CN108152829A - A kind of two-dimensional laser radar for installing the linear guide additional builds map device and its builds drawing method - Google Patents
A kind of two-dimensional laser radar for installing the linear guide additional builds map device and its builds drawing method Download PDFInfo
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- CN108152829A CN108152829A CN201711402050.2A CN201711402050A CN108152829A CN 108152829 A CN108152829 A CN 108152829A CN 201711402050 A CN201711402050 A CN 201711402050A CN 108152829 A CN108152829 A CN 108152829A
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- laser radar
- dimensional laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to mobile robot autonomous navigations and positioning field, and it discloses a kind of two-dimensional laser radar for installing the linear guide additional and builds map device, including two-dimensional laser radar, the linear guide, servo motor, controlling machine box, the small vehicle main bodies of AGV and host computer, the servo motor connects the two-dimensional laser radar by ball screw framework；The two-dimensional laser radar and upper mechatronics；The signal data operation that the upper function is sent according to two-dimensional laser radar builds nomography and establishes accurate subgraph, and the sequence and position then established according to subgraph carry out global registration optimization, establish a width global map.The present invention provides a fairly precise insertion position by the linear guide for two-dimensional laser radar frame data, i.e. position of the two-dimensional laser radar frame data in subgraph can directly be determined in advance, and so there is no need to carry out complicated calculating, and precision is high.Therefore have and greatly improve with efficiency that subgraph is established from algorithm complexity.
Description
Technical field
The invention belongs to mobile robot autonomous navigation and positioning field, more particularly, to a kind of two-dimensional laser radar
It builds map device and its builds drawing method.
Background technology
AGV (Automated Guided Vehicle) trolley is modern plant, Solid Warehouse in Flexible Manufacturing Workshop, intelligent compound
The core equipment of stream, unmanned storehouse and sortation hubs.
The navigation mode of AGV trolleies generally has the direct coordinate guidance mode of arrangement beacon, metal wire is arranged on path
Electromagnetic guide mode, on path arrange tape tape guidance mode, on path arrange colour band optical guidance mode
Navigation mode of real-time map etc. is built with laser radar (or vision) SLAM algorithms.The navigation of preceding 4 kinds of AGV trolleies belongs to road
The preset class guidance mode of beacon that diameter is planned in advance, there is change to be laid with difficult, letter with extended route complexity, beacon for which
Mark the problems such as maintenance cost is high.Laser radar (or vision) SLAM algorithms build map and carry out the mode of navigator fix increasingly
As the mainstream navigation mode of AGV trolleies.
SLAM algorithms build real-time map and positioning be by the data of multisensor are carried out fusion calculation as a result, into
Figure and position matching are built in row synchronization.And grating map is accurately then occupied by going out a width to environment construction in advance herein, from
And AGV trolleies are navigated and positioned.In order to accurately carry out navigator fix to trolley, then the precision of map must reach
To certain requirement.
Map constructed by different algorithms and different sensors has different precision and effect, traditional promotion map
The method of precision is all the promotion of the optimization or sensor quality on one-sided algorithm.The behind of these methods is required for putting into
A large amount of time energy goes greatly promoting for research or cost.Really it is feasible from certain meanings, but for certain
For engineering problem, it is envisaged that whole benefit, institute is in these processes and for practical application problem and discomfort
With the actual benefit in engineering is poor.In addition, during the establishment of traditional subgraph, traditional mode is due to the use of outer
Portion's sensor estimates initial position, and the subgraph of foundation has error, as time goes by, after more and more subgraphs are created,
Error accumulation between subgraph then can be increasing.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of two-dimensional laser radars to build map device
And its drawing method is built, it carries out building figure by intermittent mobile AGV trolleies.It, can be accurate so during subgraph is established
Initial position is provided to be inserted into new radar data, and effectively reduces the cumulative errors during subgraph is built, after being
The closed-loop optimization of phase provides more accurate reliable subgraph, establishes more accurate map.And due to subgraph precision higher, institute
Optimization efficiency can be greatly improved in closed-loop optimization.
To achieve the above object, one side according to the invention provides a kind of two-dimensional laser for installing the linear guide additional
Radar builds map device, which is characterized in that including two-dimensional laser radar, the linear guide, servo motor, controlling machine box, the small car owners of AGV
Body and host computer, wherein：
The two-dimensional laser radar, the linear guide, servo motor and controlling machine box are separately mounted to the small vehicle main bodies of the AGV
On；
The controlling machine box are connect with the servo motor, for controlling the operating of the servo motor and AGV trolleies
The movement of main body；
The servo motor connects the two-dimensional laser radar by ball screw framework, for the two dimension is driven to swash
Optical radar moves in the linear guide；
The two-dimensional laser radar and upper mechatronics, to measuring environment range data and send host computer to；
The host computer is electrically connected with controlling machine box, for collecting the status signal with display control cabinet；
The signal data operation that the upper function is sent according to two-dimensional laser radar builds nomography and establishes accurate son
Figure, the sequence and position then established according to subgraph carry out global registration optimization, by this method, establish a width global map.
Preferably, the two-dimensional laser radar includes laser transmitter, optical receiver, turntable and information processing system,
The laser transmitter is gone out to objective emission for electric pulse to be become light pulse, and the photoreceiver from target again reflecting
Light pulse back is reduced into electric impulse signal, so as to measure the position of target, motion state and shape, to detect, identify,
Differentiate and tracking target, wherein, the position of target refers to distance and angle with target, motion state refer to target speed,
Vibration and posture.
Preferably, the accuracy specification of the linear guide is in P grades or SP grades.
Other side according to the invention additionally provides a kind of two-dimensional laser radar for installing the linear guide additional and builds map device
The method for carrying out building figure, which is characterized in that include the following steps：
1) AGV trolleies are opened, and are controlled；
2) control AGV trolleies do intermittent movement in the region of required structure map, and motion mode is as follows：Initial
During point, AGV trolleies are static, two-dimensional laser radar movable driven by Serve Motor Control ball screw framework, from the A of the linear guide
End intermittence is moved to B ends, in the process, acquires target data and sends laser radar data frame to master system, build
A vertical width subgraph；
3) after the completion of the initial subgraph of the first width is established, AGV trolleies stop movement after moving to reach next position, and AGV is small
The displacement distance of vehicle is identical with the stroke of the linear guide, then drives B of the two-dimensional laser radar from the linear guide by servo motor
The intermittent mobile A ends in end, target data is acquired during movement and sends laser radar data frame to master system, then
Establish a width subgraph；
4) it will be acquired most at A ends in the last frame laser radar data frame of B ends acquisition and step 2) in step 2)
A later frame laser radar data frame is matched, to carry out the local matching of subgraph；
5) step 2)~step 4) is repeated, until completing the entire scanning for building graph region, then entirely builds the subgraph of graph region
Also it establishes and completes, then master system will carry out closed-loop optimization to these constructed subgraphs, build global map.
Preferably, the form that subgraph is presented is occupies grid, and have the general of barrier according to scan position is no on grid
The size of rate shows black or white.
In general, by the above technical scheme conceived by the present invention compared with prior art, it can obtain down and show
Beneficial effect：
The present invention can be directly according to being determined in advance by position of the two-dimensional laser radar frame data in subgraph, and straight line is led
Rail provides a fairly precise value for insertion position, and so there is no need to carry out complicated calculating, and precision is high.Therefore it is answered from algorithm
Have and greatly improve with efficiency that subgraph is established on miscellaneous degree.
Also, after front and rear two width subgraph is established, due to timely local matching, so, it is supplied to the subgraph of global optimization
Accumulated error very little is equivalent to and provides a preferable initial value to optimization algorithm, can so greatly improve optimization efficiency.
Description of the drawings
Fig. 1 is that the present invention utilizes modified hydrothermal process principle flow chart after device gathered data；
Fig. 2 is the schematic diagram that two-dimensional laser radar obtains environmental data and data information；
Fig. 3 is update probability grid process schematic after two-dimensional laser radar gathered data；
Fig. 4 is that laser radar moves schematic diagram in the linear guide；
Fig. 5 is that a kind of specific implementation for the AGV trolleies that two-dimensional laser radar for being mounted with the linear guide builds map device illustrates
It is intended to.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
With reference to Fig. 1~Fig. 5, a kind of two-dimensional laser radar 1 for installing the linear guide 2 additional builds map device, including two-dimensional laser thunder
Up to 1, the linear guide 2, servo motor 4, controlling machine box 5, the small vehicle main bodies 3 of AGV and host computer 6, wherein,
The two-dimensional laser radar 1, the linear guide 2, servo motor 4, controlling machine box 5 and host computer 6 are separately mounted to institute
It states in the small vehicle main bodies 3 of AGV；
The controlling machine box 5 are electrically connected with the servo motor 4, for controlling the operating of the servo motor 4 and AGV
The movement of small vehicle main body；The servo motor 4 connects the two-dimensional laser radar 1 by ball screw framework, for driving
The two-dimensional laser radar 1 moves in the linear guide 2；
The two-dimensional laser radar 1 is electrically connected with host computer 6, to measuring environment range data and send to upper
Machine；
The host computer 6 is electrically connected with controlling machine box 5, for collecting the status signal with display control cabinet 5, with
And it carries out starting and stopping control accordingly；
The signal data operation that the host computer 6 can be sent according to two-dimensional laser radar 1 is built nomography and is established accurate
Subgraph, the sequence and position then established according to subgraph carry out global registration optimization, by this method, establish a width global map.
Further, the two-dimensional laser radar 1 includes laser transmitter, optical receiver, turntable and information processing system,
The laser transmitter is gone out to objective emission for electric pulse to be become light pulse, and the photoreceiver from target again reflecting
Light pulse back is reduced into electric impulse signal, so as to measure the position of target, motion state and shape, to detect, identify,
Differentiate and tracking target, wherein, the position of target refers to distance and angle with target, motion state refer to target speed,
Vibration and posture.
Further, the accuracy specification of the linear guide 2 is in P grades or SP grades.
Other side according to the invention additionally provides a kind of two-dimensional laser radar 1 for installing the linear guide 2 additional and builds figure dress
Put the method for carrying out building figure, which is characterized in that include the following steps：
1) the small vehicle main bodies 3 of AGV are opened, host computer 6 sends out enabling signal, small vehicle main body 3 is controlled with one by controlling machine box 5
Determine mode to move；
2) AGV trolleies do intermittent movement in the region of required structure map, and motion mode is as follows：In initial point
When, AGV trolleies are static, control ball screw framework that two-dimensional laser radar 1 is driven to move by servo motor 4, from the linear guide 2
A ends intermittence is moved to B ends, in the process, acquires target data and sends laser radar data frame to host computer 6, establish
One width subgraph；
3) after the completion of host computer 6 establishes the initial subgraph of the first width, signal is controlled to controlling machine box 5 by transmission
AGV trolleies stop movement after moving to reach next position, and the displacement distance of AGV trolleies is identical with the stroke of the linear guide 2, so
B end intermittence movement A end of the two-dimensional laser radar 1 from the linear guide 2 is driven by servo motor 4 afterwards, is adopted during movement
Collection target data simultaneously sends laser radar data frame to master system 6, resettles a width subgraph；
4) it will be acquired most at A ends in the last frame laser radar data frame of B ends acquisition and step 2) in step 2)
A later frame laser radar data frame is matched, to carry out the local matching of subgraph；
5) step 2)~step 4) is repeated, until completing the entire scanning for building graph region, then entirely builds the subgraph of graph region
Also it establishes and completes, then master system will carry out closed-loop optimization to these constructed subgraphs, build global map.
Further, the form that subgraph is presented is occupies grid, and have the general of barrier according to scan position is no on grid
The size of rate shows black or white.
Nomography can be built using the acquisition environmental data of two-dimensional laser radar 1 present invention employs a kind of, one can be acquired
The laser radar frame laserscan of fixed number amount carries out the structure of subgraph submap；Establish complete former and later two subgraphs after, in time into
Row optimization；After the completion of subgraph is all established, global optimization is carried out, establishes global map.Its concrete principle and flow such as Fig. 1 institutes
Show, this algorithm can carry out global optimization to Local Subgraphs, eliminate error.
Basic unit for closed loop detection is subgraph, and a subgraph is made of a certain number of laser radar frames.It will
When one laser radar frame is inserted into its corresponding subgraph, the existing laser radar frame of subgraph can be based on and other sensing datas are estimated
Its optimum position in the subgraph is counted, is then inserted into.Since the movement of the linear guide 2 herein is exactly accurate, so sub
The error of figure itself can be ignored, this provides great advantage for the front and rear subgraph match in later stage.
The subgraph error that the present invention establishes is very small, and the location matches between two width that are connected accurate subgraph progress subgraph,
Matching precision higher, therefore greatly reduce the cumulative errors for building figure.
After two-dimensional laser radar 1 of the present invention acquires laser radar frame, what it is due to progress is known point between known point
Movement, so each laser radar frame can accurately know which subgraph oneself belonged to, the directly insertion of progress subgraph, nothing
Whole scan is needed to match.And 2 precision of the linear guide is high, so laser radar frame can be looked for faster during insertion
To good matching pose, directly it is inserted into.It so, it is possible greatly to promote subgraph structure efficiency and precision.
The specific method that the present invention establishes global map is as follows：
(1) method for building up of subgraph
The stroke of the linear guide 2 is L, and two-dimensional laser radar 1 can do linear uniform motion back and forth in the linear guide 2,
If movement speed is v；As shown in Fig. 2, the initial point in the linear guide 2 establishes coordinate system, initial point position is as origin, X-axis
Longitudinal direction and the linear guide vertical consistency, and X-axis positive direction is the direction along the A ends of the linear guide to B ends, and Y-axis is just
Direction and the linear guide is vertical and targeted direction, and X/Y plane is in the horizontal plane.
According to the stroke L of the linear guide 2 and the laser radar frame frame number m of each width subgraph of composition, by entire shift motion
M data collection point is divided into, carries out the data acquisition of a frame laser radar frame in each point, then the distance between each acquisition
For L/m.
If each frame radar data contains n data, since origin, laser radar obtains a laser radar
Frame obtains n distance<d1,d2,d3,…,di..., dn>, i=1,2,3...n, as shown in figure 3, each distance is one corresponding
Specific azimuth angle alphai, then the coordinate of each point of each frame laser radar can be obtained：
xi=di*cosαi
yi=di*sinαi
In the method, each coordinate points can be associated with a Probabilistic Cell, when calculating each coordinate points
Behind position, the probability size that corresponding Probabilistic Cell is occupied can be calculated, and is added into obstacle hit set or accessible
Miss gathers, the Probabilistic Cell nearest from coordinate points, adds in hit set；And the Probabilistic Cell from origin to hit on the line segment of point
Or the Probabilistic Cell from origin near the ray at miss, then miss set can be added in, is then rendered as width
Figure.The subgraph schematic diagram being illustrated in figure 4 after corresponding grid probability updating.
When two-dimensional laser radar 1 is after origin acquires first frame laser radar data, the initialization of subgraph is carried out, according to
Above-mentioned steps establish the initial subgraph of a width.Initial subgraph contains only the data of first frame laser radar frame, and know first frame
The specific coordinate of each coordinate points in laser radar data：
I.e.
。。。。。。。。。。。
。。。。。。。。。。。
Wherein, which coordinate points subscript expression represents, which frame laser radar data frame is subscript represent, for example wherein
WithRepresent the abscissa and ordinate of j-th of coordinate points of first frame laser radar data frame.
Then being accurately controlled ball screw framework by servo motor 4 drives two-dimensional laser radar 1 to move, former in distance
The second frame laser radar data of acquisition is pointed out in second acquisition of point L/m, calculates corresponding coordinate points, as follows：
。。。。。。。。。。。
But calculating herein has a large amount of cumulative errors, therefore takes another algorithm：
At this point, the displacement distance each time due to laser radar is known as L/m, then can take this as a foundation, it is accurate to calculate
Go out the position of the coordinate points of the second frame laser radar frame data, i.e.,：
。。。。。。。。。。。
Above-mentioned formula compares, the computational accuracy higher of natural second method.At this point, according to gained coordinate is calculated, it can
Directly data are inserted into subgraph.
Similarly：Next during subgraph below is established, the data of each frame can be obtained accurately, as kth frame swashs
Optical radar scan data coordinate points：
。。。。。。。。。。。
The error that subgraph foundation generates in the process can be eliminated, wherein 1<k≤m.
(2) create subgraph after former and later two subgraphs real-time matching
After the completion of front and rear first width and the second width subgraph are established, Local Subgraphs matching is carried out.
When being established due to front and rear two width subgraph, two-dimensional laser radar 1 is opposite in the moving direction of the linear guide 2, and
The displacement distance of trolley is consistent with 2 stroke of the linear guide, so, theoretically speaking, previous width subgraph last frame laser radar
The last frame laser radar data of data and latter width subgraph is basically identical.It herein, can using existing basic matching algorithm
With front and rear subgraph foundation after the completion of, matched in time, for example using existing least square method and iteration optimization the methods of
It is matched, can so reduce cumulative errors in real time, the global closed loop optimization for the later stage provides the matching of higher precision
Subgraph.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made all within the spirits and principles of the present invention etc., should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of two-dimensional laser radar for installing the linear guide additional builds map device, which is characterized in that including two-dimensional laser radar, straight line
The small vehicle main body of guide rail, servo motor, controlling machine box, AGV and host computer, wherein：
The two-dimensional laser radar, the linear guide, servo motor and controlling machine box are separately mounted in the small vehicle main bodies of the AGV；
The controlling machine box are connect with the servo motor, for controlling the operating of the servo motor and the small vehicle main bodies of AGV
Movement；
The servo motor connects the two-dimensional laser radar by ball screw framework, for driving the two-dimensional laser thunder
It is moved up in the linear guide；
The two-dimensional laser radar and upper mechatronics, to measuring environment range data and send host computer to；
The host computer is electrically connected with controlling machine box, for collecting the status signal with display control cabinet；
The signal data operation that the upper function is sent according to two-dimensional laser radar builds nomography and establishes accurate subgraph, so
The sequence and position established afterwards according to subgraph carry out global registration optimization, by this method, establish a width global map.
2. a kind of two-dimensional laser radar for installing the linear guide additional according to claim 1 builds map device, which is characterized in that institute
It states two-dimensional laser radar and includes laser transmitter, optical receiver, turntable and information processing system, the laser transmitter is used for
Electric pulse is become light pulse to go out to objective emission, the photoreceiver from the reflected light pulse of target again being reduced into
Electric impulse signal, so as to measure the position of target, motion state and shape, to detect, identify, differentiate and track target,
In, the position of target refers to distance and angle with target, and motion state refers to speed, vibration and the posture of target.
3. a kind of two-dimensional laser radar for installing the linear guide additional according to claim 1 builds map device, which is characterized in that institute
The accuracy specification for stating the linear guide is in P grades or SP grades.
4. a kind of two-dimensional laser radar for installing the linear guide additional described in claim 1 builds map device and carries out the method for building figure,
It is characterized in that, includes the following steps：
1) AGV trolleies are opened, and are controlled；
2) control AGV trolleies do intermittent movement in the region of required structure map, and motion mode is as follows：In initial point
When, AGV trolleies are static, two-dimensional laser radar movable driven by Serve Motor Control ball screw framework, from the A ends of the linear guide
Intermittence is moved to B ends, in the process, acquires target data and sends laser radar data frame to master system, establish
One width subgraph；
3) after the completion of the initial subgraph of the first width is established, AGV trolleies stop movement after moving to reach next position, AGV trolleies
Displacement distance is identical with the stroke of the linear guide, then drives two-dimensional laser radar between the B ends of the linear guide by servo motor
Having a rest property movement A ends acquire target data during movement and send laser radar data frame to master system, resettle
One width subgraph；
4) by step 2) in last frame laser radar data frame and the step 2) of B ends acquisition the acquisition of A ends last
Frame laser radar data frame is matched, to carry out the local matching of subgraph；
5) step 2)~step 4) is repeated, until completing the entire scanning for building graph region, then the subgraph for entirely building graph region is also built
Vertical to complete, then master system will carry out closed-loop optimization to these constructed subgraphs, build global map.
5. according to the method described in claim 4, it is characterized in that, the form that subgraph is presented is to occupy grid, and on grid
Black or white are showed according to the size of the no probability for having a barrier of scan position.
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| CN201711402050.2A CN108152829B (en) | 2017-12-22 | 2017-12-22 | Two-dimensional laser radar mapping device with linear guide rail and mapping method thereof |
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| CN108152829B (en) | 2020-11-24 |
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