CN109491383A - Multirobot positions and builds drawing system and method - Google Patents
Multirobot positions and builds drawing system and method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- Automation & Control Theory (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The present invention provides a kind of positioning of multirobot and build drawing system and method, applied to Post disaster relief, pass through the compound sensor collecting data information of robot, it include: depth information, IMU information, odometer information, location information, data are more comprehensive, more full and accurate can three-dimensionally react Post disaster relief scene environment；Robot localization is carried out using the gmapping algorithm based on Rao-Blackwellized particle filter algorithm and builds figure, it is high-efficient to build figure；Global path planning is carried out using A* algorithm, real-time route planning is carried out using dynamic window algorithm, there is accurately and rapidly homing capability；Mechanical arm control is carried out using Movelt, excludes the obstacle on path, improves the ability that robot copes with complicated Post disaster relief scene；Two and above robot composition robot group, receive the unified allocation of resources of host computer, local grid map are fused into complete map, improve positioning and build the efficiency of figure.
Description
Technical field
The present invention relates to safe rescue technical fields, and in particular, to a kind of positioning of multirobot with build drawing system and side
Method.
Background technique
In recent years with the development of artificial intelligence technology, the environment of mobile robot application is more extensive, wherein comparing
Popular mobile robot simultaneously positions and builds figure (slam) technology and can effectively improve the autonomous completion task of robot
Ability.
But in this complex scene of Post disaster relief, due to complex geographical environment, more, the road ability difference of barrier etc.
A possibility that environmental factor, it is slow to cause mobile robot rescue efficiency, failure greatly improves.
Summary of the invention
For the defects in the prior art, it positions the object of the present invention is to provide a kind of multirobot and builds drawing system and side
Method.
In a first aspect, the embodiment of the present invention provides a kind of positioning of multirobot and builds drawing system, it is applied to Post disaster relief, packet
It includes: the robot group that host computer, two and the above robot are constituted；Wherein, the robot includes: compound sensor, processing
Device, mechanical arm；The compound sensor is connect with processor, is used for collecting data information；The mechanical arm and the processor
Connection, the operational order for being generated according to the processor carry out removal of obstacle；The processor is equipped with ROS (Robot
Operating System, robot operating system) operating system, for data processing, generate control instruction and with it is upper
Other robot in machine, robot group establishes data communication.
Optionally, the compound sensor, comprising: laser radar, kinetic visual sensor, inertial navigation module, collision inspection
Survey module, odometer, GPS (Global Positioning System, global positioning system) locating module.
Optionally, the processor of the robot is PC (Personal Computer, PC) machine.
Optionally, the data information includes: (Inertial Measurement Unit, inertia are surveyed by depth information, IMU
Measure unit) information, odometer information, location information.
Optionally, the robot further include: alarm, the alarm are connected to the processor, for according to institute
The alarm command for stating processor generation carries out sound-light alarm.
Second aspect, the embodiment of the present invention provide a kind of positioning of multirobot and build drawing method, be applied in first aspect
Described in any item multirobots position and build drawing system；The described method includes:
The control instruction of robot reception host computer；
The compound sensor collecting data information of robot；Wherein, data information includes: depth information, IMU information, inner
Journey meter information, location information；
The processor of robot handles the data information, constructs the local grid map of the machine；
Data communication is established according to the other robot in the communication mechanism in ROS operating system, with robot group, is obtained
The local grid map of other robot building；
The local grid map that the local grid map of described the machine, other robot construct is subjected to map fusion, is obtained
To the complete map of acquisition.
Optionally, the compound sensor collecting data information of the robot, comprising:
The ambient enviroment target position of laser radar acquisition robot；
The ambient enviroment target image of kinetic visual sensor acquisition robot；
The current location information of GPS positioning module acquisition robot；
The IMU information of inertial navigation module acquisition robot；
The odometer information of odometer acquisition robot.
Optionally, the processor of the robot handles the data information, constructs local grid map, packet
It includes:
It carries out robot localization using the gmapping algorithm based on Rao-Blackwellized particle filter algorithm and builds
Figure；
Global path planning is carried out using A* algorithm, using Dynamic Window Approaches (Dynamic
Window Approaches, dynamic window method) algorithm progress real-time route planning；
Mechanical arm control is carried out using Movelt, excludes the obstacle on path.
Optionally, further includes:
Robot sends compound sensor collecting data information to host computer；
Robot sends the local grid map that processor generates to host computer.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention passes through the compound sensor collecting data information of robot, comprising: depth information, IMU information, odometer
Information, location information, data are more comprehensive, more full and accurate can three-dimensionally react Post disaster relief scene environment；Using based on Rao-
The gmapping algorithm of Blackwellized particle filter algorithm carries out robot localization and builds figure, and it is high-efficient to build figure, map matter
Amount is reliable；Global path planning is carried out using A* algorithm, real-time road is carried out using Dynamic Window Approaches algorithm
Diameter planning, has accurately and rapidly homing capability, improves the locomitivity of robot；Mechanical arm control is carried out using Movelt
System excludes the obstacle on path, improves the ability that robot copes with complicated Post disaster relief scene；Two and the above robot structure
At robot group, receive the unified allocation of resources of host computer, local grid map be fused into complete map, improve positioning and build
The efficiency of figure, it is ensured that the accuracy of map.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the multirobot positioning and the functional block diagram for building drawing system that present invention implementation provides；
Fig. 2 is the multirobot positioning and the communication mechanism schematic diagram for building drawing system that present invention implementation provides；
Fig. 3 is that the multirobot positioning that present invention implementation provides builds nomography frame diagram with build drawing system；
Fig. 4 is the multirobot positioning and the path planning algorithm frame diagram for building drawing system that present invention implementation provides；
Fig. 5 is the multirobot positioning and the mechanical arm control algolithm Movelt frame for building drawing system that present invention implementation provides
Figure；
Fig. 6 is that the multirobot positioning that present invention implementation provides merges schematic diagram with the map for building drawing system.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Fig. 1 is the multirobot positioning and build the functional block diagram of drawing system that present invention implementation provides, as shown in Figure 1, passing through
The sensors collecting data informations such as laser radar, kinetic visual sensor, inertial navigation module IM U, impact detector and GPS, PC
Robot motion is controlled after machine processing.Robot posture information is detected using odometer, realizes closed-loop control, and there is alarm
Function.Every robot can be communicated with host computer.Mechanical arm is connect with processor, the behaviour for being generated according to processor
Make instruction and carries out removal of obstacle.Processor is equipped with ROS operating system, for data processing, generate control instruction and with
Other robot in position machine, robot group establishes data communication.
Fig. 2 is the multirobot positioning and the communication mechanism schematic diagram for building drawing system that present invention implementation provides, such as Fig. 2 institute
Show, can communicate with each other between each robot (ROBOT, robot) in robot group, and all keeps connecting with host computer.
This be it is a kind of concentrated-distributed and it is centralized be controlled in integrated hybrid control mode, in this structure, each robot is seen
At being independent intelligent body, each robot can act on itself and environment, and can make a response to environment.Multiple robots
Completion task can be cooperateed with, coordinates and cooperation solves challenge.This solves the inefficiencies of centralized configuration and divide
The shortage optimality of cloth structure.When one or several robots break down damage when, will not influence the work of whole system
Make；It when robot confusion, can also be control effectively by host computer, carry out unified allocation of resources.
Fig. 3 is that the multirobot positioning that present invention implementation provides builds nomography frame diagram with build drawing system, such as Fig. 3 institute
Show, slam_gmapping node is the core of Gmapping algorithm, its input information mostlys come from sensor, for fixed
Position and build figure.Inputted in figure tf in information must comprising the tf between odom- > base, i.e., odometer to robot chassis it
Between coordinate transformation relation.Tf in output information mainly includes the tf between map- > odom.And map is exactly a topic,
It is in fact exactly a picture inside this topic, the result for building figure each time has directly been published to this by slam_gmapping
On topic, so map can be updated, while this map can be received by other Node, such as path planning, such as Rviz.
Fig. 4 is the multirobot positioning and the path planning algorithm frame diagram for building drawing system that present invention implementation provides, such as Fig. 4
It is shown, equally understand from the angle of input and output, center box is a node, is called move_base, is responsible for whole
There are 5 plug-in units in the navigation programming of body, the inside.The map of input can be given map, and slam also can be used and walk on one side, and one
Side building.Equally, the tf of input indicates the relationship in each joint of robot, it is necessary to including between base and odom, odom and map
Between relationship, i.e., must have a complete tf tree.Odom indicates the information of odometer, along with some other sensors
Input (laser radar and point cloud), the sensor given is more, and type is abundanter, and the decision that it is carried out is more accurate.Output
If only one base controller, i.e., to robot motion chassis send have been calculated after speed command.
Fig. 5 is the multirobot positioning and the mechanical arm control algolithm Movelt frame for building drawing system that present invention implementation provides
Figure, as shown in figure 5, move_group is the core of MoveIt, can integrate each stand-alone assembly of robot, mention for user
Action command and service for a series of needs.Move_group mainly do each function packet, plug-in unit it is integrated.It by message or
The form of service receives the status message of the point cloud information of robot upload, joints, and there are also the tftree of robot, in addition also
The parameter server of ROS is needed to provide the kinematics parameters of robot, these parameters can be in the mistake using setup assistant
According to the URDF model file of robot in journey, creation generates (SRDF and configuration file).
Fig. 6 is that the multirobot positioning that present invention implementation provides merges schematic diagram with the map for building drawing system, such as Fig. 6 institute
Show, which provides global map for multiple robots.It can merge the map from any amount robot.It passes through
ROS theme is subscribed to obtain the cartographic information of individual machine people.So running multiple machines under the ROS network of the same master
Multirobot_map_merge can easily carry out the work of map fusion when the case where device people.And if robot not
The data transmission of map can be also carried out by other network transmission modes in the ROS network of the same master.So
Which kind of network transmission mode multirobot_map_merge independent of using.
It should be noted that provided by the invention position and build the step in drawing method, multirobot positioning can use
It is achieved with corresponding module, device, unit etc. in drawing system is built, those skilled in the art are referred to the technical side of system
The step process of case implementation method, that is, the embodiment in system can be regarded as the preference of implementation method, and it will not be described here.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. a kind of positioning of multirobot with build drawing system, be applied to Post disaster relief characterized by comprising host computer, two and
The robot group that the above robot is constituted；Wherein, the robot includes: compound sensor, processor, mechanical arm；It is described multiple
It closes sensor to connect with processor, is used for collecting data information；The mechanical arm is connected to the processor, for according to
The operational order that processor generates carries out removal of obstacle；The processor is equipped with ROS operating system, is used for data processing, life
Data communication is established at control instruction and with the other robot in host computer, robot group.
2. multirobot according to claim 1 positions and builds drawing system, which is characterized in that the compound sensor, packet
It includes: laser radar, kinetic visual sensor, inertial navigation module, collision detection module, odometer, GPS positioning module.
3. multirobot according to claim 1 positions and builds drawing system, which is characterized in that the processor of the robot
For PC machine.
4. multirobot according to claim 1 positions and builds drawing system, which is characterized in that the data information includes:
Depth information, IMU information, odometer information, location information.
5. multirobot according to claim 1 positions and builds drawing system, which is characterized in that the robot further include:
Alarm, the alarm are connected to the processor, and the alarm command for being generated according to the processor carries out acousto-optic report
It is alert.
6. a kind of multirobot positions and builds drawing method, which is characterized in that be applied to of any of claims 1-5 more
Robot localization and build drawing system；The described method includes:
The control instruction of robot reception host computer；
The compound sensor collecting data information of robot；Wherein, data information includes: depth information, IMU information, odometer
Information, location information；
The processor of robot handles the data information, constructs the local grid map of the machine；
Data communication is established according to the other robot in the communication mechanism in ROS operating system, with robot group, obtains other
The local grid map of robot building；
The local grid map that the local grid map of described the machine, other robot construct is subjected to map fusion, is obtained
Obtain complete map.
7. multirobot according to claim 6 positions and builds drawing method, which is characterized in that the compound biography of the robot
Sensor collecting data information, comprising:
The ambient enviroment target position of laser radar acquisition robot；
The ambient enviroment target image of kinetic visual sensor acquisition robot；
The current location information of GPS positioning module acquisition robot；
The IMU information of inertial navigation module acquisition robot；
The odometer information of odometer acquisition robot.
8. multirobot according to claim 6 positions and builds drawing method, which is characterized in that the processor of the robot
The data information is handled, local grid map is constructed, comprising:
Robot localization is carried out using the gmapping algorithm based on Rao-Blackwellized particle filter algorithm and builds figure；
Global path planning is carried out using A* algorithm, real-time route is carried out using Dynamic Window Approaches algorithm
Planning；
Mechanical arm control is carried out using Movelt, excludes the obstacle on path.
9. multirobot according to claim 6 positions and builds drawing method, which is characterized in that further include:
Robot sends compound sensor collecting data information to host computer；
Robot sends the local grid map that processor generates to host computer.
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Cited By (7)
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| CN110221601A (en) * | 2019-04-30 | 2019-09-10 | 南京航空航天大学 | A kind of more AGV system dynamic barrier Real-time Obstacle Avoidance Methods and obstacle avoidance system |
| CN110243375A (en) * | 2019-06-26 | 2019-09-17 | 汕头大学 | Method that is a kind of while constructing two-dimensional map and three-dimensional map |
| CN112284383A (en) * | 2020-10-26 | 2021-01-29 | 上海健康医学院 | Centralized multi-nursing-bed path planning and real-time obstacle avoidance system |
| CN112378408A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Path planning method for realizing real-time obstacle avoidance of wheeled mobile robot |
| CN113238554A (en) * | 2021-05-08 | 2021-08-10 | 武汉科技大学 | Indoor navigation method and system based on SLAM technology integrating laser and vision |
| WO2022120997A1 (en) * | 2020-12-10 | 2022-06-16 | 中国科学院深圳先进技术研究院 | Distributed slam system and learning method therefor |
| CN117636251A (en) * | 2023-11-30 | 2024-03-01 | 交通运输部公路科学研究所 | Disaster damage detection method and system based on robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110221601A (en) * | 2019-04-30 | 2019-09-10 | 南京航空航天大学 | A kind of more AGV system dynamic barrier Real-time Obstacle Avoidance Methods and obstacle avoidance system |
| CN110243375A (en) * | 2019-06-26 | 2019-09-17 | 汕头大学 | Method that is a kind of while constructing two-dimensional map and three-dimensional map |
| CN112284383A (en) * | 2020-10-26 | 2021-01-29 | 上海健康医学院 | Centralized multi-nursing-bed path planning and real-time obstacle avoidance system |
| CN112378408A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Path planning method for realizing real-time obstacle avoidance of wheeled mobile robot |
| WO2022120997A1 (en) * | 2020-12-10 | 2022-06-16 | 中国科学院深圳先进技术研究院 | Distributed slam system and learning method therefor |
| CN113238554A (en) * | 2021-05-08 | 2021-08-10 | 武汉科技大学 | Indoor navigation method and system based on SLAM technology integrating laser and vision |
| CN117636251A (en) * | 2023-11-30 | 2024-03-01 | 交通运输部公路科学研究所 | Disaster damage detection method and system based on robot |
| CN117636251B (en) * | 2023-11-30 | 2024-05-17 | 交通运输部公路科学研究所 | Disaster damage detection method and system based on robot |
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Application publication date: 20190319 |