CN111694009B - Positioning system, method and device - Google Patents
Positioning system, method and device Download PDFInfo
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- CN111694009B CN111694009B CN202010378957.5A CN202010378957A CN111694009B CN 111694009 B CN111694009 B CN 111694009B CN 202010378957 A CN202010378957 A CN 202010378957A CN 111694009 B CN111694009 B CN 111694009B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
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Abstract
The invention relates to a positioning method, belonging to the field of positioning. Acquiring first data of each cell in a specific area through a scanner; the scanner determines the global position of the robot in the specific area according to the first data; acquiring second data of the cells in the global position where the first laser radar is located through the first laser radar; acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar; and matching the second data with the first data, and matching the third data with the first data to determine a specific position of the robot in the global position. According to the invention, a 3D scanner is utilized to construct a global map, so that global positioning of the robot in a large range around a transformer substation is realized, the global position of the power inspection robot is given, and the robot is initially positioned; the robot is localized accurate to be positioned by utilizing the double laser radars again, so that the robot can be accurately positioned in a large range of the transformer substation, and the problem of positioning loss caused by the existence of dead zones is prevented.
Description
Technical Field
The present invention relates to the field of positioning, and more particularly, to a positioning system, method, and apparatus.
Background
In order to meet the requirement of increasingly improving the power supply quality, the substation power inspection robot is increasingly widely applied to substations. The electric power inspection robot is mainly applied to an outdoor transformer substation, and through autonomous positioning and navigation functions, the inspection robot can run to a designated position to execute an instrument recording task under the unattended condition, and abnormal phenomena such as defects, foreign matter hanging and the like of electric power equipment can be timely found. When the electric power inspection robot executes an inspection task, it is important to avoid obstacles correctly and timely, and the problem is not only related to the safety of the robot but even the normal operation of the whole transformer substation.
Because it is outdoor transformer substation, the environment that the robot patrols and examines is comparatively complicated indoor, thereby has a blind area when other robot of patrolling and examining around the robot pass by and produce the location and lose.
Therefore, an effective solution is required to solve the above problems.
Disclosure of Invention
In order to overcome the defects of the prior art, the positioning system, the positioning method and the positioning device solve the problem that the positioning of the inspection robot is lost in the prior art.
To achieve the purpose, the invention adopts the following technical scheme:
the invention provides a positioning system, comprising: a robot, a scanner, a first lidar, and a second lidar located outdoors;
the scanner and the first laser radar are both arranged on the top of the robot;
acquiring first data of each cell in a specific area through the scanner;
acquiring second data of a cell in a global position where the first laser radar is located by the first laser radar;
acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
the scanner determines the global position of the robot in the specific area according to the first data;
and respectively matching the second data with the first data and the third data with the first data to determine the specific position of the robot in the global position.
The invention also provides a positioning method which is suitable for the positioning system and comprises the following steps:
acquiring first data of each cell in a specific area through a scanner;
the scanner determines the global position of the robot in the specific area according to the first data;
acquiring second data of a cell in a global position where a first laser radar is located by the first laser radar;
acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
and matching the second data with the first data, and matching the third data with the first data, and determining a specific position of the robot in the global position.
Preferably, determining the global position of the robot in the specific area according to the first data comprises:
and the scanner constructs a map of the specific area according to the first data, and determines the global position of the robot in the area.
Preferably, the matching the second data with the first data and the matching the third data with the first data respectively determine a specific position of the robot in the global position, including:
matching the second data with the first data to obtain a first optimal matching probability P (X) so as to obtain a first optimal matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
and determining the specific position of the robot in the global position through the relation between the P and the P'.
Preferably, determining a specific position of the robot in the global position by a relation between the P and the P' includes:
when P is greater than P', the probability that the first laser radar matches the scanner is greater than the probability that the second laser radar matches the scanner, thereby determining that the specific position of the robot in the global position is the position of the first laser radar in the specific region;
when P is less than P', the probability that the second lidar matches the scanner is greater than the probability that the first lidar matches the scanner, thereby determining that the particular location of the robot in the global location is the location of the second lidar in the particular region.
The invention also provides a positioning device which is suitable for the positioning method, and comprises the following steps:
a first acquisition unit configured to acquire first data of each cell in a specific area by a scanner;
a first determining unit, configured to determine, by the scanner, a global position of the robot in the specific area according to the first data;
the second acquisition unit is used for acquiring second data of the cell in the global position where the first laser radar is located through the first laser radar;
the third acquisition unit is used for acquiring third data of the cells in the global position where the second laser radar is located through the second laser radar;
and the second determining unit is used for matching the second data with the first data and matching the third data with the first data to determine the specific position of the robot in the global position.
Preferably, the first determining unit is specifically configured to construct a map of the specific area according to the first data, and determine a global position of the robot in the area.
Preferably, the second determining unit is specifically configured to match the second data with the first data, and calculate a first optimal matching probability P (X), so as to obtain a first optimal matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
and determining the specific position of the robot in the global position through the relation between the P and the P'.
Preferably, the second determining unit is specifically further configured to determine that, when P is greater than P', the probability that the first lidar matches the scanner is greater than the probability that the second lidar matches the scanner, so as to determine that a specific position of the robot in the global position is a position of the first lidar in the specific area;
when P is less than P', the probability that the second lidar matches the scanner is greater than the probability that the first lidar matches the scanner, thereby determining that the particular location of the robot in the global location is the location of the second lidar in the particular region.
The beneficial effects of the invention are as follows:
the invention provides a positioning method, which comprises the steps of acquiring first data of each cell in a specific area through a scanner; the scanner determines the global position of the robot in the specific area according to the first data; acquiring second data of the cells in the global position where the first laser radar is located through the first laser radar; acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar; and matching the second data with the first data, and matching the third data with the first data to determine a specific position of the robot in the global position.
According to the invention, a 3D scanner is utilized to construct a global map, so that global positioning of the robot in a large range around a transformer substation is realized, the global position of the power inspection robot is given, and the robot is initially positioned; the robot is localized accurate to be positioned by utilizing the double laser radars, and the robot has the advantages of large positioning range of the 3D scanner and high positioning precision of the double laser radars, can realize the accurate positioning of the robot on a large scale of a transformer substation, and can prevent the problem of positioning loss caused by dead zones.
Drawings
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a positioning method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a positioning device according to an embodiment of the present invention.
In the figure:
101. a first lidar; 102. a second lidar; 103. a scanner; 104. and (3) a robot.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
FIG. 1 is a schematic structural view of a positioning system according to an embodiment of the present invention, as shown in FIG. 1; FIG. 2 is a schematic flow chart of a positioning method according to an embodiment of the present invention, as shown in FIG. 2; fig. 3 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, as shown in fig. 3. The target object in fig. 1 refers to a transformer box, an obstacle or the like in a transformer substation environment, and feature information of the object is extracted through laser scanning to construct a map. The invention proposes a positioning system comprising: a robot 104, a scanner 103, a first lidar 101, and a second lidar 102 located outdoors; the scanner 103 and the first laser radar 101 are both mounted on the top of the robot; acquiring first data of each cell in a specific area by a scanner 103; acquiring second data of the cell in the global position where the first laser radar 101 is located by the first laser radar 101; acquiring third data of the cell in the global position where the first laser radar 102 is located by the first laser radar 102; the scanner 103 determines the global position of the robot in the specific area according to the first data; the second data is matched with the first data and the third data is matched with the first data, respectively, to determine a specific position of the robot 104 in the global position. In specific implementation, the scanner 103 is connected with the top of the bracket through a conductive sliding block, and the bottom of the bracket is fixedly connected with the top of the robot 104; let the forward direction of the robot 104 be the front, the 3D scanner 103 is installed at a position above the middle of the robot 104, the first lidar 101 is installed above the front of the robot 104, and the first lidar 102 is installed above the rear of the robot 104.
The invention also provides a positioning method which is suitable for the positioning system and comprises the following steps:
s101: acquiring first data of each cell in a specific area through a scanner;
s102: the scanner determines the global position of the robot in the specific area according to the first data;
s103: acquiring second data of the cells in the global position where the first laser radar is located through the first laser radar;
s104: acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
s105: and matching the second data with the first data, and matching the third data with the first data to determine a specific position of the robot in the global position.
The main function of the invention is that the global position of the robot is determined by the scanning of the scanner; the method comprises the steps of respectively matching the point cloud information scanned by a first laser radar with the point cloud information scanned by a scanner and the point cloud information scanned by a second laser radar with the point cloud information scanned by the scanner, and selecting the position with the highest probability as the actual position of the laser radar in the global position as the actual position of the robot, namely the specific position of the robot in the global position.
S101, acquiring first data of each cell in a specific area through a scanner; and S102, the scanner determines the global position of the robot in the specific area according to the first data; specifically, 3-dimensional point cloud data are obtained through 360-degree rotation scanning of a 3-dimensional scanner, the 3-dimensional scanner constructs a map of a current specific area according to the 3-dimensional point cloud data, global positioning of the current specific area is achieved, and the global position of the power inspection robot is determined. Wherein each cell is divided in a specific area in advance; the specific area is the whole environment around the outdoor substation, and can be specifically an environment within a few meters around the outdoor substation, such as 3 meters, 5 meters and the like; the scanner is a 3D scanner; the first data are 3-dimensional point cloud data; the robot adopts an electric power inspection robot. The 3D scanner can rotate for scanning 360 degrees, and richer 3-dimensional point cloud information can be obtained. In the implementation, 3D scanner 360 ° rotation scanning is used to obtain 3D point cloud data, in which the 3D point cloud data can be obtained through calculation of a scanning algorithm, and the scanning frequency can be determined according to the specific implementation, for example, the scanning frequency can be set to 20 frames/S.
S103, acquiring second data of the cell in the global position where the first laser radar is located through the first laser radar; specifically, the first laser radar is used for constructing and acquiring a map of the cells in the global position where the first laser radar is located through scanning, and acquiring second data of the cells in the global position where the first laser radar is located. The first laser radar is a 2D laser radar; the second data is 2-dimensional point cloud information; in specific implementation, the scanning angle of the first laser radar is 120 DEG, and the scanning radius is R 1 。
S104, acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar; specifically, the second laser radar is used for constructing and acquiring a map of the cells in the global position where the second laser radar is located through scanning, and acquiring third data of the cells in the global position where the second laser radar is located; in specific implementation, the second laser radar has a scanning angle of 360 degrees and a scanning radius of R 2 . Wherein R is 1 Greater than R 2 . Likewise, wherein the second lidar is a 2D lidar; the third data is 2-dimensional point cloud information.
According to the invention, a 3D scanner is utilized to construct a global map, so that global positioning of the robot in a large range around a transformer substation is realized, the global position of the power inspection robot is given, and the robot is initially positioned; the robot is localized accurate to be positioned by utilizing the double laser radars, and the robot has the advantages of large positioning range of the 3D scanner and high positioning precision of the double laser radars, can realize the accurate positioning of the robot on a large scale of a transformer substation, and can prevent the problem of positioning loss caused by dead zones. In addition, the laser radar has the excellent characteristics of being not influenced by weather, illumination and other conditions, not depending on lines and colors for distinguishing, being insensitive to shadow noise and the like. The laser radar has high scanning frequency and rich data volume during measurement, and returns a distance value, so that the laser radar is convenient to process rapidly. Therefore, the laser radar is adopted to sense the environmental information around the inspection robot, so that the method has good adaptability and rapidity, but the single laser radar has a relatively large limitation on the working range.
Preferably, determining a global position of the robot in the specific area based on the first data, including; the scanner constructs a map of the specific area according to the first data, and determines the global position of the robot in the area.
Preferably, the matching of the second data with the first data and the matching of the third data with the first data respectively determine a specific position of the robot in the global position, including:
matching the second data with the first data to obtain a first optimal matching probability P (X) so as to obtain a first optimal matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
the specific position of the robot in the global position is determined by the relation between P and P'.
In the implementation, the first optimal matching probability and the second optimal matching probability are calculated respectively through the following formula (1);
wherein, the liquid crystal display device comprises a liquid crystal display device,
mu is mean, sigma is variance,>
representing all scan points within a cell.
Furthermore, in the implementation, the positioning system is also provided with an industrial personal computer for realizing the data processing function. The industrial personal computer adopts a SLAM algorithm, wherein the SLAM algorithm is an NDT algorithm, and the idea of the algorithm is that a map of a cell in a global position where a first laser radar is positioned is respectively matched with a map of a current specific area constructed by a 3D scanner according to the 3D point cloud data, and the map of the cell in the global position where a second laser radar is positioned is matched with the map of the current specific area constructed by the 3D scanner according to the 3D point cloud data. The two-dimensional plane is first decomposed into a series of cells of fixed size, and its probability density function is calculated based on the points of the cells. The conversion can directly scan the matched analytical expression everywhere without considering the correspondence between points or features, and can rapidly and accurately complete map matching, thereby effectively solving the problems of local position tracking and global positioning of the robot in the outdoor environment of the transformer substation.
Preferably, determining a specific position of the robot in the global position by a relation between P and P' comprises:
when P is larger than P', the probability of matching the first laser radar with the scanner is larger than the probability of matching the second laser radar with the scanner, so that the specific position of the robot in the global position is determined to be the position of the first laser radar in the specific area;
when P is smaller than P', the probability that the second laser radar is matched with the scanner is larger than the probability that the first laser radar is matched with the scanner, so that the specific position of the robot in the global position is determined to be the position of the second laser radar in the specific area.
In order to further clarify the point cloud information matching process of the first laser radar and the 3D scanner and the point cloud information matching process of the second laser radar and the 3D scanner, the following main description is about the point cloud information matching of the first laser radar and the 3D scanner:
(1) A normal distribution transformation of the 3D scanner scan is created.
(2) Initializing coordinate transformation parameters by using an odometer reading;
(3) For each sample scanned by the first laser radar, mapping the sample into a first scanning coordinate system according to the coordinate transformation parameters;
(4) Determining a corresponding normal distribution of each mapping point;
(5) Evaluating the sum of the probability distribution of each mapping point as the score value of each coordinate transformation parameter;
(6) Optimizing the fractional values by using a Hessian matrix method, and calculating new parameter estimation values;
(7) The loop is continued back to step 3 until convergence requirements are met, the fractional values of these coordinate transformation parameters p are expressed as:
where i is the mapping point of the coordinate transformation.
Here u i The meaning of mu is the same as above and will not be described otherwise.
Here, as part of the scan matching algorithm, the error function score (p) must be minimized, i.e., maximized, ensuring that the coordinate transformation according to parameter p is optimal.
Optimizing the first laser radar and the 3D scanner data through a Hessian matrix, and calculating the optimal probability distribution of sensor readings when the current position and the map of a given robot are obtained
Similarly, the optimal matching probability P '(X) of the second lidar may also be obtained, which will not be described herein, and finally the maximum value of P (X) and P' (X) is selected as the optimal matching pose P of the current position * 。
The invention also provides a positioning device, which is suitable for the positioning method, and comprises the following steps:
201: a first acquisition unit configured to acquire first data of each cell in a specific area by a scanner;
202: a first determining unit for determining a global position of the robot in the specific area by the scanner according to the first data;
203: the second acquisition unit is used for acquiring second data of the cell in the global position where the first laser radar is located through the first laser radar;
204: the third acquisition unit is used for acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
205: and the second determining unit is used for matching the second data with the first data and matching the third data with the first data to determine the specific position of the robot in the global position.
Preferably, the first determining unit is specifically configured to construct a map of the specific area according to the first data, and determine a global position of the robot in the area.
Preferably, the second determining unit is specifically configured to match the second data with the first data, so as to obtain a first optimal matching probability P (X), so as to obtain a first most matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
the specific position of the robot in the global position is determined by the relation between P and P'.
Preferably, the second determining unit is specifically further configured to determine that, when P is greater than P', the probability that the first laser radar matches the scanner is greater than the probability that the second laser radar matches the scanner, so that a specific position of the robot in the global position is a position of the first laser radar in the specific area;
when P is smaller than P', the probability that the second laser radar is matched with the scanner is larger than the probability that the first laser radar is matched with the scanner, so that the specific position of the robot in the global position is determined to be the position of the second laser radar in the specific area.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The invention is not to be limited by the specific embodiments disclosed herein, and other embodiments are within the scope of the invention as defined by the claims of the present application.
Claims (7)
1. A positioning system, comprising:
a robot, a scanner, a first lidar, and a second lidar located outdoors;
the scanner and the first laser radar are both arranged on the top of the robot;
acquiring first data of each cell in a specific area through the scanner;
acquiring second data of a cell in a global position where the first laser radar is located by the first laser radar;
acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
the scanner determines the global position of the robot in the specific area according to the first data;
respectively matching the second data with the first data and the third data with the first data, determining a specific position of the robot in the global position, including:
matching the second data with the first data to obtain a first optimal matching probability P (X) so as to obtain a first optimal matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
determining a specific position of the robot in the global position through the relation between the P and the P';
determining a specific position of the robot in the global position through the relation between the P and the P', wherein the specific position comprises the following steps:
when P is greater than P', the probability that the first laser radar matches the scanner is greater than the probability that the second laser radar matches the scanner, thereby determining that the specific position of the robot in the global position is the position of the first laser radar in the specific region;
when P is less than P', the probability that the second lidar matches the scanner is greater than the probability that the first lidar matches the scanner, thereby determining that the particular location of the robot in the global location is the location of the second lidar in the particular region.
2. A positioning method suitable for use in the positioning system of claim 1, comprising:
acquiring first data of each cell in a specific area through a scanner;
the scanner determines the global position of the robot in the specific area according to the first data;
acquiring second data of a cell in a global position where a first laser radar is located by the first laser radar;
acquiring third data of the cell in the global position where the second laser radar is located through the second laser radar;
and matching the second data with the first data, and matching the third data with the first data, and determining a specific position of the robot in the global position.
3. The positioning method of claim 2, wherein,
determining a global position of the robot in the specific area according to the first data, including:
and the scanner constructs a map of the specific area according to the first data, and determines the global position of the robot in the area.
4. A positioning device adapted for use in the positioning method of any one of claims 2 to 3, comprising:
a first acquisition unit configured to acquire first data of each cell in a specific area by a scanner;
a first determining unit, configured to determine, by the scanner, a global position of the robot in the specific area according to the first data;
the second acquisition unit is used for acquiring second data of the cell in the global position where the first laser radar is located through the first laser radar;
the third acquisition unit is used for acquiring third data of the cells in the global position where the second laser radar is located through the second laser radar;
and the second determining unit is used for matching the second data with the first data and matching the third data with the first data to determine the specific position of the robot in the global position.
5. The positioning device of claim 4 wherein,
the first determining unit is specifically configured to construct a map of the specific area according to the first data by using the scanner, and determine a global position of the robot in the area.
6. The positioning device of claim 4 wherein,
the second determining unit is specifically configured to match the second data with the first data, and obtain a first optimal matching probability P (X) so as to obtain a first most matching pose P;
matching the third data with the first data to obtain a second optimal matching probability P '(X) so as to obtain a second optimal matching pose P';
and determining the specific position of the robot in the global position through the relation between the P and the P'.
7. The positioning device of claim 6 wherein,
the second determining unit is specifically configured to determine that, when P is greater than P', the probability that the first lidar matches the scanner is greater than the probability that the second lidar matches the scanner, so that a specific position of the robot in the global position is a position of the first lidar in the specific area;
when P is less than P', the probability that the second lidar matches the scanner is greater than the probability that the first lidar matches the scanner, thereby determining that the particular location of the robot in the global location is the location of the second lidar in the particular region.
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| CN113341431B (en) * | 2021-04-22 | 2022-04-15 | 国网浙江省电力有限公司嘉兴供电公司 | Transformer substation robot indoor navigation positioning method based on double-path laser |
| CN113778109B (en) * | 2021-11-05 | 2022-04-15 | 深圳市普渡科技有限公司 | Forbidden path setting method and device for robot, robot and storage medium |
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| USH341H (en) * | 1984-11-09 | 1987-10-06 | The United States Of America As Represented By The Secretary Of The Army | Dual mode scanner/tracker |
| US8577538B2 (en) * | 2006-07-14 | 2013-11-05 | Irobot Corporation | Method and system for controlling a remote vehicle |
| US20080033645A1 (en) * | 2006-08-03 | 2008-02-07 | Jesse Sol Levinson | Pobabilistic methods for mapping and localization in arbitrary outdoor environments |
| GB0717031D0 (en) * | 2007-08-31 | 2007-10-10 | Raymarine Uk Ltd | Digital radar or sonar apparatus |
| CN103941264B (en) * | 2014-03-26 | 2017-04-19 | 南京航空航天大学 | Positioning method using laser radar in indoor unknown environment |
| CN104848851B (en) * | 2015-05-29 | 2017-08-18 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot and its method based on Fusion composition |
| CN106584451B (en) * | 2015-10-14 | 2019-12-10 | 国网智能科技股份有限公司 | automatic transformer substation composition robot and method based on visual navigation |
| CN105607071B (en) * | 2015-12-24 | 2018-06-08 | 百度在线网络技术（北京）有限公司 | A kind of indoor orientation method and device |
| CN105758408A (en) * | 2016-01-05 | 2016-07-13 | 福州华鹰重工机械有限公司 | Method and device for building local maps |
| CN107505940A (en) * | 2017-08-08 | 2017-12-22 | 速感科技（北京）有限公司 | Double laser radar control method, system and localization method on automated guided vehicle |
| CN108932736B (en) * | 2018-05-30 | 2022-10-11 | 南昌大学 | Two-dimensional laser radar point cloud data processing method and dynamic robot pose calibration method |
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| CN110967011B (en) * | 2019-12-25 | 2022-06-28 | 苏州智加科技有限公司 | Positioning method, device, equipment and storage medium |
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