CN106066179A - A kind of robot location based on ROS operating system loses method for retrieving and control system - Google Patents
A kind of robot location based on ROS operating system loses method for retrieving and control system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention discloses a kind of robot location based on ROS operating system and lose method for retrieving, comprise the steps: step (1), utilize ROS operating system to set up navigation map；Or manually draw navigation map；Step (2), utilize camera scanning ar_marker, obtain the id information of ar_marker and attitude information, concurrently set coordinate in navigation map for the ar_marker and preserve to micromainframe；Step (3), robot random walk, explore the ar_marker in surrounding enviroment；Step (4), when camera captures ar_marker, mate with the id information of the ar_marker being saved in micromainframe；Step (5), changed the reading spatial positional information relative to ar_marker for the camera by the coordinate tree of robot itself, it is thus achieved that position in navigation map for the robot and towards angle；Step (6), reorientate position in navigation map for the robot.The good ar_marker of location position is explored by random roam, it is achieved robot location independently gives position for change after losing when robot location of the present invention loses.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of robot location based on ROS operating system and lose
Lose method for retrieving and control system.
Background technology
In mobile robot relation technological researching, airmanship belongs to its core technology, be also realize intelligent and from
The key technology of main movement.Navigation mode common at present has electromagnetic navigation, inertial navigation, vision guided navigation, wireless navigation, satellite
Navigation, sensing data navigation etc..Traditional navigation mode more or less also exists some drawbacks, electromagnetic navigation flexibility
Difference, positions inaccurate, and it is high that maintenance cost laid by intelligent not high and large area magnetic stripe.Such as the patent No. 201210083407.6 disclosure
A kind of magnetic navigation routing inspection robot, comprising: visible light camera, The Cloud Terrace, infrared thermography, saddle, motor driver, meter
Calculation machine, sound collector, switch, wireless receiver WCB, sound collector, front collision prevention sensor, front navigation sensor, shoe
Band, road video camera, smoke detector, rear collision prevention sensor, environmental detector, rear navigation sensor, landmark sensor, machine
People is made up of four parts, is magnetic navigation part, crawler travel structure division, control and collecting part, communicating portion respectively
Being implemented in combination with automatic cycle detection, described magnetic navigation part comprises front navigation sensor and rear navigation sensor, navigation sensing
Device is for receiving the magnetic stripe signal of ground robot run trace；Described crawler travel structure division, comprises crawler belt, collision prevention biography
Sensor, motor driver, landmark sensor, emergency stop switch, wheel；Described communicating portion, comprises switch, wireless connects
Receive device, omnidirectional's extended antenna；Described control and collecting part, comprise a microprocessor and multiple sensor, by connecting
The movement of servo-driver control car body；Sensor is connected with processor, and processor is connected with wireless bridge, by sensor collection
To data after treatment by being wirelessly transmitted to long-range PC, it is achieved far-end is to on-the-spot real-time monitoring.
Inertial navigation flexibility is good, but positional accuracy difference, motion process easily produce and accumulates deviation, being suitable for short
Distance is mobile.Traditional vision guided navigation typically uses the mode of multi-vision visual, and positioning precision can reach very high, but is being moved through
Real-time operation amount in journey is very big, underaction, and is affected bigger by illumination isoperimetric collarette border；Other modes or many of navigating
Or it is low or lay the shortcomings such as maintenance cost is high to there is poor stability, positioning precision less.
Existing airmanship is being individually present on the basis of disadvantages mentioned above, there is also existing airmanship in the face of machine
When device people position is lost, it is impossible to give self-position for change, thus cannot correctly navigate again so that robot cannot be carried out again
How normal work, therefore provide a kind of robot location method for retrieving lost, can be voluntarily when robot location loses
Give for change, complete operation to continue navigation.
Content of the invention
The purpose of the present invention is that and overcomes the deficiencies in the prior art, provides a kind of robot based on ROS operating system
Method for retrieving and control system are lost in position, and it is good that the present invention explores location position when robot location loses by random roam
Ar_marker, to reorientate robot location, it is achieved robot location independently gives position for change after losing, and adapts to more
The position adding under complex environment is given for change.
To achieve these goals, the invention provides a kind of robot location's loss based on ROS operating system to give for change
Method, comprises the steps:
ROS operating system is installed in step (1), micromainframe, utilizes the environment that ROS operating system acquisition camera scans
Three-dimensional data simultaneously generates two dimension cloud data, utilizes gmapping framework and particle filter algorithm to carry out local optimum and sets up navigation
Map；Or manually draw navigation map, and navigation map is imported in the ROS operating system in micromainframe；Wherein two dimension
Cloud data, for recording the data of camera collection in dots, comprises colouring information and depth information, and handle in data point
The data in space are converted to the data in plane；Particle filter algorithm is for finding one group of random particles pair propagated at state space
Probability density function approximates, and replaces integral operation with particle average, thus obtains the distribution of state minimum variance.
Step (2), the front of robot ambulation to ar_marker, utilize camera scanning ar_marker, to obtain ar_
The id information of marker and the attitude information relative to robot, concurrently set coordinate in navigation map for the ar_marker simultaneously
Preserve to micromainframe；
Step (3), when position in navigation map for the robot is lost, robot can random walk, pass through camera
Scanning circumstance simultaneously coordinates points cloud processing, explores the ar_marker in surrounding enviroment；
Step (4), when camera captures ar_marker, ROS operating system just calls ar_track_alvar function
Bag identifies the id information of ar_marker the id information mating the ar_marker being saved in micromainframe, transfers after coupling
The attitude information of ar_marker and the ar_marker coordinate in navigation map；
Step (5), the coordinate tree conversion reading locus relative to ar_marker for the camera passing through robot itself
Information, and the spatial positional information relative to ar_marker for the camera reading is changed into ar_marker relative to machine
The spatial positional information of people, and combine locus in navigation map for the ar_marker, to obtain robot at navigation map
In position and towards angle；Wherein the coordinate tree of robot itself be the sensor of robot own and movement node relative to
The Coordinate Conversion of base_link (robot geometric coordinate center) coordinate system.
Step (6), in the initialization attitude of ROS operating system by the position in navigation map for the robot obtaining and
Become the current location parameter of robot towards angle modification, reorientating position in navigation map for the robot, thus look for
Return puts the robot of loss.
Further, the navigation map being generated by display screen display micromainframe, and machine can be seen on a display screen
People's real time position residing in navigation map.
Further, the height by the infrared unsettled detector unit on microcomputer reads base and pressure sensing cell
Whether level signal is artificially moved with measuring robots, and by microprocessor, detection data are sent to micromainframe, with
Position given for change by control robot.
Further, the speed of travel by the real-time robot measurement of the Hall element on robot base, and will prison
The velocity amplitude measuring feeds back to microprocessor, and by the speed ginseng of the control interface modification robot ambulation of ROS operating system
Numerical value, sends to microprocessor will adjust signal by micromainframe, changes the PWM driving motor to adjust by microprocessor
Complete machine device people's speed of travel.
Further, robot is in the process of walking, by camera scanning circumstance with the object in the range of acquisition testing
Information, and it is converted into the spatial positional information relative to object for the camera by ROS operating system, when camera is relative to object
Locus in the range of barrier when, by microprocessor change drive motor PWM to control robot Reduced Speed Now
And turn to and get around barrier.
In addition, the invention provides a kind of control realizing losing method for retrieving based on the robot location of ROS operating system
System processed, including the micromainframe being installed in robot and camera, and be installed on robot base microprocessor,
Infrared unsettled detector unit and pressure sensing cell, described micromainframe is connected with described camera and microprocessor respectively,
Described microprocessor is connected with described infrared unsettled detector unit and pressure sensing cell.
Further, described robot being also equipped with display screen, described display screen is connected with described micromainframe.
Further, described robot base is additionally provided with Hall element, described Hall element and described micro-place
Reason device is connected.
The present invention is by installing ROS operating system in micromainframe.ROS (Robot Operating System) is one
Plant robot operating system of increasing income, using the teaching of the invention it is possible to provide be similar to the function of operating system, provide hardware to take out for robot application system
As, bottom layer driving, message transmit and assure reason, and some auxiliary development instruments, for example set up, write and run multi-computer communication
The program of system combination.The design object of ROS operating system is contemplated to improve the durability of code, so using one distribution
The process framework of formula so that program has independence and the lower coupling of height.The present invention utilizes the advantage of ROS operating system to build
Vertical navigation map, the high accuracy to realize robot is navigated.
The navigation map that the present invention utilizes ROS operating system to set up navigates, and completes corresponding operating with order robot,
When robot is when completing to occur during corresponding operating that position is lost, the present invention explores position by robot random roam
The ar_marker having demarcated, can be accurately positioned position and the direction of machine people on the premise of robot identification ar_marker,
Simultaneously coordinate CropBox (spatial reference) cloud is limited in fixed size cubic space in, use simultaneously
In the range of distance between a cloud is adjusted to 2cm by VoxelGrid (three-dimensional phase vegetarian refreshments) 3D voxel grid wave filter, to reduce a little
Calculating speed that cloud is data-optimized, improves discrimination.
The present invention is to have adapted to more complicated environment, and with the use of a set of random roam heuristic algorithm, i.e. robot exists
Freely walk in one space, only toward a directional steering, the angle random distribution of rotation, and coordinate camera to avoid obstacle
Thing, freely explores space and finds ar_marker, gives for change to have adapted to the position under more complex environment.
Compared with prior art, beneficial effects of the present invention: the present invention utilizes ROS operating system to set up navigation map, with
Realize the high accuracy navigation of robot.When robot is when completing to occur during corresponding operating that position is lost, the present invention is led to
Cross robot random roam and explore the good ar_marker of location position, to reorientate robot location, it is achieved robot location
Independently give position after loss for change, and the position adapting under more complex environment is given for change.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the accompanying drawing of required use is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, all right
Obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the embodiment of the present invention.
Fig. 2 is the frame principle of the embodiment of the present invention.
Above-mentioned reference:
1 micromainframe, 2 cameras, 3 microprocessors, 4 infrared unsettled detector units, 5 pressure sensing cells.
Detailed description of the invention
Below in conjunction with the accompanying drawings invention is further illustrated, but be not limited to the scope of the present invention.
Embodiment
As shown in Figure 1, 2, a kind of robot location based on ROS operating system of a kind of present invention that the present invention provides loses
Lose method for retrieving, comprise the steps:
In step (1), micromainframe 1, ROS operating system is installed, utilizes the ring that ROS operating system acquisition camera 2 scans
Border three-dimensional data simultaneously generates two dimension cloud data, utilizes gmapping (navigation is drawn) framework and particle filter algorithm to carry out local
Optimize and set up navigation map；Or manually draw navigation map, and the ROS operation importing to navigation map in micromainframe 1 is
In system；Wherein two dimension cloud data in dots record camera collection data, data point comprises colouring information and
Depth information, and the data in space are converted to the data in plane；Particle filter algorithm passes at state space for finding one group
Probability density function is approximated by the random particles broadcast, and replaces integral operation with particle average, thus obtains state minimum side
Difference cloth.
Step (2), the front of robot ambulation to ar_marker, utilize camera 2 to scan ar_marker, to obtain
The id information of ar_marker and the attitude information relative to robot, concurrently set coordinate in navigation map for the ar_marker
And preserve to micromainframe 1；
Step (3), when position in navigation map for the robot is lost, robot can random walk, by camera 2
Scanning circumstance simultaneously coordinates points cloud processing, explores the ar_marker in surrounding enviroment；
Step (4), when camera 2 captures ar_marker, ROS operating system just calls ar_track_alvar (ar
Mark is followed the tracks of) id information of function bag identification ar_marker mate the ID of the ar_marker being saved in micromainframe 1 and believe
Breath, transfers attitude information and the coordinate in navigation map for the ar_marker of ar_marker after coupling；
Step (5), the coordinate tree conversion reading space bit relative to ar_marker for the camera 2 passing through robot itself
Confidence cease, and the spatial positional information relative to ar_marker for the camera 2 reading is changed into ar_marker relative to
The spatial positional information of robot, and combine locus in navigation map for the ar_marker, to obtain robot in navigation
Position in map and towards angle；Wherein the coordinate tree of robot itself is relative with movement node for the sensor of robot own
Coordinate Conversion in base_link (robot geometric coordinate center) coordinate system.
Step (6), in the initialization attitude of ROS operating system by the position in navigation map for the robot obtaining and
Become the current location parameter of robot towards angle modification, reorientating position in navigation map for the robot, thus look for
Return puts the robot of loss.
The navigation map being generated by display screen display micromainframe 1, and robot can be seen on a display screen in navigation
Real time position residing in map.
By the low and high level letter of the infrared unsettled detector unit 4 on microcomputer reads base and pressure sensing cell 5
Number whether artificially moved with measuring robots, and detection data are sent to micromainframe 1 by microprocessor 3, with control
Position given for change by robot.
By the speed of travel of the real-time robot measurement of the Hall element on robot base, and the speed that will monitor
Value feeds back to microprocessor 3, and by the velocity parameter values of the control interface modification robot ambulation of ROS operating system, to lead to
Cross micromainframe 1 to send adjustment signal to microprocessor 3, change the PWM driving motor to adjust machine by microprocessor 3
People's speed of travel.
Robot in the process of walking, by camera 2 scanning circumstance with the object information in the range of acquisition testing, and leads to
Cross ROS operating system and be converted into the spatial positional information relative to object for the camera 2, when camera 2 is relative to the space of object
When position is in the range of barrier, change the PWM driving motor to control robot Reduced Speed Now and to turn to by microprocessor 3
Get around barrier.
In addition, a kind of control realizing losing method for retrieving based on the robot location of ROS operating system that the present invention provides
System processed, including the micromainframe 1 being installed in robot and camera 2, and the micro-process being installed on robot base
Device the 3rd, infrared unsettled detector unit 4 and pressure sensing cell 5, described micromainframe 1 respectively with described camera 2 and microprocessor
3 are connected, and described microprocessor 3 is connected with described infrared unsettled detector unit 4 and pressure sensing cell 5.
It is also equipped with display screen, described display screen and described micromainframe 1 in the described robot of control system of the present invention
It is connected.
It is additionally provided with Hall element, described Hall element and institute on the described robot base of control system of the present invention
State microprocessor 3 to be connected.
The present invention is by installing ROS operating system in micromainframe 1.ROS (Robot Operating System) is
One is increased income robot operating system, using the teaching of the invention it is possible to provide be similar to the function of operating system, provides hardware for robot application system
Abstract, bottom layer driving, message are transmitted and assure reason, and some auxiliary development instruments, for example, set up, write and run multimachine and lead to
The program that communication system is integrated.The design object of ROS operating system is contemplated to improve the durability of code, so using one point
The process framework of cloth so that program has independence and the lower coupling of height.The present invention utilizes the advantage of ROS operating system
Setting up navigation map, the high accuracy to realize robot is navigated.
The navigation map that the present invention utilizes ROS operating system to set up navigates, and completes corresponding operating with order robot,
When robot is when completing to occur during corresponding operating that position is lost, the present invention explores position by robot random roam
The ar_marker having demarcated, can be accurately positioned position and the direction of machine people on the premise of robot identification ar_marker,
Simultaneously coordinate CropBox (spatial reference) cloud is limited in fixed size cubic space in, use simultaneously
In the range of distance between a cloud is adjusted to 2cm by VoxelGrid (three-dimensional phase vegetarian refreshments) 3D voxel grid wave filter, to reduce a little
Calculating speed that cloud is data-optimized, improves discrimination.
The present invention is to have adapted to more complicated environment, and with the use of a set of random roam heuristic algorithm, i.e. robot exists
Freely walk in one space, only toward a directional steering, the angle random distribution of rotation, and coordinate camera to avoid obstacle
Thing, freely explores space and finds ar_marker, gives for change to have adapted to the position under more complex environment.
The present invention utilizes ROS operating system to set up navigation map, and the high accuracy to realize robot is navigated.When robot exists
When occurring that position is lost during completing corresponding operating, it is good that the present invention explores location position by robot random roam
Ar_marker, to reorientate robot location, it is achieved robot location independently gives position for change after losing, and adapts to more
Position under complex environment is given for change.
General principle, principal character and the advantages of the present invention of the present invention have more than been shown and described.The technology of the industry
Personnel are it should be appreciated that the present invention is not restricted to the described embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these become
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and
Equivalent defines.
Claims (8)
1. lose method for retrieving based on the robot location of ROS operating system for one kind, it is characterised in that comprise the steps:
ROS operating system is installed in step (1), micromainframe, utilizes the surrounding three-dimensional that ROS operating system acquisition camera scans
Data simultaneously generate two dimension cloud data, utilize gmapping framework and particle filter algorithm to carry out local optimum and set up navigation ground
Figure；Or manually draw navigation map, and navigation map is imported in the ROS operating system in micromainframe；
Step (2), the front of robot ambulation to ar_marker, utilize camera scanning ar_marker, to obtain ar_
The id information of marker and the attitude information relative to robot, concurrently set coordinate in navigation map for the ar_marker simultaneously
Preserve to micromainframe；
Step (3), when position in navigation map for the robot is lost, robot can random walk, scanned by camera
Environment simultaneously coordinates points cloud processing, explores the ar_marker in surrounding enviroment；
Step (4), when camera captures ar_marker, ROS operating system just call ar_track_alvar function bag know
The id information of other ar_marker the id information mating the ar_marker being saved in micromainframe, transfer ar_ after coupling
The attitude information of marker and the ar_marker coordinate in navigation map；
Step (5), the coordinate tree conversion reading space bit confidence relative to ar_marker for the camera passing through robot itself
Breath, and the spatial positional information relative to ar_marker for the camera reading is changed into ar_marker relative to robot
Spatial positional information, and combine locus in navigation map for the ar_marker, to obtain robot in navigation map
Position and towards angle；
Step (6), in the initialization attitude of ROS operating system by the position in navigation map for the robot obtaining and towards
Angle modification becomes the current location parameter of robot, reorientating position in navigation map for the robot, thus gives position for change
Put the robot of loss.
2. a kind of robot location based on ROS operating system according to claim 1 loses method for retrieving, and its feature exists
In, the navigation map being generated by display screen display micromainframe, and can see robot on a display screen in navigation map
Residing real time position.
3. a kind of robot location based on ROS operating system according to claim 1 loses method for retrieving, and its feature exists
In by the low and high level signal of the infrared unsettled detector unit on microcomputer reads base and pressure sensing cell to detect
Whether robot is artificially moved, and by microprocessor, detection data are sent to micromainframe, gives for change to control robot
Position.
4. a kind of robot location based on ROS operating system according to claim 1 loses method for retrieving, and its feature exists
In by the speed of travel of the real-time robot measurement of the Hall element on robot base, and by anti-for the velocity amplitude that monitors
It is fed to microprocessor, and by the velocity parameter values of the control interface modification robot ambulation of ROS operating system, with by miniature
Main frame will adjust signal and send to microprocessor, be changed the PWM driving motor by microprocessor to adjust robot ambulation speed
Degree.
5. a kind of robot location based on ROS operating system according to claim 1 loses method for retrieving, and its feature exists
In robot in the process of walking, by camera scanning circumstance with the object information in the range of acquisition testing, and passes through ROS
Operating system is converted into the spatial positional information relative to object for the camera, when camera is hindering relative to the locus of object
When hindering in the range of thing, changed the PWM driving motor by microprocessor to control robot Reduced Speed Now and to turn to and get around obstacle
Thing.
6. using position described in any one of Claims 1 to 5 to lose a robot control system for method for retrieving, its feature exists
In: include micromainframe and the camera being installed in robot, and the microprocessor, infrared being installed on robot base
Unsettled detector unit and pressure sensing cell, described micromainframe is connected with described camera and microprocessor respectively, described
Microprocessor is connected with described infrared unsettled detector unit and pressure sensing cell.
7. robot control system according to claim 6, it is characterised in that be also equipped with display in described robot
Screen, described display screen is connected with described micromainframe.
8. robot control system according to claim 6, it is characterised in that be additionally provided with suddenly on described robot base
That sensor, described Hall element is connected with described microprocessor.
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| CN106708058A (en) * | 2017-02-16 | 2017-05-24 | 上海大学 | Robot object conveying method and control system based on ROS (Robot Operating System) |
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