WO2021036020A1 - 反光标辨识方法及移动机器人*** - Google Patents
反光标辨识方法及移动机器人*** Download PDFInfo
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- WO2021036020A1 WO2021036020A1 PCT/CN2019/119494 CN2019119494W WO2021036020A1 WO 2021036020 A1 WO2021036020 A1 WO 2021036020A1 CN 2019119494 W CN2019119494 W CN 2019119494W WO 2021036020 A1 WO2021036020 A1 WO 2021036020A1
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- cursor
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- mobile robot
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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
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Definitions
- the invention relates to the field of intelligent control, in particular to a method for identifying a reverse cursor and a mobile robot system.
- navigation means that the mobile robot senses the environment and its own state through sensors, and realizes autonomous movement towards the target in an environment with obstacles; the success of navigation requires 4 modules, perception, positioning, cognition and motion control Among them, positioning is the most basic link in the navigation process of a mobile robot.
- positioning is to determine the real-time pose of the mobile robot in the environment.
- widely used positioning technologies include: visual navigation positioning, global positioning system, differential GPS positioning, laser signal positioning, etc.
- the laser signal positioning method has become the mainstream method of mobile robot positioning because it is more suitable for application on mobile robots.
- the mobile robot positioning method in the prior art please refer to the announcement number CN103542846, the invention name "a mobile robot system and positioning method”.
- the laser emits a laser signal to the anti-cursor to form a reflected signal.
- the angle value of the current position of the mobile robot relative to any two anti-cursors can be obtained, and further The current position of the mobile robot is accurately located according to the angle value.
- the purpose of the present invention is to provide a reverse cursor identification method and a mobile robot system.
- an embodiment of the present invention provides a method for identifying a reverse cursor, the method includes the following steps: S1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal; S2 ⁇ Traverse the received encoder count value to obtain the start encoder count value N1 and the end encoder count value N2 corresponding to the inverted cursor; S3.
- step S4 specifically includes: S41".
- S41 During the continuous movement of the mobile robot, obtain the included angle ⁇ from the mobile robot's heading zero to the corresponding anti-cursor every preset time interval, and obtain the previous time
- , ⁇ 2
- the initial included angle of the angle ⁇ 1, ⁇ 12 represents the final included angle forming the first included angle ??1, ⁇ 21 represents the initial included angle forming the second included angle ??2, and ⁇ 22 represents the final included angle forming the second included angle ??2;
- S42" Determine whether
- an embodiment of the present invention provides a method for identifying a reverse cursor, the method includes the following steps: M1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal; M2 ⁇ Traverse the received encoder count value to obtain the start encoder count value N1 and end encoder count value N2 corresponding to the inverted cursor; M3, obtain according to the start encoder count value N1 and end encoder count value N2 of each inverted cursor The median encoder count N mid corresponding to each reverse cursor, M4.
- the movement is obtained according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count median value N mid
- an embodiment of the present invention provides a mobile robot system, which is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area, and the system includes: a laser The transmitting and receiving module is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal; the counting module is used to traverse the received encoder count value to obtain the initial encoder count value N1 and the corresponding anti-cursor End encoder count value N2; processing module, used to obtain the angle between the mobile robot and each reverse cursor at the current position according to the start encoder count value N1 and end encoder count value N2 of each reverse cursor; each reverse cursor Corresponding angles include: starting angle ⁇ 1, ending angle ⁇ 2; Among them, N represents the maximum count of the current encoder; the identification output module is used to identify the reverse cursor according to the obtained included angle.
- the identification output module is specifically used to: obtain the actual distance d between each anti-cursor and the mobile robot according to the coordinate value of each anti-cursor corresponding to the coordinate value of the mobile robot when the included angle ⁇ is obtained, And the actual width w of each reflector; the theoretical width w1 of each reflector is obtained according to the actual distance d and the matching included angle ⁇ , Determine whether the theoretical width w1 of each reverse cursor is the same as its actual width w. If so, confirm that the currently confirmed reverse cursor is correct.
- the identification output module is specifically used to: during the continuous movement of the mobile robot, obtain the included angle ⁇ from the zero point of the mobile robot's heading to the corresponding anti-cursor every preset time interval, and obtain the value obtained at the previous time
- the included angle ⁇ is represented by the first included angle ⁇ 1
- , ⁇ 2
- the starting angle of ⁇ 1, ⁇ 12 represents the ending angle forming the first angle ⁇ 1, ⁇ 21 represents the starting angle forming the second angle ⁇ 2, and ⁇ 22 represents the ending angle forming the second angle ⁇ 2; judge
- an embodiment of the present invention provides a mobile robot system, which is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area, and the system includes: a laser
- the transmitting and receiving module is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal;
- the counting module is used to traverse the received encoder count value to obtain the initial encoder count value N1 and the corresponding anti-cursor End encoder count value N2;
- the processing module is used to if at least two identical code count median values N mid are obtained at the same time, according to the start encoder count value N1 and the end encoder count value corresponding to the reverse cursor with the same code count median value N mid N2 Obtain the angle between the mobile robot and each anti-cursor at the current moment
- the reverse cursor identification method and mobile robot system of the present invention through the start encoder count value N1 and the end encoder count value N2 corresponding to each reverse cursor, can be calculated to obtain the reverse cursor and the mobile robot Included angle, the verification parameter is obtained by calculating the included angle and other known parameters, and the known parameters are further verified by the verification parameter, and then it is judged whether the confirmed back cursor is correct or the back cursor is distinguished.
- FIG. 1 is a schematic flowchart of a reverse cursor identification method according to an embodiment of the present invention
- Figure 2 is a schematic structural diagram of a specific example of the present invention.
- FIGs 3, 4, and 5 are respectively a schematic diagram of a preferred implementation process corresponding to step S4 in Figure 1;
- FIG. 6 is a schematic flowchart of a method for identifying a reverse cursor according to still another embodiment of the present invention.
- FIG. 7 is a schematic diagram of modules of a mobile robot system provided by an embodiment of the present invention.
- the mobile robot system of the present invention can be a mowing mobile robot system, or a sweeping mobile robot system, etc., which automatically walks in the work area for mowing and dust collection; in the work area, a number of anti-cursors with known coordinate values are set , And the width and height of each reverse cursor are known; the mobile robot includes a main body, a turntable arranged on the main body and capable of rotating 360 degrees, a laser arranged on the turntable, and a control module.
- the laser can emit a laser signal at a set frequency.
- the control module can identify the anti-cursor according to the received laser reflection signal.
- an inverted cursor identification method provided by an embodiment of the present invention includes:
- step S1 when the laser signal is irradiated to the anti-cursor, it will be reflected by the anti-cursor, and then receive continuous pulses of a fixed frequency to form a laser reflection signal; in the process of rotating the turntable, corresponding to each anti-cursor, you can Obtain multiple laser reflection signals; and during the laser reflection signal transmission process, the encoder will continue to record the encoder count value.
- the encoder count value is a set of count values arranged in ascending or descending order at equal time intervals.
- each laser reflection signal is The receiving timing corresponds to different encoder count values.
- step S2 in the received laser reflection signal, corresponding to each anti-cursor, when the laser is irradiated to the anti-cursor for the first time and the last time the laser is irradiated to the anti-cursor, there is a corresponding encoder count value.
- the encoder count value corresponding to the time when the light is irradiated one time is defined as the starting encoder count value N1
- the encoder count value corresponding to the last time when the light is irradiated to the same luminous mark is defined as the ending encoder count value N2.
- step S3 when the mobile robot 10 continuously receives the laser reflection signal at a certain position, the light rays X1 and X2 of the laser reflection signal respectively have an angle with the heading zero point X3 of the mobile robot.
- the laser The turntable rotates clockwise.
- the angle between the light X1 of the laser reflection signal and the zero point X3 of the mobile robot's course is defined as the starting angle ⁇ 1
- the angle between the light X2 of the laser reflection signal and the zero point X3 of the mobile robot's course The angle is defined as the ending angle ⁇ 2.
- the magnitudes of the starting angle ⁇ 1 and the ending angle ⁇ 2 are related to the encoder count value corresponding to the moment when the laser reflection signal forming the angle occurs; namely: Among them, N represents the maximum count of the current encoder.
- the value of N1 is 3156
- the value of N2 is 3159
- the value of N is 8192.
- step S4 the width of the reverse cursor is used to verify whether the selected reverse cursor is correct.
- the included angle ⁇ obtains the theoretical distance d1 from each back cursor to the mobile robot, S43', judge whether the theoretical distance d1 of each reverse cursor is the same as its actual distance d, and if so, confirm that the currently confirmed reverse cursor is correct.
- the theoretical distance d1 between the selected one of the anti-cursors and the mobile robot is not the same as the actual distance d, it means that the selected anti-cursor is incorrect, and the anti-cursor needs to be reselected and recalculated.
- the reason for the incorrect reversal of the cursor, such as the influence of other reflective obstacles, etc., will not be described further here.
- step S4 specifically includes: S41".
- step S41 During the continuous movement of the mobile robot, obtain the included angle ⁇ from the zero point of the mobile robot's heading to the corresponding anti-cursor at every preset time interval during the continuous movement of the mobile robot.
- the included angle ⁇ obtained at the previous time is represented by the first included angle ⁇ 1
- , ⁇ 2
- the identification method specifically includes: M1, continuously receiving laser reflection signals, and recording the encoder count value of each laser reflection signal;
- the movement is obtained according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count median value N mid
- the angle between the robot and each recursor at the current moment; the angle corresponding to each recursor includes: the starting angle ⁇ 1, the ending angle ⁇ 2, and the angle ⁇ from the moving robot's heading zero to the corresponding recursor;
- ⁇
- step M3 corresponding to the same anti-cursor, several laser reflection signals will be generated, and correspondingly, several encoder count values will be generated correspondingly; in the specific application of the present invention, corresponding to one anti-cursor, in order to reduce the amount of calculation, usually Only one of the encoder count values is selected for subsequent calculations.
- the encoder count value can select the start encoder count value N1 and the end encoder count value N2 of each inverted cursor , the median value N mid of the encoder count.
- an embodiment of the present invention provides a mobile robot system.
- the system is set in a working area, and a number of inverted cursors with known coordinate values are set in the working area.
- the system includes: a laser emitting and receiving module 100, a counting module 200, a processing module 300, and an identification output module 400.
- the laser emitting and receiving module 100 is used to continuously receive laser reflection signals and record the encoder count value of each laser reflection signal; the counting module 200 is used to traverse the received encoder count value to obtain the corresponding anti-cursor The start encoder count value N1 and the end encoder count value N2; the processing module 300 is used to obtain the mobile robot's current position and each reflector according to the start encoder count value N1 and the end encoder count value N2 of each reverse cursor.
- the included angle of the target; the included angle corresponding to each inverted cursor includes: the starting angle ⁇ 1, the ending angle ⁇ 2; Wherein, N represents the maximum count of the current encoder; the identification output module 400 is used to identify the reverse cursor according to the obtained included angle.
- the identification output module 400 is specifically used for: during the continuous movement of the mobile robot, obtain the included angle ⁇ from the zero point of the mobile robot's heading to the corresponding anti-cursor at every preset time interval, and obtain the value obtained at the previous time
- the included angle ⁇ is represented by the first included angle ⁇ 1
- , ⁇ 2
- the starting angle of ⁇ 1, ⁇ 12 represents the ending angle forming the first angle ⁇ 1, ⁇ 21 represents the starting angle forming the second angle ⁇ 2, and ⁇ 22 represents the ending angle forming the second angle ⁇ 2; judge
- a mobile robot system is set in a work area, and a number of inverted cursors with known coordinate values are set in the work area.
- the system also includes: a laser emitting and receiving module 100, The counting module 200, the processing module 300, and the identification output module 400.
- the laser emitting and receiving module 100 is used to continuously receive the laser reflection signal and record the encoder count value of each laser reflection signal; the counting module 200 is used to traverse the received encoder count value to obtain the corresponding anti-cursor start Start encoder count value N1 and end encoder count value N2; According to the start encoder count value N1 and end encoder count value N2 of each reverse cursor, the encoder count value N mid corresponding to each reverse cursor is obtained,
- the processing module 300 is configured to obtain at least two identical code count values N mid at the same time, according to the start encoder count value N1 and the end encoder count value N2 corresponding to the reverse cursor with the same code count value N mid
- the reverse cursor identification method and mobile robot system of the present invention through the start encoder count value N1 and the end encoder count value N2 corresponding to each reverse cursor, can be calculated to obtain the reverse cursor and the mobile robot Included angle, the verification parameter is obtained by calculating the included angle and other known parameters, and the known parameters are further verified by the verification parameter, and then it is judged whether the confirmed back cursor is correct or the back cursor is distinguished.
- the disclosed system, system, and method may be implemented in other ways.
- the system implementation described above is only illustrative.
- the division of the modules is only a logical function division, and there may be other divisions in actual implementation, for example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, systems or modules, and may be in electrical, mechanical or other forms.
- modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of this embodiment.
- the functional modules in the various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.
- the above-mentioned integrated modules can be implemented in the form of hardware, or in the form of hardware plus software functional modules.
- the above-mentioned integrated modules implemented in the form of software functional modules may be stored in a computer readable storage medium.
- the above-mentioned software function module is stored in a storage medium, and includes several instructions to make a computer system (which may be a personal computer, a server, or a network system, etc.) or a processor execute the methods described in the various embodiments of this application. Part of the steps.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .
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Abstract
反光标辨识方法及移动机器人***,反光标辨识方法包括:持续接收激光反射信号,并记录每一激光反射信号的编码器计数值(S1);遍历接收的编码器计数值,获得对应反光标的起始编码器计数值和终止编码器计数值(S2);根据每一反光标的起始编码器计数值和终止编码器计数值获得移动机器人在当前位置下与每一反光标的夹角;每一反光标对应的夹角包括:起始夹角,终止夹角(S3);根据获得的夹角辨识反光标(S4)。通过反光标与移动机器人的夹角及其他已知参数获得校验参数,并进一步的通过校验参数对已知参数进行校验,进而判断确认的反光标是否正确或进行反光标的区分。
Description
本发明涉及智能控制领域,尤其涉及一种反光标辨识方法及移动机器人***。
在移动机器人的应用中,导航是指移动机器人通过传感器感知环境和自身状态,实现在有障碍物的环境中面向目标自主运动;导航的成功需要4个模块,感知、定位、认知以及运动控制,其中,定位是移动机器人导航过程中最基本的环节,所谓定位就是确定移动机器人在环境中的实时位姿。当前应用较为广泛的定位技术包括:视觉导航定位、全球定位***、差分GPS定位、激光信号定位等。
激光信号定位方式因更适宜在移动机器人上应用,成为移动机器人定位的主流方式,现有技术中的移动机器人定位方式可参照公告号CN103542846,发明名称“一种移动机器人***及定位方法”,该方案描述:移动机器人包括激光器,激光器发射激光信号至反光标后形成反射信号,通过反射信号及已知坐标的反光标位置,可获得移动机器人当前位置相对于任意两个反光标的角度值,并进一步的根据角度值精确定位移动机器人的当前位置。
然而,在实际应用中,激光器旋转一圈过程中,为了获得相对于更多反光标的反射信号,需要连续激发发射信号,如此,对应于每一反光标,会接收到多条接收信号;相应的,通过接收信号区分反光标变得尤为重要,精确区分反光标是定位移动机器人位置的基础,而在现有技术中,移动机器人自主通过多个接收信号区分反光标的能力不足,导致定位效果较差。
发明内容
为解决上述技术问题,本发明的目的在于提供一种反光标辨识方法及移动机器人***。
为了实现上述发明目的之一,本发明一实施方式提供一种反光标辨识方法,所述方法包括如下步骤:S1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;S2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;S3、根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前位置下与每一反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2;
其中,N表示当前编码器的最大计数;S4、根据获得的夹角辨识反光标。
作为本发明一实施方式的进一步改进,步骤S4具体包括:S41、根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;S42、根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据实际距离d以及匹配的夹角Δθ获得每一反光标的理论宽度w1,
S43、判断每一反光标的理论宽度w1和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,步骤S42还包括:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];步骤S43具体包括:判断每一反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,步骤S4具体包括:S41’、根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;S42’、根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据每一反光标的实际宽度w以及匹配的夹角Δθ获得每一反光标至 移动机器人的理论距离d1,
S43’、判断每一反光标的理论距离d1和其实际距离d是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,步骤S42’还包括:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];步骤S43’具体包括:判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,步骤S4具体包括:S41”、在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角;S42”、判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同一反光标。
为了实现上述发明目的之一,本发明一实施方式提供一种反光标辨识方法,所述方法包括如下步骤:M1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;M2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;M3、根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得每一反光标对应的编码器计数中值N
mid,
M4、若在同一时刻获得至少两个相同的编码计数中值N
mid,则根据具有相同编码计数中值N
mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至 对应反光标的夹角Δθ;
Δθ=|θ2-θ1|,其中,N表示当前编码器的最大计数;M5、根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
为了实现上述发明目的之一,本发明一实施方式提供一种移动机器人***,该***设于一工作区域内,所述工作区域内设置若干已知坐标值的反光标,所述***包括:激光发射接收模块,用于持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;计数模块,用于遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;处理模块,用于根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前位置下与每一反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2;
其中,N表示当前编码器的最大计数;辨识输出模块,用于根据获得的夹角辨识反光标。
作为本发明一实施方式的进一步改进,辨识输出模块具体用于:根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据实际距离d以及匹配的夹角Δθ获得每一反光标的理论宽度w1,
判断每一反光标的理论宽度w1和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,辨识输出模块还用于:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];判断每一反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,辨识输出模块具体用于:根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ; Δθ=|θ2-θ1|;根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据每一反光标的实际宽度w以及匹配的夹角Δθ获得每一反光标至移动机器人的理论距离d1,
判断每一反光标的理论距离d1和其实际距离d是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,辨识输出模块还用于:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
作为本发明一实施方式的进一步改进,辨识输出模块具体用于:在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角;判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同一反光标。
为了实现上述发明目的之一,本发明一实施方式提供一种移动机器人***,该***设于一工作区域内,所述工作区域内设置若干已知坐标值的反光标,所述***包括:激光发射接收模块,用于持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;计数模块,用于遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得每一反光标对应的编码器计数中值N
mid,
处理模块,用于若在同一时刻获得至少两个相 同的编码计数中值N
mid,则根据具有相同编码计数中值N
mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至对应反光标的夹角Δθ;
Δθ=|θ2-θ1|,其中,N表示当前编码器的最大计数;辨识输出模块,用于根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
与现有技术相比,本发明的反光标辨识方法及移动机器人***,通过对应于每一反光标的起始编码器计数值N1和终止编码器计数值N2,可计算获得反光标与移动机器人的夹角,通过计算获得的夹角及其他已知参数获得校验参数,并进一步的通过该校验参数对已知参数进行校验,进而判断确认的反光标是否正确或进行反光标的区分。
图1是本发明一实施方式提供的反光标辨识方法的流程示意图;
图2是本发明一具体示例的结构示意图;
图3、4、5分别是对应图1步骤S4的较佳实现流程示意图;
图6是本发明再一实施方式提供的反光标辨识方法的流程示意图;
图7是本发明一实施方式提供的移动机器人***的模块示意图。
以下将结合附图所示的各实施方式对本发明进行详细描述。但这些实施方式并不限制本发明,本领域的普通技术人员根据这些实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。
本发明的移动机器人***可以是割草移动机器人***,或者扫地移动机器人***等,其自动行走于工作区域以进行割草、吸尘工作;所述工作区域内设置若干已知坐标值的反光标,且每一反光标的宽度、高度已知;所述移动机器 人包括:本体,设置于本体上且可以360度旋转的转台,设置于所述转台上的激光器以及控制模块。
所述激光器可按设定的频率发射激光信号,当激光信号照射至反光标时,会被反光标反射而形成激光反射信号,所述控制模块可以根据接收到的激光反射信号辨识反光标。
结合图1所示,本发明一实施方式提供的反光标辨识方法,所述方法包括:
S1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值。
S2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2。
S3、根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前位置下与每一反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2;
其中,N表示当前编码器的最大计数。
S4、根据获得的夹角辨识反光标。
对于步骤S1,当激光信号照射至反光标时,会被反光标反射,进而接收到固定频率的连续脉冲,而形成激光反射信号;在转台旋转一圈过程中,对应于每一反光标,可获得多个激光反射信号;且在激光反射信号发射过程中,编码器会持续记录编码器计数值。
编码器计数值,为一组等时间间距且按升序或降序排列的计数值,在本申请中,因为激光反射信号的接收时间不同,如此,在转台旋转一圈过程中,各个激光反射信号按接收时序对应不同的编码器计数值。
对于步骤S2,在接收的激光反射信号中,对应于每一反光标,在激光第一次照射至反光标以及最后一次照射至反光标时,均对应一个编码器计数值,本发明将第一次照射至发光标时对应的编码器计数值定义为起始编码器计数值N1,将最后一次照射至该同一发光标时对应的编码器计数值定义为终止编码器计数值N2。
对于步骤S3,结合图2所示,移动机器人10在某一位置持续接收激光反射信号时,激光反射信号的光线X1、X2分别与移动机器人航向零点X3具有夹角,本具体实施方式中,激光转台顺时针旋转,如此,将激光反射信号的光线X1与移动机器人航向零点X3之间的夹角定义为起始夹角θ1,将激光反射信号的光线X2与移动机器人航向零点X3之间的夹角定义为终止夹角θ2。
本发明具体实施方式中,起始夹角θ1,终止夹角θ2的大小通过形成该夹角的激光反射信号发生时刻对应的编码器计数值相关;即:
其中,N表示当前编码器的最大计数。在该具体示例中,N1取值为3156,N2取值为3159,N取值为8192。
对于步骤S4,结合图3所示,本发明第一较佳实施方式中,通过反光标的宽度校验选定的反光标是否正确。相应的,步骤S4具体包括:S41、根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;S42、根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据实际距离d以及匹配的夹角Δθ获得每一反光标的理论宽度w1,
S43、判断每一反光标的理论宽度w1和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
进一步的,若选中的其中一个反光标的理论宽度w1和其实际宽度w不相同,则表示选中的反光标不正确,需要重新挑选反光标并重新计算。反光标不正确的原因例如:其他反光障碍物的影响等,在此不做进一步的赘述。
本发明一较佳实施方式中,考虑到反光标表面的污损以及反光标的材质等因素的影响,可以对获得的理论宽度w1进行校正,具体的,步骤S42还包括:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];步骤S43具体包括:判断每一 反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
本发明第二较佳实施方式中,结合图4所示,通过反光标与移动机器人的距离校验选定的反光标是否正确。相应的,步骤S4具体包括:S41’、根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;S42’、根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据每一反光标的实际宽度w以及匹配的夹角Δθ获得每一反光标至移动机器人的理论距离d1,
S43’、判断每一反光标的理论距离d1和其实际距离d是否相同,若是,确认当前确认的反光标正确。
进一步的,若选中的其中一个反光标与移动机器人的理论距离d1与实际距离d不相同,则表示选中的反光标不正确,需要重新挑选反光标并重新计算。反光标不正确的原因例如:其他反光障碍物的影响等,在此不做进一步的赘述。
本发明一较佳实施方式中,考虑到反光标表面的污损以及反光标的材质等因素的影响,可以对获得的理论距离d1进行校正,具体的,步骤S42’还包括:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];步骤S43’具体包括:判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
本发明第三较佳实施方式中,结合图5所示,步骤S4具体包括:S41”、在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角; S42”、判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同一反光标。
结合图6所示,本发明再一实施方式提供的反光标辨识方法,该辨识方法具体包括:M1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;
M2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;
M4、若在同一时刻获得至少两个相同的编码计数中值N
mid,则根据具有相同编码计数中值N
mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至对应反光标的夹角Δθ;
M5、根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
需要说明的是,上述步骤M1和M2的实现流程与步骤S1和S2的实现流程相同,在此不做进一步的赘述。对于步骤M3,对应于同一反光标,会产生若干激光反射信号,相应的,也会对应产生若干个编码器计数值;本发明具体应用中,对应于一个反光标,为了降低计算量,通常可仅选取其中一个编码器计数值用于后续计算,相应的,该编码器计数值可以选择每一反光标的起始编 码器计数值N1和终止编码器计数值N2的编码计数中值N
mid。
进一步的,当两个或两个以上的反光标与移动机器人处于同一直线上时,对于每个反光标,其对应的编码计数中值N
mid相同,为了区分该直线上的不同反光标,本发明较佳实施方式中,获取形成该编码计数中值N
mid的起始编码器计数值N1和终止编码器计数值N2,并进一步的根据公式
Δθ=|θ2-θ1|获得对应于每一反光标的夹角Δθ,进一步的,通过每一反光标的夹角Δθ的大小,可以确定该反光标距离移动机器人的距离,进而确定编码计数值中值N
mid对应的具体反光标。
结合图7所示,本发明一实施方式提供的移动机器人***,该***设于一工作区域内,所述工作区域内设置若干已知坐标值的反光标,所述***包括:激光发射接收模块100,计数模块200,处理模块300以及辨识输出模块400。
本发明一实施方式中,激光发射接收模块100用于持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;计数模块200用于遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;处理模块300用于根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前位置下与每一反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2;
其中,N表示当前编码器的最大计数;辨识输出模块400用于根据获得的夹角辨识反光标。
本发明第一具体实现方式中,辨识输出模块400具体用于:根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据实际距离d以及匹配的夹角Δθ获得每一反光标的理论宽度 w1,
判断每一反光标的理论宽度w1和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
进一步的,辨识输出模块400还用于:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];判断每一反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
本发明第二具体实现方式中,辨识输出模块400具体用于:根据起始夹角θ1和终止夹角θ2计算获得移动机器人航向零点至对应反光标的夹角Δθ;Δθ=|θ2-θ1|;根据每一反光标的坐标值、对应获得夹角Δθ时的移动机器人坐标值,获取每一反光标与移动机器人的实际距离d,以及每一反光标的实际宽度w;根据每一反光标的实际宽度w以及匹配的夹角Δθ获得每一反光标至移动机器人的理论距离d1,
判断每一反光标的理论距离d1和其实际距离d是否相同,若是,确认当前确认的反光标正确。
进一步的,辨识输出模块400还用于:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
本发明第三具体实现方式中,辨识输出模块400具体用于:在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角;判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同 一反光标。
本发明再一较佳实施方式中,移动机器人***,该***设于一工作区域内,所述工作区域内设置若干已知坐标值的反光标,所述***同样包括:激光发射接收模块100,计数模块200,处理模块300以及辨识输出模块400。
在该实施方式中,激光发射接收模块100用于持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;计数模块200用于遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得每一反光标对应的编码器计数值N
mid,
处理模块300用于若在同一时刻获得至少两个相同的编码计数值N
mid,则根据具有相同编码计数值N
mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至对应反光标的夹角Δθ;
Δθ=|θ2-θ1|,其中,N表示当前编码器的最大计数;辨识输出模块400用于根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的***的具体工作过程,可以参考前述方法实施方式中的对应过程,在此不再赘述。
与现有技术相比,本发明的反光标辨识方法及移动机器人***,通过对应于每一反光标的起始编码器计数值N1和终止编码器计数值N2,可计算获得反光标与移动机器人的夹角,通过计算获得的夹角及其他已知参数获得校验参数,并进一步的通过该校验参数对已知参数进行校验,进而判断确认的反光标是否 正确或进行反光标的区分。
在本申请所提供的几个实施方式中,应该理解到,所揭露的***,***和方法,可以通过其它的方式实现。例如,以上所描述的***实施方式仅仅是示意性的,例如,所述模块的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个模块或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,***或模块的间接耦合或通信连接,可以是电性,机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的,作为模块显示的部件可以是或者也可以不是物理模块,即可以位于一个地方,或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施方式方案的目的。
另外,在本申请各个实施方式中的各功能模块可以集成在一个处理模块中,也可以是各个模块单独物理存在,也可以2个或2个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用硬件加软件功能模块的形式实现。
上述以软件功能模块的形式实现的集成的模块,可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中,包括若干指令用以使得一台计算机***(可以是个人计算机,服务器,或者网络***等)或处理器(processor)执行本申请各个实施方式所述方法的部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上实施方式仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施方式对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施方式所记载的技术方案进行修改,或 者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施方式技术方案的精神和范围。
Claims (14)
- 根据权利要求2所述的反光标辨识方法,其特征是,步骤S42还包括:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];步骤S43具体包括:判断每一反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
- 根据权利要求4所述的反光标辨识方法,其特征是,步骤S42’还包括:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];步骤S43’具体包括:判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
- 根据权利要求1所述的反光标辨识方法,其特征是,步骤S4具体包括:S41”、在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角;S42”、判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同一反光标。
- 一种反光标辨识方法,其特征是,所述方法包括如下步骤:M1、持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;M2、遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;M4、若在同一时刻获得至少两个相同的编码计数中值N mid,则根据具有相同编码计数中值N mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至对应反光标的夹角Δθ; Δθ=|θ2-θ1|,其中,N表示当前编码器的最大计数;M5、根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
- 根据权利要求9所述的移动机器人***,其特征是,辨识输出模块还用于:根据每一反光标的理论宽度w1,获得该反光标对应的理论校验宽度w2,w2=w1/ε1,ε1为常数,其取值范围为ε1∈(0,1];判断每一反光标的理论校验宽度w2和其实际宽度w是否相同,若是,确认当前确认的反光标正确。
- 根据权利要求11所述的移动机器人***,其特征是,辨识输出模块还用于:根据每一反光标的理论距离d1,获得该反光标对应的理论校验距离d2,d2=d1/ε2,ε2为常数,其取值范围为ε2∈(0,1];判断每一反光标的理论校验距离d2和其实际距离d是否相同,若是,确认当前确认的反光标正确。
- 根据权利要求8所述的移动机器人***,其特征是,辨识输出模块具体用于:在移动机器人连续移动过程中,每间隔预设时间获取移动机器人航向零点至对应反光标的夹角Δθ,并将前一时间获得的夹角Δθ以第一夹角Δθ1表示,将后一时间获得的夹角Δθ以Δθ2进行表示;Δθ1=|θ12-θ11|,Δθ2=|θ22-θ21|,其中,θ11表示形成第一夹角Δθ1的起始夹角,θ12表示形成第一夹角Δθ1的终止夹角,θ21表示形成第二夹角Δθ2的起始夹角,θ22表示形成第二夹角Δθ2的终止夹角;判断|Δθ2-Δθ1|是否不大于***预设差值阈值,若是,确认第一夹角Δθ1和第二夹角Δθ2来自于同一反光标。
- 一种移动机器人***,该***设于一工作区域内,所述工作区域内设置若干已知坐标值的反光标,其特征是,所述***包括:激光发射接收模块,用于持续接收激光反射信号,并记录每一激光反射信号的编码器计数值;计数模块,用于遍历接收的编码器计数值,获得对应反光标的起始编码器计数值N1和终止编码器计数值N2;根据每一反光标的起始编码器计数值N1和终止编码器计数值N2获得每一反光标对应的编码器计数中值N mid,处理模块,用于若在同一时刻获得至少两个相同的编码计数中值N mid,则根据具有相同编码计数中值N mid的反光标对应的起始编码器计数值N1和终止编码器计数值N2获得移动机器人在当前时刻下分别与每个反光标的夹角;每一反光标对应的夹角包括:起始夹角θ1,终止夹角θ2以及移动机器人航向零点至对应反光标的夹角Δθ; Δθ=|θ2-θ1|,其中,N表示当前编码器的最大计数;辨识输出模块,用于根据获得的每一夹角Δθ、移动机器人的当前坐标,以及反光标的坐标区分不同的反光标,其中,夹角Δθ越大,其对应的反光标距离移动机器人的位置越近。
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