CN107053219B - A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign - Google Patents
A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign Download PDFInfo
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- CN107053219B CN107053219B CN201710461634.0A CN201710461634A CN107053219B CN 107053219 B CN107053219 B CN 107053219B CN 201710461634 A CN201710461634 A CN 201710461634A CN 107053219 B CN107053219 B CN 107053219B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign, it include: the mobile robot environmental monitoring system that building is made of multi-thread laser scanner and strong reflecting sign, the environmental light intensity data obtained by multi-thread laser scanner and range data realize identification and relative positioning to strong reflecting sign.When robot initial position is unknown, calculate the distance and slope information of reflective marker line two-by-two, and then the Global localization of reflective marker is realized by Data Matching, realize that the location information of robot under global context obtains finally by the relative positional relationship of robot and reflective marker.The invention has the advantages that: avoiding only with distance or perception information is too simple when bearing data, the less disadvantage of target signature is obtained, identification stability is improved.
Description
Technical field
The present invention relates to localization for Mobile Robot technical field, in particular to a kind of mobile machine based on laser scanner
People's localization method.
Background technique
With the fast development of robot technology, mobile robot is in fields such as warehouse logistics, intelligent patrol detection, moving operations
Have a wide range of applications demand.In robot autonomous execution task, location information is motion planning in the environment
Key.By taking robot used for intelligent substation patrol as an example, the side such as magnetic substance or attaching rfid tag is embedded with frequently with road surface
The positioning and navigation of formula realization robot.Such method can satisfy robot autonomous service requirement, but need to site environment
Larger change is done, while maintenance work when something goes wrong is also very cumbersome.Thus with robot technology and intelligence sensor
Development, how using highly efficient method to realize that localization for Mobile Robot becomes problem in the urgent need to address.
Currently, there are mainly two types of methods for robot localization technology: one is use laser according to the difference using sensor
Sensor realizes the positioning and navigation of robot, patrols as Chinese patent literature CN202166895U discloses a kind of intelligent substation
Examine the Laser navigation system of robot.It is planar shaped or cylinder that this method, which requires reflecting sign, is fixedly installed in guidance path
Around, and need to guarantee synchronization robot at least and can detect 3 reflecting signs.This method essence belongs to guiding and leads
Boat, robot simply walk according to the constraint of road both sides reflective marker, this requires reflective marker must be by regular intensive peace
Dress, its implementation is more complex, and the constraint condition for being detected simultaneously by 3 reflecting signs also limits this method in complex environment
Under feasibility.
Another kind is the localization method using machine vision, as Chinese patent literature CN105700532A discloses a kind of base
In the Intelligent Mobile Robot navigator fix control method of vision.This method needs preset guidance path and stop position mark,
Then robot is by mark of different shapes on vision camera distinguishing mark line, and then realizes the positioning of robot.This kind of side
The shortcoming of formula is path and the index point that need to draw robot in advance, and in sleet or violent illumination variation, perceives phase
The performance of machine will receive certain influence.
Since mobile robot often works in outdoor environment, thus need to adapt to special environmental condition and a variety of work
Mode, meanwhile, for different users due to constructing production scene in advance, this requires robot must be in change few as far as possible
Under conditions of site environment, accurate, stable positioning and navigation are realized.
Summary of the invention
The object of the invention is to provide one kind based on laser scanner and strong reflecting sign to solve above-mentioned problem
Method for positioning mobile robot, can be realized the high reliability under complex environment, high-precision is run, and the method for operation is flexible, is resisted
Interference performance is strong, is suitable for the particular surroundings such as strong magnetic, intense radiation.
To achieve the above object, concrete scheme of the invention is as follows:
A kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign, comprising:
(1) the coordinate relationship { O of production scene is constructedw, specific position is chosen as coordinate origin, and along northeast old name for the Arabian countries in the Middle East
To building XYZ coordinate axis；
(2) the mobile robot environmental monitoring system being made of multi-thread laser scanner and strong reflecting sign, record are constructed
Position coordinates { x of each strong reflecting sign in production scenefi,yfi,zfl}；And it calculates two neighboring strong reflecting sign position and sits
Slope { L, K } of the distance between the mark with two neighboring strong reflecting sign line；
(3) the every frame data P=of laser scanner { D, Δ, S } is read, wherein D is range data, and Δ is angle-data, and S is
Intensity of reflected light data are determined as the point of strong reflecting sign according to data P；
(4) coordinate p of the strong reflecting sign under laser scanner detection viewing field is calculatedv；
(5) if robot production scene initial position it is known that entering step (6)；Otherwise, step (7) are transferred to；
(6) according to the point p under laser scanner detection viewing field as strong reflecting signv, determine that strong reflecting sign is producing
The true coordinate P at scenetv；According to coordinate Ptv, determine current robot basis coordinates system { O at the scenewUnder coordinate；
(7) distance and slope information of neighboring reflection mark under laser scanner detection viewing field are determined, then with it is known
Neighboring reflection mark matches in the line segment information that production scene is constituted, and identifies that constitute two of line segment anti-by line segment feature
The position coordinates for penetrating mark, obtain pvPoint is in production scene coordinate relationship { OwUnder coordinate Ptv；According to coordinate PtvAnd pv, obtain
Robot basis coordinates system { O at the scenewUnder coordinate.
Further, in the step (7), by the robot obtained basis coordinates system { O at the scenewUnder coordinate as just
Beginning coordinate determines robot basis coordinates system { O at the scene according to the method for step (6)wUnder changing coordinates.
Further, in the step (2), mobile robot environmental monitoring system is specifically included:
Laser scanner is installed in mobile robot, by strong reflecting sign along the visual field direction cloth of laser scanner
It sets, is pasted on ground or building.
Further, in the step (3), the point as strong reflecting sign meets:
Wherein, t1, t2, t3... is the reflective light intensity threshold value under different distance；diFor range data, siFor intensity of reflected light
Data, i=0,1,2 ... 540.
Further, in the step (4), coordinate p of the strong reflecting sign under laser coordinate systemvAre as follows:
Wherein, dvFor the distance value that laser scanner measures, δvyFor the angle of the distance value and horizontal direction, δvzFor this away from
Angle from value and vertical direction.
Further, in the step (6), determine strong reflecting sign in the true coordinate P of production scenetvMethod it is specific
Are as follows:
Position O by robot in production scener=(xr,yr,zr) and installation site P of the laser in robotl=
(xl,yl,zl), calculate the p under laser coordinate systemvPoint is in production scene coordinate relationship { OwUnder coordinate Pv=Or+Pl=(xr,
yr,zr)+(xl,yl,zl)；
By minimum distance calculation, P is foundvPoint is in reflective marker database { xfi, yfi, zflIn apart from closest approach Ptv
=(Pvx, Pvy, Pvx)；
By PtvPoint coordinate is as PvTrue coordinate in production scene.
Further, in the step (6), current robot basis coordinates system { O at the scenewUnder coordinate specifically:
Beneficial effects of the present invention:
Compared with conventional mapping methods, this system is not necessarily to floor treatment work complicated under magnetic navigation mode, there will not be
Machine vision method increases the applicability of system to the susceptibilitys of the environment such as sleet, illumination.
Meanwhile the system, compared with carrying out robot localization method using laser sensor in the past, advantage is as follows:
One, propose that the method combined using laser scanner range data with intensity of reflected light realizes the knowledge of special sign
Not, it is too simple to avoid perception information when only with distance or bearing data, the less disadvantage of acquisition target signature improves
Identify stability；
Two, the distance between robot and reflective marker for being measured by laser scanner can acquire machine with angular relationship
Position coordinates of the device people under global coordinate system, reduce algorithm complexity, while overcoming conventional laser SLAM localization method
A large amount of data handling procedure down, reduces operand, improves the efficiency of algorithm；
Three, initial time has determined robot after the coordinate of production scene, and 1 need to be only identified within the scope of robot perception
Reflective marker achieves that its real-time coordinates in production scene obtains, and avoids and at least needs to detect 3 reflection marks simultaneously
The constraint of will, it is less to the change of production scene because without very high traffic sign placement density, reduce system complexity.
Detailed description of the invention
Fig. 1 is that schematic diagram is extracted in the identification of mobile robot reflective marker and line segment feature of the invention；
Positioning schematic diagram when Fig. 2 is mobile robot autonomous operation provided by the invention；
Wherein, 1. robot, 2. laser scanners, the last 3. reflecting sign, 4. walking paths.
Specific embodiment:
The present invention is described in detail with reference to the accompanying drawing:
The invention discloses a kind of 1 localization method of mobile robot based on laser scanner 2 Yu strong reflecting sign 3, should
The basic principle of method are as follows: 1 environmental monitoring of mobile robot that building is made of multi-thread laser scanner 2 with strong reflecting sign 3
System, the environmental light intensity data and range data obtained by multi-thread laser scanner 2 realize to the identification of strong reflecting sign 3 with
Then relative positioning calculates the distance and slope information of reflective marker line two-by-two, and then realizes that reflection is marked by Data Matching
The Global localization of will realizes the position of robot 1 under global context finally by the relative positional relationship of robot 1 and reflective marker
Set acquisition of information.
Specific technical solution is as follows:
(1) the coordinate relationship { O of production scene is constructedw, specific position is chosen as coordinate origin, and along northeast old name for the Arabian countries in the Middle East
To building XYZ coordinate axis；
(2) 1 environmental monitoring system of mobile robot being made of multi-thread laser scanner 2 with strong reflecting sign 3 is constructed；Tool
Body includes: that multi-thread laser scanner 2 is installed in mobile robot 1, by strong reflecting sign 3 along the visual field of laser scanner 2
Direction arrangement, is pasted on ground or building.
Multi-thread laser scanner 2 uses 16 line VLP16 sensors.Its detection range is 100 meters, can be realized in vertical direction
± 15 ° of range scans.
Strong reflecting sign 3 is that automotive grade reflects labeling.It, thereon can be according to environmental colors to realize the matching with environmental color
Paste light transmission film.Strong reflecting sign 3 is pasted onto ground or building, only need to be along the visual field direction of laser scanner 2.
Fig. 1 is that schematic diagram is extracted in the identification of 1 reflective marker of mobile robot and line segment feature of the invention；
16 line laser scanners 2 are installed, which can do 360 ° of vertical direction ± 15 ° horizontal direction in robot 1
Scanning, vertical scan intervals are 2 °, and 0.1 ° -0.4 ° of horizontal scanning interval position, the effective distance of each scanning element is 100 meters,
5 scan lines are schematically depicted in Fig. 1.Strong reflecting sign 3 is pasted in the environment, and pasting rule does not have particular/special requirement,
Only it need to guarantee that at least one strong reflecting sign appears in scanner field of view.
(3) position coordinates { x of each strong reflecting sign 3 of record in production scenefi,yfi,zfi, it is stored in strong reflecting sign 3
Database；And calculate the distance between two neighboring 3 position coordinates of strong reflecting sign and two neighboring strong 3 line of reflecting sign
Slope { L, K }；
(4) 2 every frame data P={ D, Δ, S } of laser scanner is read, wherein D is range data, and Δ is angle-data, S
For intensity of reflected light data；D=(d1,d2,...,di), Δ=(δ1,δ2...δi), δi=(δix,δiz), S=(s1,s2...si),
I=0,1,2 ... 540.
Then the point for meeting following formula is chosen as reflective marker.
t1, t2, t3... is the reflective light intensity threshold value under different distance；diFor range data, siFor intensity of reflected light data,
I=0,1,2 ... 540.
(5) coordinate p of the strong reflecting sign 3 under 2 detection viewing field of laser scanner is determinedv；
Coordinate p of the reflective marker under laser coordinate systemvFor
Wherein, dvFor the distance value that laser scanner measures, δvyFor the angle of the distance value and horizontal direction, δvzFor this away from
Angle from value and vertical direction.
(6) according to 1 current location of robot whether it is known that proceeding as follows:
1) if 1 current location of robot it is known that if position O by robot 1 in production scener=(xr,yr,zr) and swash
Installation site P of the light in robot 1l=(xl,yl,zl), calculate the p under laser coordinate systemvPoint is closed in production scene coordinate
It is { OwUnder coordinate Pv=Or+Pl=(xr,yr,zr)+(xl,yl,zl)。
Then by minimum distance calculation, P is foundvPoint is in reflective marker database { xfi,yfi,zfiIn distance it is nearest
Point Ptv=(Pvx,Pvy,Pvz), and then using this closest approach as PvReflective marker is determined in true coordinate in production scene, realization
Position.
Next with the movement of 1 position of robot, real-time update pvInformation, then by Ptv, then anti-machine can be released
Basis coordinates system { the O at the scene of people 1wUnder coordinate
If 2) 1 current location of robot is unknown, robot 1 is needed first by the two neighboring reflection mark detected at this time
Will information determines the distance and slope information of neighboring reflection mark under 2 detection viewing field of laser scanner, then with it is known adjacent
Reflective marker matches in the line segment information that production scene is constituted, and identifies that two reflections for constituting line segment are marked by line segment feature
The position coordinates of will, obtain pvPoint is in production scene coordinate relationship { OwUnder coordinate Ptv；According to coordinate PtvAnd pvAnd 1) in it is public
Formula obtains the basis coordinates system { O at the scene of robot 1wUnder coordinate OR。
By the robot 1 obtained basis coordinates system { O at the scenewUnder coordinate as initial coordinate, then according to step (6)
Method can directly determine the basis coordinates system { O at the scene of robot 1wUnder changing coordinates.
As shown from the above formula, 1, robot need to identify that a reflective marker achieves that it in the coordinate of production scene
Positioning, thus the method increase the efficiency that robot 1 positions.
Positioning schematic diagram when Fig. 2 is 1 autonomous operation of mobile robot provided by the invention；
Strong reflecting sign 3 is respectively adhered on different objects in figure.When robot 1 walks according to walking path 4, with
The variation of position, robot 1 can lock different reflectorized materials, in different moments, as long as guaranteeing that robot 1 can be scanned to one
Mark, then the position of robot 1 during exercise can obtain in real time.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign characterized by comprising
(1) production scene basis coordinates system { O is constructedw, specific position is chosen as coordinate origin, and is constructed along northeast day direction
XYZ coordinate axis；
(2) the mobile robot environmental monitoring system being made of multi-thread laser scanner and strong reflecting sign is constructed, record is each
Position coordinates { x of the strong reflecting sign in production scenefi,yfi,zfi}；And calculate two neighboring strong reflecting sign position coordinates it
Between distance and two neighboring strong reflecting sign line slope { L, K }；
(3) the every frame data P=of laser scanner { D, Δ, S } is read, wherein D is range data, and Δ is angle-data, and S is reflection
Light intensity data is determined as the point of strong reflecting sign according to data P；
(4) coordinate p of the strong reflecting sign under laser scanner detection viewing field is calculatedv；
(5) if robot production scene initial position it is known that entering step (6)；Otherwise, step (7) are transferred to；
(6) according to the point p under laser scanner detection viewing field as strong reflecting signv, determine strong reflecting sign in production scene
True coordinate Ptv；According to coordinate Ptv, determine current robot basis coordinates system { O at the scenewUnder coordinate；
(7) distance and slope information of neighboring reflection mark under laser scanner detection viewing field are determined, then with it is known adjacent
Reflective marker matches in the line segment information that production scene is constituted, and identifies that two reflections for constituting line segment are marked by line segment feature
The position coordinates of will, obtain pvPoint is in production scene basis coordinates system { OwUnder coordinate Ptv；According to coordinate PtvAnd pv, according to step
(6) method obtains robot basis coordinates system { O at the scenewUnder coordinate.
2. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (7), by the robot obtained basis coordinates system { O at the scenewUnder coordinate as initial coordinate,
Robot basis coordinates system { O at the scene is determined according to the method for step (6)wUnder changing coordinates.
3. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (2), mobile robot environmental monitoring system is specifically included:
Laser scanner is installed in mobile robot, strong reflecting sign is arranged along the visual field direction of laser scanner, is glued
It is attached on ground or building.
4. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (3), the point as strong reflecting sign meets:
Wherein, t1, t2, t3... is the reflective light intensity threshold value under different distance；diFor range data, siFor reflective light intensity degree
According to, i=0,1,2 ... 540.
5. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (4), coordinate p of the strong reflecting sign under laser coordinate systemvAre as follows:
Wherein, dvFor the distance value that laser scanner measures, δvyFor the angle of the distance value and horizontal direction, δvzFor the distance value
With the angle of vertical direction.
6. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (6), determines strong reflecting sign in the true coordinate P of production scenetvMethod specifically:
Position O by robot in production scener=(xr,yr,zr) and installation site P of the laser scanner in robotl=
(xl,yl,zl), calculate the p under laser coordinate systemvPoint is in production scene basis coordinates system { OwUnder coordinate Pv=Or+Pl=(xr,
yr, zr)+(xl, yl, zl)；
By minimum distance calculation, P is foundvPoint is in reflective marker database { xfi,yfi,zfiIn apart from closest approach Ptv；
By PtvPoint coordinate is as PvTrue coordinate in production scene.
7. a kind of method for positioning mobile robot based on laser scanner Yu strong reflecting sign as described in claim 1,
It is characterized in that, in the step (6), current robot basis coordinates system { O at the scenewUnder coordinate specifically:
Wherein, PtvFor pvPoint is in { OwCoordinate under coordinate system, specially (Pvx,Pvy,Pvz)；dvFor laser scanner measure away from
From value, δvyFor the angle of the distance value and horizontal direction, δvzFor the angle of the distance value and vertical direction, (xl,yl,zl) it is sharp
Installation site of the photoscanner in robot.
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| CN107553488B (en) * | 2017-09-01 | 2019-03-08 | 北京信息职业技术学院 | A kind of indoor mobile robot test macro and method |
| CN107678038A (en) * | 2017-09-27 | 2018-02-09 | 上海有个机器人有限公司 | Robot collision-proof method, robot and storage medium |
| CN107511828B (en) * | 2017-09-29 | 2023-10-03 | 河南工业职业技术学院 | Video search and rescue robot based on ZigBee wireless positioning and search and rescue method |
| CN108152826A (en) * | 2017-12-25 | 2018-06-12 | 深圳市杉川机器人有限公司 | Multi-thread laser ranging system and robot |
| CN108801244B (en) * | 2018-06-11 | 2021-02-12 | 浙江国自机器人技术股份有限公司 | Positioning system and method suitable for track robot |
| CN108762278A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of positioning system and method suitable for track machine people |
| CN109102542A (en) * | 2018-08-01 | 2018-12-28 | 上海主线科技有限公司 | Vehicle positioning method under a kind of suspension bridge based on reflective strip |
| TWI671610B (en) | 2018-09-28 | 2019-09-11 | 財團法人工業技術研究院 | Automatic guided vehicle , agv control system, and agv control method |
| CN113409401A (en) * | 2018-11-20 | 2021-09-17 | 深圳市海柔创新科技有限公司 | Positioning code pasting method and device, computer equipment and storage medium |
| CN111745635B (en) * | 2019-03-28 | 2022-03-04 | 苏州科瓴精密机械科技有限公司 | Method for identifying reflective marker, mobile robot positioning method and mobile robot system |
| CN110053048B (en) * | 2019-04-22 | 2023-06-16 | 青岛科技大学 | Remote control method |
| CN110082775B (en) * | 2019-05-23 | 2021-11-30 | 北京主线科技有限公司 | Vehicle positioning method and system based on laser device |
| CN110501715B (en) * | 2019-08-29 | 2024-03-08 | 苏州科瓴精密机械科技有限公司 | Method for identifying reflective mark and mobile robot system |
| CN110793543B (en) * | 2019-10-21 | 2023-06-13 | 国网电力科学研究院有限公司 | Positioning navigation precision measuring device and method of electric power inspection robot based on laser scanning |
| TWI764069B (en) * | 2019-12-19 | 2022-05-11 | 財團法人工業技術研究院 | Automatic guided vehicle positioning system and operating method thereof |
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