CN104535061A - Navigation system based on multi-sensor data fusion - Google Patents

Navigation system based on multi-sensor data fusion Download PDF

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CN104535061A
CN104535061A CN201510005806.4A CN201510005806A CN104535061A CN 104535061 A CN104535061 A CN 104535061A CN 201510005806 A CN201510005806 A CN 201510005806A CN 104535061 A CN104535061 A CN 104535061A
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sensor
data
module
robot
positioning
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周旋
孔令成
赵江海
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Institute of Advanced Manufacturing Technology
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30Map- or contour-matching
    • G01C21/32Structuring or formatting of map data

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a navigation system based on multi-sensor data fusion. The navigation system comprises a map building module, a positioning module, a log module and a path planning module. The map building module manually generates a raster map through environment modeling software by measuring a work site in combination with an architectural drawing. The positioning module measures the relative position of a robot and the environment through a laser scanning sensor, works out the distance between the robot and a wall, obtains the world coordinates of the robot through conversion of coordinates and achieves the positioning function. The log module fuses log data and data measured by laser scanning to form navigation data flow. The data measured by the sensor are comprehensively analyzed through a fusion algorithm, and the navigation task is finished through map building, automatic positioning and path planning. The navigation system is provided with a relatively complete information obtaining channel, information redundancy and contradiction are effectively avoided through a unique information processing method, and real-time performance and accuracy are improved obviously.

Description

一种基于多传感器数据融合的导航系统A Navigation System Based on Multi-sensor Data Fusion

技术领域technical field

本发明涉及机器人导航技术领域,具体是一种基于多传感器数据融合的导航系统。The invention relates to the technical field of robot navigation, in particular to a navigation system based on multi-sensor data fusion.

背景技术Background technique

近年来随着传感器等技术的进步,智能机器人系统开始应用在服务行业中,开辟了机器人自主服务的新领域,在移动机器人导航控制理论和方法研究中,确定性环境的导航控制方法已经取得了大量的研究和应用成果。对未知环境中的导航控制也开展了一些研究,并提出了若干方法,但是尚未形成统一和完善的体系结构,还有许多关键理论和技术问题有待解决与完善。这些问题包括环境的建模、定位、导航控制器的学习与优化、故障诊断以及路径规划等。未知环境中的移动机器人只具有较少的先验知识,其导航控制方法涉及环境认知、优化策略、知识表示与获取等多项关键问题。对移动机器人在未知环境中导航理论和方法的研究,将推动认知科学、模式识别、非线性控制等前沿学科的研究,带动航天、海洋、军事、建筑、交通、工业和服务业等领域移动机器人导航控制系统的研究开发,为无人勘探车、无人排险车和无人运输车等用于航天、军事、深海作业和核工业领域的移动机器人系统的应用奠定理论和技术基础。In recent years, with the advancement of technologies such as sensors, intelligent robot systems have begun to be applied in the service industry, opening up a new field of robot autonomous services. In the research of mobile robot navigation control theory and methods, the navigation control method of deterministic environment has achieved great success. A large number of research and application results. Some studies have been carried out on navigation control in unknown environments, and some methods have been proposed, but a unified and perfect system structure has not yet been formed, and many key theoretical and technical problems need to be solved and perfected. These problems include modeling of the environment, localization, learning and optimization of navigation controllers, fault diagnosis, and path planning. The mobile robot in the unknown environment only has less prior knowledge, and its navigation control method involves many key issues such as environmental cognition, optimization strategy, knowledge representation and acquisition. The research on the theory and method of mobile robot navigation in unknown environment will promote the research of frontier disciplines such as cognitive science, pattern recognition, nonlinear control, etc. The research and development of the robot navigation control system lays a theoretical and technical foundation for the application of mobile robot systems such as unmanned exploration vehicles, unmanned emergency vehicles and unmanned transport vehicles used in aerospace, military, deep-sea operations and nuclear industries.

在机器人系统中,自主导航是一项核心技术,是机器人研究领域的重点和难点问题。在导航过程中,常常面临无法预先知道、不可预测或动态变化的环境。移动机器人感知环境的手段通常是不完备的,传感器给出的数据是不完全、不连续、不可靠的。因此,就需要我们根据具体情况的不同研究出相应的应对策略,以适应不同的场景需求。In the robot system, autonomous navigation is a core technology, and it is an important and difficult problem in the field of robot research. During navigation, we often face environments that cannot be known in advance, are unpredictable or dynamically change. The means for mobile robots to perceive the environment are usually incomplete, and the data given by the sensors are incomplete, discontinuous, and unreliable. Therefore, we need to study corresponding coping strategies according to different specific situations to meet the needs of different scenarios.

多传感器数据融合技术形成于上世纪80年代,目前已成为研究的热点。它不同于一般信号处理,也不同于单个或多个传感器的监测和测量,而是对基于多个传感器测量结果基础上的更高层次的综合决策过程。它可以把分布在不同位置的多个同类或不同类传感器所提供的局部数据资源加以综合,采用计算机技术对其进行分析,消除多传感器信息之间可能存在的冗余和矛盾,加以互补,降低其不确实性,获得被测对象的一致性解释与描述,从而提高系统决策、规划、反应的快速性和正确性,使系统获得更充分的信息。Multi-sensor data fusion technology was formed in the 1980s and has become a research hotspot. It is different from general signal processing, and also different from the monitoring and measurement of single or multiple sensors, but a higher-level comprehensive decision-making process based on the measurement results of multiple sensors. It can integrate local data resources provided by multiple sensors of the same or different types distributed in different locations, analyze them using computer technology, eliminate possible redundancy and contradictions between multi-sensor information, complement each other, and reduce Its uncertainty can obtain consistent explanation and description of the measured object, thereby improving the speed and correctness of system decision-making, planning, and response, and enabling the system to obtain more sufficient information.

有鉴于传感器技术的微型化、智能化程度提高,在信息获取基础上,多种功能进一步集成以致于融合,这是必然的趋势。本导航系统融合了多传感器数据融合技术等前沿学科理论,研究成果将指导发明一种适用航天、军事、深海作业和核工业领域等应用领域的新型导航系统。In view of the miniaturization and intelligence of sensor technology, it is an inevitable trend to further integrate and even integrate multiple functions on the basis of information acquisition. This navigation system integrates multi-sensor data fusion technology and other cutting-edge subject theories, and the research results will guide the invention of a new navigation system suitable for aerospace, military, deep-sea operations and nuclear industry fields.

发明内容Contents of the invention

本发明的目的在于提供一种基于多传感器数据融合的导航系统,它配备了多种传感器,通过特殊的地图构建、自助定位、路径规划来实现导航任务;提高了信息获取的有效性以及系统决策的实时性和正确性,以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a navigation system based on multi-sensor data fusion, which is equipped with a variety of sensors, and realizes navigation tasks through special map construction, self-service positioning, and path planning; it improves the effectiveness of information acquisition and system decision-making Real-time and correctness, to solve the problems raised in the above-mentioned background technology.

为实现上述目的,本发明提供如下技术方案:To achieve the above object, the present invention provides the following technical solutions:

一种基于多传感器数据融合的导航系统,包括四大功能模块:地图构建模块、定位模块、计程模块和路径规划模块;地图构建模块是结合建筑图、测量工作场地,通过环境建模软件,人工生成栅格地图的方式来描述;定位模块则通过激光扫描传感器测量出机器人与环境的相对位置,通过直线拟合求出机器人与墙壁的距离,然后经过坐标变换得到机器人的全局坐标,实现定位功能;计程模块采用常用的里程计,将计程数据和激光扫描测量数据融合形成导航数据流;路径规划模块则采用了基于地图的全局路径规划,将配备的激光扫描传感器与超声测距传感器所测数据经过融合算法对数据进行综合分析,通过地图构建、自助定位、路径规划来实现导航任务。A navigation system based on multi-sensor data fusion, including four functional modules: map building module, positioning module, meter module and path planning module; It is described by artificially generating a grid map; the positioning module measures the relative position of the robot and the environment through the laser scanning sensor, calculates the distance between the robot and the wall through straight line fitting, and then obtains the global coordinates of the robot through coordinate transformation to realize positioning functions; the metering module adopts a commonly used odometer, and integrates the metering data and laser scanning measurement data to form a navigation data stream; the path planning module adopts global path planning based on maps, and integrates the equipped laser scanning sensor and ultrasonic ranging sensor The measured data is analyzed comprehensively through fusion algorithms, and navigation tasks are realized through map construction, self-service positioning, and path planning.

作为本发明进一步的方案:激光扫描传感器与超声测距传感器所测数据都具有不同的优先级,当数据被获取以后,利用融合算法对数据进行优先级的划分,利用优先级的高低进行数据融合。As a further solution of the present invention: the data measured by the laser scanning sensor and the ultrasonic ranging sensor have different priorities. After the data is acquired, the fusion algorithm is used to divide the data into priorities, and the data is fused using the priority level. .

作为本发明进一步的方案:超声测距传感器安装在机器人底盘前部,作为避障和绕障行走测量单元。As a further solution of the present invention: the ultrasonic ranging sensor is installed on the front of the robot chassis as a measurement unit for avoiding obstacles and walking around obstacles.

作为本发明进一步的方案:激光扫描传感器安装在机器人顶部;作为精确定位和避障测量单元。As a further solution of the present invention: the laser scanning sensor is installed on the top of the robot; as a precise positioning and obstacle avoidance measurement unit.

与现有技术相比,本发明的有益效果是:本发明具有较为全面的信息获取渠道,通过其独特的信息处理方法,有效的避免了信息的冗余和矛盾,使得导航系统在实时性和准确率方面有明显提升。Compared with the prior art, the beneficial effect of the present invention is: the present invention has relatively comprehensive information acquisition channels, and through its unique information processing method, it effectively avoids redundancy and contradiction of information, making the navigation system more real-time and Accuracy has been significantly improved.

附图说明Description of drawings

图1为本发明的硬件结构图;Fig. 1 is a hardware structural diagram of the present invention;

图2为本发明的地图构建模块结构图。Fig. 2 is a structural diagram of the map building module of the present invention.

图3为本发明的定位模块结构图。Fig. 3 is a structural diagram of the positioning module of the present invention.

图4为本发明的定位系统算法流程图。Fig. 4 is a flow chart of the positioning system algorithm of the present invention.

图5为本系统的路径规划控制系统框图。Figure 5 is a block diagram of the path planning control system of the system.

图6为本系统所采用的数据融合算法结构图。Figure 6 is a structural diagram of the data fusion algorithm used in this system.

具体实施方式Detailed ways

下面将结合本发明实施例,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

实施例1Example 1

本发明的硬件结构如图1所示。利用传感器信号采集处理板将各传感器采集的数据进行处理,并结合环境感知应用程序API以及嵌入计算机的分析、处理完成导航定位,其中超声测距传感器作为避障和绕障行走测量单元,激光扫描传感器作为精确定位和避障测量单元。The hardware structure of the present invention is shown in Figure 1. Use the sensor signal acquisition and processing board to process the data collected by each sensor, and combine the environment perception application program API and the analysis and processing embedded in the computer to complete the navigation and positioning. The ultrasonic ranging sensor is used as the obstacle avoidance and obstacle walking measurement unit, and the laser scanning The sensor acts as a precise positioning and obstacle avoidance measurement unit.

如图2所示,结合建筑图、测量工作场地,通过环境建模软件模块,人工生成栅格标注地图。编写地图编辑软件,将建筑图输入计算机,对建筑图进行测量并在栅格图上标注出来。形成包含工作环境结构(如墙壁,固定家具)信息的栅格地图。该地图是路径规划系统的输入,同时也是导航定位系统的输入。As shown in Figure 2, combined with architectural drawings and surveyed work sites, the grid annotation map is artificially generated through the environmental modeling software module. Write the map editing software, input the architectural drawings into the computer, measure the architectural drawings and mark them on the grid map. Form a raster map containing information on the structure of the work environment (eg walls, fixed furniture). The map is the input of the path planning system and also the input of the navigation and positioning system.

如图3所示,本系统以罗盘输入方向建立机器人坐标系与全局坐标系转换关系。激光扫描测量出机器人与环境的相对距离,通过直线拟合区分墙壁和一般障碍,求出机器人到墙壁的距离,通过机器人坐标变换,将机器人坐标距离转换全局坐标,该全局坐标对应栅格地图中的栅格从而实现机器人的定位,根据定位值和规划路径点序列的最小距离实现导航。As shown in Figure 3, this system establishes the transformation relationship between the robot coordinate system and the global coordinate system based on the compass input direction. Laser scanning measures the relative distance between the robot and the environment, distinguishes between walls and general obstacles through straight line fitting, and calculates the distance from the robot to the wall. Through robot coordinate transformation, the robot coordinate distance is converted into global coordinates. The global coordinates correspond to the grid map. The grid is used to realize the positioning of the robot, and realize the navigation according to the minimum distance between the positioning value and the sequence of planned waypoints.

由于定位计算复杂、难以实现实时计算,为了加快导航速度,采用计程数据融合计算导航数据,如图4所示,定位点之间的路径定位计算采用计程算法。Due to the complexity of positioning calculation and the difficulty of real-time calculation, in order to speed up the navigation, the distance data fusion is used to calculate the navigation data. As shown in Figure 4, the distance calculation algorithm is used for the path positioning calculation between the positioning points.

图5所示为路径规划控制系统框图,在本系统中,超声测距传感器每20°安装一个共安装10个,覆盖约180°,主要是提供超声测距传感器角度和障碍距离数据,然后由workfollow路径控制系统实现避障和绕行功能。在其绕行过程中需导航定位,计程、栅格地图等所有单元的实时配合。Figure 5 shows the block diagram of the path planning control system. In this system, a total of 10 ultrasonic ranging sensors are installed every 20°, covering about 180°. The main purpose is to provide the ultrasonic ranging sensor angle and obstacle distance data, and then by Workfollow path control system realizes obstacle avoidance and detour functions. During its detour process, it needs the real-time cooperation of all units such as navigation and positioning, metering, and grid map.

图6为采用的多传感器数据融合算法结构图。Figure 6 is a structural diagram of the multi-sensor data fusion algorithm used.

避碰和精确定位的超声测距传感器的安装方式:The installation method of the ultrasonic distance measuring sensor for collision avoidance and precise positioning:

在机器人底盘前部安装一圈超声测距传感器作为避障和绕障行走测量单元。在超声测距传感器上方安装激光扫描传感器作为精确定位和避障测量单元,该激光扫描传感器安装位置必须充分考虑环境匹配相关性,如果工作环境不能满足环境匹配要求,则激光扫描传感器的精确定位作用将难以发挥,只能作避碰应用,建议安装位置为抓取物品高度。A circle of ultrasonic ranging sensors are installed on the front of the robot chassis as the obstacle avoidance and obstacle walking measurement unit. The laser scanning sensor is installed above the ultrasonic ranging sensor as a precise positioning and obstacle avoidance measurement unit. The installation position of the laser scanning sensor must fully consider the environmental matching correlation. If the working environment cannot meet the environmental matching requirements, the precise positioning function of the laser scanning sensor It will be difficult to play and can only be used for collision avoidance applications. It is recommended that the installation position be at the height of grabbing objects.

用于导航的激光扫描传感器的安装方式:How to install the laser scanning sensor for navigation:

用作导航的激光扫描传感器安装在机器人顶部。高度应尽可能高一些,应能够保证激光能够扫描到环境中的墙壁。本发明的导航方案基于栅格体地图路径规划的定位导航方式,因此采用结构化环境参数测量定位方式与整个路径控制系统紧密配合。激光扫描传感器安装的高一些有利于结构化环境参数测量。另外有与采用的底盘设计方案与计程测量系统匹配有困难为了保证在计程出现不可预知风险时能够实现机器人的导航和定位,采用结构化环境参数测量导航方案更为保险,基于上述两个原因本系统采用环境参数测量方案。A laser-scanning sensor for navigation is mounted on top of the robot. The height should be as high as possible to ensure that the laser can scan the walls in the environment. The navigation scheme of the present invention is based on the positioning and navigation mode of the grid map path planning, so the structured environment parameter measurement and positioning mode is used to closely cooperate with the entire path control system. The laser-scanning sensor is mounted higher to facilitate the measurement of structured environmental parameters. In addition, it is difficult to match the adopted chassis design scheme with the odometer measurement system. In order to ensure that the navigation and positioning of the robot can be realized when there are unpredictable risks in the odometer, it is safer to use the structured environmental parameter measurement navigation scheme. Based on the above two Reason The system adopts the environmental parameter measurement scheme.

对于本领域技术人员而言,显然本发明不限于上述示范性实施例的细节,而且在不背离本发明的精神或基本特征的情况下,能够以其他的具体形式实现本发明。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本发明的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention.

此外,应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施例中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (4)

1.一种基于多传感器数据融合的导航系统,其特征在于,包括地图构建模块、定位模块、计程模块和路径规划模块;地图构建模块是结合建筑图、测量工作场地,通过环境建模软件,人工生成栅格地图;定位模块则通过激光扫描传感器测量出机器人与环境的相对位置,通过直线拟合求出机器人与墙壁的距离,然后经过坐标变换得到机器人的全局坐标,实现定位功能;计程模块采用常用的里程计,将计程数据和激光扫描测量数据融合形成导航数据流;路径规划模块则采用了基于地图的全局路径规划;将配备的激光扫描传感器与超声测距传感器所测数据经过融合算法对数据进行综合分析,通过地图构建、自助定位、路径规划来实现导航任务。1. A navigation system based on multi-sensor data fusion is characterized in that it includes a map building module, a positioning module, a meter module and a path planning module; the map building module is combined with building maps and surveying work sites, through environmental modeling software , artificially generate a grid map; the positioning module measures the relative position of the robot and the environment through the laser scanning sensor, calculates the distance between the robot and the wall through straight line fitting, and then obtains the global coordinates of the robot through coordinate transformation to realize the positioning function; The odometer module uses a commonly used odometer to fuse the odometer data and laser scanning measurement data to form a navigation data stream; the path planning module uses map-based global path planning; the equipped laser scanning sensor and the data measured by the ultrasonic ranging sensor The data is comprehensively analyzed through fusion algorithms, and navigation tasks are realized through map construction, self-service positioning, and path planning. 2.根据权利要求1所述的基于多传感器数据融合的导航系统,其特征在于,所述激光扫描传感器与超声测距传感器所测数据都具有不同的优先级,当数据被获取以后,利用融合算法对数据进行优先级的划分,利用优先级的高低进行数据融合。2. The navigation system based on multi-sensor data fusion according to claim 1, wherein the data measured by the laser scanning sensor and the ultrasonic distance measuring sensor have different priorities, and when the data is acquired, the fusion is used to The algorithm divides the priority of the data, and uses the priority level for data fusion. 3.根据权利要求1所述的基于多传感器数据融合的导航系统,其特征在于,所述超声测距传感器安装在机器人底盘前部,作为避障和绕障行走测量单元。3. The navigation system based on multi-sensor data fusion according to claim 1, wherein the ultrasonic ranging sensor is installed on the front part of the robot chassis as a measuring unit for avoiding obstacles and walking around obstacles. 4.根据权利要求1所述的基于多传感器数据融合的导航系统,其特征在于,所述激光扫描传感器安装在机器人顶部,作为精确定位和避障测量单元。4. The navigation system based on multi-sensor data fusion according to claim 1, wherein the laser scanning sensor is installed on the top of the robot as a precise positioning and obstacle avoidance measurement unit.
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