin(Y 1i +b);
[0082] H2=L1sin(X 2i +a)+L2sin(Y 2i +b);
[0083] In the formula, H1 is the first preset height, H2 is the second preset height, L1 is the boom length, L2 is the reach boom length, and X... 1i For the i-th first data at the first preset height, Y 1i For the i-th second data at the first preset height, X 2i For the i-th first data at the second preset height, Y 2i For the i-th second data at the second preset height, a is the installation error of the first attitude sensor and b is the installation error of the second attitude sensor.
[0084] Step S52: Solve the installation error equation using the first data, the second data, and the preset height to obtain the installation error.
[0085] In this embodiment, the installation error equation can be iteratively solved using the Newton downhill method. First, the iteration variables are determined, namely L1, L2, a, and b. Since the boom 210 and extender 220 have mechanical errors, L1 and L2 are also included as variables to further improve calibration accuracy. An iterative relationship, the installation error equation, is established and iteratively solved. The values of L1 and L2 in the iterative solution can be controlled within the range of 0.1 to 10 meters, and the values of a and b can be within the range of -30 to 30 degrees. A preset number of iterations is also set. If L1, L2, a, and b cannot be obtained after exceeding the preset number of iterations, it is considered unsolvable, and the attitude sensor data acquisition process described above can be repeated to re-establish and solve the equation.
[0086] For example, such as Figure 6 The diagram shown is a flowchart illustrating a method for obtaining the correspondence between a bucket and a third attitude sensor, according to an embodiment of this application. Figure 6 This is one implementation of step S35 above, specifically including the following steps:
[0087] Step S61: Obtain the bucket angle corresponding to the third data.
[0088] In this embodiment of the application, when displaying the movement state of the bucket 230 in the guidance system, its current bucket angle is displayed. Therefore, the correspondence between the third data and the bucket angle can be calculated as the correspondence between the third attitude sensor and the bucket 230. Since the tip of the bucket 230 is maintained at a preset point when acquiring the third data, the current tremor angle of the bucket 230 can be calculated as long as the corresponding coordinates of the bucket axis and the preset point are obtained.
[0089] Step S62: Establish the solution equation between the third data and the bucket angle.
[0090] In this embodiment of the application, the formula for solving the equation includes:
[0091] P = T1Pr 4 +T2Pr 3 +T3Pr 2 +T4Pr+T5;
[0092] In the formula, P is the bucket angle, T1, T2, T3, T4 and T5 are coefficients, and Pr is the third data.
[0093] Step S63: Use the third data and the bucket angle to obtain the coefficients of the equation.
[0094] In this embodiment of the application, multiple bucket angles and corresponding third data are obtained and substituted into the above formula to calculate the values of coefficients T1, T2, T3, T4 and T5.
[0095] Step S64: Obtain the conversion equation between the third data and the bucket angle based on the coefficients, and calibrate the bucket based on the conversion equation.
[0096] In this embodiment of the application, after obtaining the values of the above coefficients T1, T2, T3, T4 and T5, the third data Pr of the above equation is used as a variable and the bucket angle P is the dependent variable to obtain the transformation equation. In the guidance system after calibration, the current bucket angle can be accurately displayed through the transformation equation.
[0097] For example, such as Figure 7 The diagram shown is a flowchart illustrating a method for obtaining the bucket angle according to an embodiment of this application.
[0098] in, Figure 7 This is one implementation of step S41 above, specifically including the following steps:
[0099] Step S71: Obtain the axis coordinates of the bucket based on the first data and the second data.
[0100] In this embodiment, the timestamps of the first and second data are consistent with the timestamp of the third data. That is, while collecting the third data through preset points, the first and second data of the boom 210 and the extender 220 will also be collected. In other words, the boom 210 and the extender 220 have been calibrated, and the coordinates of the bucket axis can be accurately calculated using the first and second data.
[0101] Step S72: Obtain the bucket angle based on the bucket's axis coordinates, the coordinates of the preset point, and the bucket's length.
[0102] For example, when the bucket 230 rotates around a preset point, the coordinates of the bucket axis can be calculated based on the obtained first and second data: (X1, Y1), (X2, Y2), ..., (X... n Y n By using the coordinates of multiple bucket axis centers, a more accurate center (X) can be calculated. C Y CThe bucket's axis coordinates, center, and radius are known, and the corresponding bucket angles P1, P2, ..., P2 can be calculated. n This refers to the bucket angle after each movement around the preset point. By substituting multiple bucket angles into the solution equation of step S62 above, the value of the coefficient can be calculated.
[0103] Please see Figure 8 This is a schematic diagram of the structure of a robotic arm calibration device provided in an embodiment of this application, as shown below. Figure 7 As shown, the robotic arm calibration device 800 includes:
[0104] The height data acquisition module 810 is used to acquire the height data of the bucket's axis in real time;
[0105] The first data acquisition module 820 is used to control the movement of the robotic arm, keep the axis of the bucket at a preset height according to the height data, and acquire the first data of the first attitude sensor and the second data of the second attitude sensor during the movement of the robotic arm.
[0106] The first calibration module 830 is used to obtain the installation error of the first attitude sensor and the second attitude sensor based on the first data, the second data and the preset height, and to calibrate the boom and the extension arm.
[0107] The second data acquisition module 840 is used to continue controlling the movement of the robotic arm, keeping the tip of the bucket at a preset position, and acquiring the third data from the third attitude sensor during the movement of the robotic arm.
[0108] The second calibration module 850 is used to obtain the correspondence between the bucket and the third attitude sensor based on the third data, and to calibrate the bucket.
[0109] In this embodiment of the application, more detailed functional descriptions of the above modules can be found in the corresponding content of the foregoing section, and will not be repeated here.
[0110] This application embodiment also provides a computer storage medium storing a computer program. When the computer program is executed by a processor, it causes the processor to perform the aforementioned robotic arm calibration method. If the various components of the aforementioned robotic arm calibration device are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned storage medium.
[0111] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).
[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation can be combined arbitrarily.
[0113] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.
Claims
1. A method for calibrating a robotic arm, the robotic arm comprising a boom, an extension arm, and a bucket connected in sequence, wherein a first attitude sensor, a second attitude sensor, and a third attitude sensor are respectively disposed on the boom, the extension arm, and the connecting rod of the extension arm, characterized in that, The robotic arm calibration method includes: Real-time acquisition of the height data of the bucket's axis; The movement of the robotic arm is controlled to keep the axis of the bucket at a preset height based on the height data, and the first data from the first attitude sensor and the second data from the second attitude sensor are collected during the movement of the robotic arm. Based on the first data, the second data, and the preset height, the installation errors of the first attitude sensor and the second attitude sensor are obtained, and the boom and the extension arm are calibrated. Continue to control the movement of the robotic arm to keep the tip of the bucket at a preset position, and collect the third data from the third attitude sensor during the movement of the robotic arm; Based on the third data, the correspondence between the bucket and the third attitude sensor is obtained, and the bucket is calibrated.
2. The robotic arm calibration method as described in claim 1, characterized in that, The preset height includes a first preset height and a second preset height, wherein the second preset height is greater than the first preset height; The control of the robotic arm's movement, maintaining the bucket's axis at a preset height based on the height data, and collecting first data from the first attitude sensor and second data from the second attitude sensor during the robotic arm's movement, includes: The bucket's axis is controlled to move at a first preset height, and the first data and the second data at the first preset height are collected. The bucket's axis is controlled to move at a second preset height, and the first data and the second data at the second preset height are collected.
3. The robotic arm calibration method as described in claim 1, characterized in that, The step of obtaining the installation errors of the first attitude sensor and the second attitude sensor based on the first data, the second data, and the preset height includes: Establish the equations for solving installation errors; The installation error is obtained by solving the equation for solving the installation error using the first data, the second data, and the preset height.
4. The robotic arm calibration method as described in claim 3, characterized in that, The preset height includes a first preset height and a second preset height, and the installation error solution equation includes: H1=L1sin(X 1i +a)+L2sin(Y 1i +b); H2=L1sin(X 2i +a)+L2sin(Y 2i +b); Wherein, H1 is the first preset height, H2 is the second preset height, L1 is the length of the boom, L2 is the length of the extender arm, and X... 1i For the i-th first data point at the first preset height, Y 1i For the i-th second data point at the first preset height, X 2i For the i-th first data point at the second preset height, Y 2i Let be the i-th second data point at the second preset height, where a is the installation error of the first attitude sensor and b is the installation error of the second attitude sensor.
5. The robotic arm calibration method as described in claim 1, characterized in that, The step of obtaining the correspondence between the bucket and the third attitude sensor based on the third data, and calibrating the bucket, includes: Obtain the bucket angle corresponding to the third data; Establish the solution equation between the third data and the bucket angle; The coefficients of the solution equation are obtained using the third data and the bucket angle; The conversion equation between the third data and the bucket angle is obtained based on the coefficient, and the bucket is calibrated based on the conversion equation.
6. The robotic arm calibration method as described in claim 5, characterized in that, The equations to be solved include: P=T1Pr 4 +T2Pr 3 +T3Pr 2 +T4Pr+T5; Wherein, P is the bucket angle, T1, T2, T3, T4 and T5 are the coefficients, and Pr is the third data.
7. The robotic arm calibration method as described in claim 5, characterized in that, The process of obtaining the bucket angle corresponding to the third data includes: Based on the first data and the second data, the axis coordinates of the bucket are obtained; The bucket angle is obtained based on the axis coordinates of the bucket, the coordinates of the preset point, and the length of the bucket.
8. The robotic arm calibration method as described in claim 1, characterized in that, The height data of the bucket's axis is obtained using a laser altimeter.
9. A robotic arm calibration device, the robotic arm comprising a movable arm, an extension arm, and a bucket connected in sequence, wherein a first attitude sensor, a second attitude sensor, and a third attitude sensor are respectively disposed on the movable arm, the extension arm, and the connecting rod of the extension arm, characterized in that, The robotic arm calibration device includes: The height data acquisition module is used to acquire the height data of the bucket's axis in real time; The first data acquisition module is used to control the movement of the robotic arm, keep the axis of the bucket at a preset height according to the height data, and acquire the first data of the first attitude sensor and the second data of the second attitude sensor during the movement of the robotic arm. The first calibration module is used to obtain the installation error of the first attitude sensor and the second attitude sensor based on the first data, the second data and the preset height, and to calibrate the boom and the extension arm. The second data acquisition module is used to continue controlling the movement of the robotic arm, keeping the tip of the bucket at a preset position, and acquiring the third data from the third attitude sensor during the movement of the robotic arm. The second calibration module is used to obtain the correspondence between the bucket and the third attitude sensor based on the third data, and to calibrate the bucket.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to perform the robotic arm calibration method as described in any one of claims 1 to 8.