CN112285725B - Single mobile robot indoor positioning method based on laser radar - Google Patents
Single mobile robot indoor positioning method based on laser radar Download PDFInfo
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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
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Abstract
The invention discloses a laser radar-based indoor positioning method for a single mobile robot, which utilizes a mode that a mobile robot loaded with a laser radar moves indoors and scans to position an indoor reflector. The upper controller plans the indoor moving path for a mobile robot loaded with the laser radar and controls the mobile robot to move to the path starting point. The mobile robot establishes a global coordinate system at the origin, scans the reflectors in the detection range of the positions of the mobile robot at the same time, calculates global coordinates of the reflectors, scans the reflectors in the detection range of the positions at the next moment, calculates global coordinates of the reflectors in the detection range, and repeats the steps at each moment in sequence until the mobile robot moves to the end point of the appointed path, and processes all recorded global coordinates of the reflectors. The method has high flexibility, can effectively solve the problem of low indoor positioning precision, is simple to implement, and has very good applicability.
Description
Technical Field
The invention belongs to the technical field of indoor positioning, and particularly relates to a single mobile robot indoor positioning method based on a laser radar.
Background
In the related field of robot application, unknown indoor scene information is important, and acquisition of indoor environment information through the reflector is helpful for the robot to execute tasks next.
In an indoor environment, a mobile robot equipped with a GPS also cannot solve the indoor positioning problem well because the positioning accuracy of the GPS is affected in an indoor environment. The distance and angle information is the most common measurement information in environment perception, and the research of a positioning algorithm using the distance and angle information has important practical significance in the indoor positioning field. Distance and angle information can be accurately measured using a lidar. The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and the working principle is that a detection signal (laser beam) is emitted to the target, then the received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target, such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, the even the shape and the like of the target, can be obtained, so that the detection is performed. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display.
The mobile robot can acquire the distance and angle information of the indoor reflecting plate by means of the laser radar, so that the information of the indoor environment is acquired, and the follow-up task can be conveniently developed.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a single mobile robot indoor positioning method based on a laser radar, which aims at a mobile robot without a GPS, controls the mobile robot to move indoors and obtains the global coordinates of an indoor reflector, thereby obtaining the information of an indoor environment.
The invention is realized by the following technical scheme: a single mobile robot indoor positioning method based on laser radar includes the following steps:
step 1: the upper layer controller plans a moving path in a room for a mobile robot loaded with the laser radar and controls the mobile robot to move to a path starting point, the mobile robot starts to move from the path starting point, moves along a designated path, stops moving at a path ending point, and sets the movement starting time as t 0 The termination time is t n And the current time is t, t is t E [ t ] 0 ,t n ]；
Step 2: at t=t 0 At moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, establishes the local coordinate system as a global coordinate system, scans the reflector in the detection range of the position of the mobile robot, and calculates to obtain global coordinates of the reflector;
step 3: at t+.t 0 At moment, the mobile robot scans the reflector in the detection range of the position of the mobile robot, and the current global sitting position of the mobile robot is calculated through measurement information obtained from the reflector repeatedly scanned at the moment t and the moment t-1Marking;
step 4: after the mobile robot obtains the global coordinate of the mobile robot at the time t, a translation matrix between the global coordinate system and the current local coordinate system is further obtained, and a rotation matrix between the global coordinate system and the current local coordinate system is calculated;
step 5: the mobile robot calculates the local coordinates of the reflector in the detection range at the moment t, obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when repeatedly calculating the coordinates of the same reflector;
step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the designated path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
Further, in the step 1, the upper layer controller plans a path of the mobile robot, and specifically includes the following contents:
the upper controller plans an indoor moving path for the mobile robot, and sets the movement starting time as t 0 The termination time is t n And the current time is t, t is t E [ t ] 0 ,t n ]At t+.t 0 At the moment, the number of the same reflecting plates detected at the moment t-1 and the moment t is at least two, the same reflecting plates detected at the moment t-1 and the moment t must be identified, in order to ensure that the two conditions are met, before the upper-layer controller plans a motion path for the mobile robot, the positions of the indoor reflecting plates must meet certain requirements, namely the indoor reflecting plates cannot be placed too densely and cannot be placed too sparsely, the distance between any two reflecting plates should be more than 0.1L and less than 0.3L, and L is the detection distance of the laser radar loaded by the mobile robot.
Further, in the step 1, the mobile robot establishes a local coordinate system, which specifically includes the following contents:
the mobile robot takes the position of the mobile robot as an origin, the pose orientation is the positive direction of the x axis, the anticlockwise rotation is 90 degrees and the positive direction of the y axis, a local coordinate system is established, and the local coordinate system is reestablished once when the reflecting plate in the position detection range is scanned once.
Further, in the step 1, the mobile robot numbers the detected reflector, which specifically includes the following contents:
the mobile robot scans the surrounding environment of the position of the mobile robot by means of a laser radar, and when the reflecting plate is detected, the reflecting plates are sequentially numbered 1,2,3 and 4 … according to the detected time sequence.
Further, in the step 3, the mobile robot calculates its global coordinate formula as follows:
wherein, (x) j ,y j ),(x k ,y k ) J and k are coordinates of the mobile robot in the global coordinate system, and j and k are two reflectors and d, wherein the two reflectors can be detected by the mobile robot at the time t-1 and the time t j ,d k J, k and the distance between the mobile robot, two solutions are obtained when solving the equation set, and according to the known moving speed V of the mobile robot, one misunderstanding is eliminated, so as to obtain the global coordinate P (t) of the mobile robot.
Further, in the step 4, the process of calculating the translation matrix B and the rotation matrix a between the global coordinate system and the current local coordinate system by the mobile robot is as follows:
the mobile robot calculates a translation matrix B between a global coordinate system and a current local coordinate system, wherein B is a matrix of 2 multiplied by 1, the x value of a first behavior P (t) of B, namely the x-axis component of the global coordinate of the mobile robot, the y value of a second behavior P (t), namely the y-axis component of the global coordinate of the mobile robot, then selects two reflecting plates which can be detected at the time t-1 and the time t, regards the two reflecting plates as j and k, and regards the global coordinates P of the two reflecting plates as the j and k j g 、And the local coordinate P at time t j (t)、P k (t) written in vector form, v j ,v k ,w j ,w k From these vectors, a rotation matrix A is calculated, and [ v ] is determined before the rotation matrix A is calculated j -Bv k -B]In the method, whether the mobile robot and the reflecting plate j and k are on the same straight line at the current moment t is judged, if [ v j -Bv k -B]If not, the calculation is not performed, and the mobile robot discards all the reflector data detected at the current moment, otherwise, the rotation matrix A is calculated by adopting the following formula:
A＝[w j w k ]×[v j -Bv k -B] -1 。
further, in the step 5, the mobile robot first calculates the local coordinates of the light reflecting plate detected at the time t, and then calculates the global coordinates of the light reflecting plate through rotation and translation transformation, and the formula is as follows:
P i g (t)＝A -1 ×P i (t)+B
wherein P is i g (t) is the global coordinate of the reflector i, P i (t) is the local coordinates of the reflector i at the time t, i epsilon N (t), and N (t) is the set of reflectors within the detection range of the mobile robot at the time t.
Further, in the step 6, the mobile robot processes the global coordinates of the indoor reflector, which specifically includes the following contents:
the mobile robot firstly eliminates some abnormal reflector coordinates obtained by calculation, namely obvious bigger or smaller values caused by calculation errors, and then averages global coordinates obtained by multiple times of calculation of the same reflector to reduce errors, thereby correcting the global coordinates of the indoor reflector.
The beneficial effects of the invention are as follows: the method of the invention locates the position of the indoor reflector by means of moving and scanning the mobile robot loaded with the laser radar. Firstly, an upper controller is utilized to plan a moving path of the mobile robot indoors and control the mobile robot to move to a path starting point. The mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, establishes the local coordinate system as a global coordinate system, scans the reflecting plates in the detection range of the position of the mobile robot at the same time, calculates global coordinates of the reflecting plates, scans the surrounding environment of the position of the mobile robot at the next moment, calculates the global coordinates of the mobile robot at the new moment, calculates the global coordinates of the reflecting plates in the detection range, scans the surrounding environment of the position of the reflecting plates at each moment in sequence, calculates the global coordinates of the reflecting plates, and corrects the global coordinates of the indoor reflecting plates after the reflecting plates move to the appointed path end point. The method has high flexibility, can effectively solve the problem of low indoor positioning precision, is simple to implement, and has very good applicability.
Drawings
FIG. 1 is a flow chart of a single mobile robot indoor positioning method based on a laser radar;
fig. 2 is a schematic diagram of a moving path of a mobile robot planned indoors by an upper controller, a five-pointed star is a mobile robot, a dotted line is a path of the mobile robot planned by the upper controller, a solid point is a positionable indoor reflecting plate, and a hollow point is a non-positionable indoor reflecting plate.
Detailed Description
In order to more particularly describe the present invention, the following detailed description of the technical scheme of the present invention is provided with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the single mobile robot indoor positioning method based on the laser radar provided by the invention comprises the following steps:
step 1: the upper layer controller plans a moving path in a room for a mobile robot loaded with the laser radar and controls the mobile robot to move to a path starting point, the mobile robot starts to move from the path starting point, moves along a designated path, stops moving at a path ending point, and sets the movement starting time as t 0 The termination time is t n And the current time is t, t is t E [ t ] 0 ,t n ]；
Specifically, the upper controller plans the indoor moving path process for the mobile robot as follows:
at t+.t 0 At the moment, the number of identical reflecting plates detected at the moment t-1 and the moment t is at least two, the identical reflecting plates detected at the moment t-1 and the moment t must be identified, in order to ensure that the two conditions are met, before the upper-layer controller plans a motion path for the mobile robot, the positions of the indoor reflecting plates must meet certain requirements, namely the indoor reflecting plates cannot be placed too densely and cannot be placed too sparsely, the distance between any two reflecting plates is greater than 0.1L and less than 0.3L, L is the detection distance of the laser radar loaded by the mobile robot, the mobile robot starts to move at the asterisks and moves along the dotted lines, and the points meeting the conditions are solid points, namely the indoor reflecting plates meeting the requirements cannot meet the requirements and cannot be positioned.
Step 2: at t=t 0 At moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, and sets the local coordinate system as a global coordinate system, and scans the reflecting plates in the position detection range of the mobile robot, acquires distance and angle information of the reflecting plates by means of a laser radar, and calculates to obtain global coordinates of the reflecting plates;
specifically, the method for establishing the local coordinate system by the mobile robot is as follows:
the mobile robot takes the position of the mobile robot as an origin, the pose orientation is the positive direction of the x axis, the anticlockwise rotation is the positive direction of the y axis by 90 degrees, a local coordinate system is built, the local coordinate system is built once again after scanning the reflector in the detection range of the position of the mobile robot once, and the local coordinate system is built many times while the global coordinate system is only one.
Specifically, the mobile robot numbers the detected reflecting plate, and specifically includes the following contents:
the mobile robot scans the surrounding environment of the position of the mobile robot by means of a laser radar, and when the reflecting plate is detected, the reflecting plate is sequentially numbered 1,2,3 and 4 … according to the detected time sequence, so that preparation is made for calculating translation and rotation matrixes among the global coordinate, the global coordinate system and the current local coordinate system of the mobile robot.
Step 3: at t+.t 0 The method comprises the steps that at the moment, namely the non-initial moment, the mobile robot scans the reflecting plates in the position detection range, the distance and angle information of the reflecting plates are acquired by means of a laser radar, and the current global coordinates of the mobile robot are calculated through measurement information obtained from the reflecting plates repeatedly scanned at the moment t and the moment t-1;
specifically, the mobile robot calculates its own global coordinate formula as follows:
wherein, (x) j ,y j ),(x k ,y k ) J and k are coordinates of the mobile robot in the global coordinate system, and j and k are two reflectors and d, wherein the two reflectors can be detected by the mobile robot at the time t-1 and the time t j ,d k J, k and the distance between the mobile robot, two solutions are obtained when solving the equation set, and according to the known moving speed V of the mobile robot, one misunderstanding is eliminated, so as to obtain the global coordinate P (t) of the mobile robot.
Step 4: after the mobile robot obtains the global coordinate of the mobile robot at the time t, a translation matrix between the global coordinate system and the current local coordinate system is further obtained, and a rotation matrix between the global coordinate system and the current local coordinate system is calculated through measurement information obtained from the reflector repeatedly scanned at the time t and the time t-1;
specifically, the mobile robot calculates a translation matrix B and a rotation matrix a between the global coordinate system and the current local coordinate system as follows:
the mobile robot first calculates a translation matrix B between the global coordinate system and the current local coordinate system, B is a 2X 1 matrix, the x value of the first behavior P (t) of B, namely the x-axis component of the global coordinate system of the mobile robot, the y value of the second behavior P (t), namelyThe y-axis component of the global coordinate of the mobile robot is selected, two reflectors which can be detected at the time t-1 and the time t are regarded as j and k, and the global coordinate P of the reflectors is calculated j g 、And the local coordinate P at time t j (t)、P k (t) written in vector form, v j ,v k ,w j ,w k From these vectors, a rotation matrix A is calculated, and [ v ] is determined before the rotation matrix A is calculated j -Bv k -B]In the method, whether the mobile robot and the reflecting plate j and k are on the same straight line at the current moment t is judged, if [ v j -Bv k -B]If not, the calculation is not performed, and the mobile robot discards all the reflector data detected at the current moment, otherwise, the rotation matrix A is calculated by adopting the following formula:
A＝[w j w k ]×[v j -Bv k -B] -1 。
step 5: the mobile robot calculates the local coordinates of the reflector in the detection range at the moment t, obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when repeatedly calculating the coordinates of the same reflector;
specifically, the mobile robot acquires the distance and angle information of the reflector in the detection range by means of the laser radar at the time t, firstly calculates the local coordinates of the detected reflector, then calculates the global coordinates of the reflector by rotation and translation transformation,
P i g (t)＝A -1 ×P i (t)+B
wherein P is i g (t) is the global coordinate of the reflector i, P i (t) is the local coordinates of the reflector i at the time t, i epsilon N (t), and N (t) is the set of reflectors within the detection range of the mobile robot at the time t.
Step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the designated path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
Specifically, the mobile robot moves to the end point of the designated path, the movement is stopped, all recorded global coordinates of the reflecting plates are processed, firstly, some calculated abnormal reflecting plate coordinates, namely obvious bigger or smaller values caused by calculation errors and other anomalies, are eliminated, and then the global coordinates obtained by multiple times of calculation of the same reflecting plate are averaged to reduce errors, so that the global coordinates of the indoor reflecting plate are corrected.
Fig. 2 is a schematic diagram of a moving path of a mobile robot planned indoors by an upper controller, a five-pointed star is a mobile robot, a dotted line is a path of the mobile robot planned by the upper controller, a solid point is a positionable indoor reflecting plate, and a hollow point is a non-positionable indoor reflecting plate.
The above-described embodiments are provided to facilitate the understanding and application of the present invention by those of ordinary skill in the art. It will be apparent to those skilled in the art that various modifications may be made to the foregoing without undue burden from the person skilled in the art, and that the generic principles described herein may be applied to other aspects without the use of inventive faculty. Accordingly, the present invention may be modified and changed without departing from the technical principle of the present invention, and the modifications and changes should be regarded as the protection scope of the present invention.
Claims (7)
1. The indoor positioning method of the single mobile robot based on the laser radar is characterized by comprising the following steps of:
step 1: the upper layer controller plans a moving path in a room for a mobile robot loaded with the laser radar and controls the mobile robot to move to a path starting point, the mobile robot starts to move from the path starting point, moves along a designated path, stops moving at a path ending point, and sets the movement starting time as t 0 The termination time is t n And the current time is t, t is t E [ t ] 0 ,t n ]The method comprises the steps of carrying out a first treatment on the surface of the At t+.t 0 At least two identical reflectors are detected at time t-1 and time t, and identical reflectors detected at time t-1 and time t must be identified at the same timeA plate;
step 2: at t=t 0 At moment, the mobile robot establishes a local coordinate system by taking a motion starting point, namely a path starting point, as an origin, establishes the local coordinate system as a global coordinate system, scans the reflector in the detection range of the position of the mobile robot, and calculates to obtain global coordinates of the reflector;
step 3: at t+.t 0 At moment, the mobile robot scans the reflector in the detection range of the position of the mobile robot, and the current global coordinate of the mobile robot is calculated through measurement information obtained from the reflector repeatedly scanned at the moment t and the moment t-1;
the mobile robot calculates its own global coordinate formula as follows:
wherein, (x) j ,y j ),(x k ,y k ) J and k are coordinates of the mobile robot in the global coordinate system, and j and k are two reflectors and d, wherein the two reflectors can be detected by the mobile robot at the time t-1 and the time t j ,d k J, k and the distance between the mobile robot, two solutions are obtained when solving the equation set, and according to the known moving speed V of the mobile robot, one misunderstanding is eliminated, so that the global coordinate P (t) of the mobile robot is obtained;
step 4: after the mobile robot obtains the global coordinate of the mobile robot at the time t, a translation matrix between the global coordinate system and the current local coordinate system is further obtained, and a rotation matrix between the global coordinate system and the current local coordinate system is calculated;
step 5: the mobile robot calculates the local coordinates of the reflector in the detection range at the moment t, obtains the global coordinates of the reflector through rotation and translation transformation, and records the obtained coordinates of the reflector when repeatedly calculating the coordinates of the same reflector;
step 6: and repeating the steps at the next moment until the mobile robot moves to the end point of the designated path, stopping moving and scanning, and processing the recorded global coordinates of all the reflectors so as to correct the global coordinates of the indoor reflectors.
2. The method for indoor positioning of a single mobile robot based on lidar of claim 1, wherein in step 1, the method specifically comprises the following steps:
the upper controller plans an indoor moving path for the mobile robot, and sets the movement starting time as t 0 The termination time is t n And the current time is t, t is t E [ t ] 0 ,t n ]At t+.t 0 At the moment, the number of the same reflecting plates detected at the moment t-1 and the moment t is at least two, the same reflecting plates detected at the moment t-1 and the moment t must be identified, in order to ensure that the two conditions are met, before the upper-layer controller plans a motion path for the mobile robot, the positions of the indoor reflecting plates must meet certain requirements, namely the indoor reflecting plates cannot be placed too densely and cannot be placed too sparsely, the distance between any two reflecting plates should be more than 0.1L and less than 0.3L, and L is the detection distance of the laser radar loaded by the mobile robot.
3. The indoor positioning method of single mobile robot based on lidar of claim 1, wherein in step 2, the method for establishing a local coordinate system by the mobile robot is as follows: the mobile robot takes the position of the mobile robot as an origin, the pose orientation is the positive direction of the x axis, the anticlockwise rotation is 90 degrees and the positive direction of the y axis, a local coordinate system is established, and the local coordinate system is reestablished once when the reflecting plate in the position detection range is scanned once.
4. The method for indoor positioning of a single mobile robot based on a laser radar according to claim 1, wherein in the step 2, the mobile robot scans the surrounding environment of the position of the mobile robot by means of the laser radar, and when the reflecting plate is detected, the reflecting plates are sequentially numbered 1,2,3,4 and … in the sequence of the detected time.
5. The indoor positioning method of single mobile robot based on lidar of claim 1, wherein in step 4, the mobile robot calculates a translation matrix B and a rotation matrix a between the global coordinate system and the current local coordinate system as follows:
the mobile robot calculates a translation matrix B between a global coordinate system and a current local coordinate system, wherein B is a matrix of 2 multiplied by 1, the x value of a first behavior P (t) of B, namely the x-axis component of the global coordinate of the mobile robot, the y value of a second behavior P (t), namely the y-axis component of the global coordinate of the mobile robot, then selects two reflecting plates which can be detected at the time t-1 and the time t, regards the two reflecting plates as j and k, and regards the global coordinates P of the two reflecting plates as the j and k j g 、And the local coordinate P at time t j (t)、P k (t) written in vector form, v j ,v k ,w j ,w k From these vectors, a rotation matrix A is calculated, and [ v ] is determined before the rotation matrix A is calculated j -B v k -B]In the method, whether the mobile robot and the reflecting plate j and k are on the same straight line at the current moment t is judged, if [ v j -B v k -B]If not, the calculation is not performed, and the mobile robot discards all the reflector data detected at the current moment, otherwise, the rotation matrix A is calculated by adopting the following formula:
A＝[w j w k ]×[v j -B v k -B] -1 。
6. the indoor positioning method of single mobile robot based on laser radar according to claim 5, wherein in step 5, the mobile robot calculates the local coordinates of the reflecting plate detected at time t, and then calculates the global coordinates of the reflecting plate through rotation and translation transformation, and the formula is as follows:
P i g (t)＝A -1 ×P i (t)+B
wherein P is i g (t) is the global coordinate of the reflector i, P i (t) is the local coordinates of the reflector i at the time t, i epsilon N (t), and N (t) is the set of reflectors within the detection range of the mobile robot at the time t.
7. The method for indoor positioning of a single mobile robot based on lidar according to claim 1, wherein in step 6, the mobile robot processes global coordinates of an indoor reflector, specifically comprising:
the mobile robot firstly eliminates some abnormal reflector coordinates obtained by calculation, namely obvious bigger or smaller values caused by calculation errors, and then averages global coordinates obtained by multiple times of calculation of the same reflector to reduce errors, thereby correcting the global coordinates of the indoor reflector.
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| CN113625320B (en) * | 2021-08-06 | 2023-10-24 | 恩际艾科技(苏州)有限公司 | Outdoor combined positioning method based on differential GPS and reflector |
| CN115220012A (en) * | 2022-09-20 | 2022-10-21 | 成都睿芯行科技有限公司 | Positioning method based on reflecting plate |
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| AGV激光定位导航算法研究及系统计算;刘之舟;《中国优秀硕士学位论文全文数据库信息科技辑》;第22-38页 * |
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| CN112285725A (en) | 2021-01-29 |
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