CN104535061A - Navigation system based on multi-sensor data fusion - Google Patents
Navigation system based on multi-sensor data fusion Download PDFInfo
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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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- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; 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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- 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
Technical field
The present invention relates to robot navigation's technical field, specifically a kind of navigational system based on Fusion.
Background technology
In recent years along with the progress of sensor technology, intelligent robot system starts to be applied in service industry, open the frontier of robot autonomous service, in Mobile Robotics Navigation control theory and technique study, the navigation control method of determinacy environment has achieved a lot of research and application achievement.Navigation Control in circumstances not known is also had carried out some research, and proposes some methods, but not yet form unified and perfect architecture, also have many key theory and technical matters to have to be solved and perfect.These problems comprise the modeling of environment, location, the study of navigation controller and optimization, fault diagnosis and path planning etc.Mobile robot in circumstances not known only has less priori, and its navigation control method relates to the multinomial key issues such as Context aware, optimisation strategy, the representation of knowledge and acquisition.Mobile robot to be navigated in circumstances not known the research of Theories and methods, the research of the front subjects such as cognitive science, pattern-recognition, nonlinear Control will be promoted, drive the research and development of the field Mobile Robotics Navigation control system such as space flight, ocean, military affairs, building, traffic, industry and services, for unmanned scout carrier, nobody get rid of the danger car and unmanned transport vehicle etc. establishes theory and technology basis for the application of the mobile-robot system in space flight, military affairs, deep ocean work and nuclear industry field.
In robot system, independent navigation is a core technology, is the Focal point and difficult point problem in robot research field.In navigation procedure, usually face cannot know in advance, the environment of unpredictable or dynamic change.The means of mobile robot's perception environment are normally incomplete, and the data that sensor provides are incomplete, discontinuous, insecure.Therefore, just us are needed difference as the case may be to work out corresponding countermeasure, to adapt to different scene demands.
Sensor Data Fusion is formed at the eighties in last century, has become the focus of research at present.It is different from general signal process, is also different from monitoring and the measurement of single or multiple sensor, but to based on the higher level decision making package process on multiple sensor measurement basis.It can be in addition comprehensive being distributed in local data's resource that the multiple similar of diverse location or inhomogeneity sensor provide, computer technology is adopted to analyze it, eliminate the redundancy and contradiction that may exist between multi-sensor information, in addition complementary, reduce its not certainty, the consistance obtaining measurand is explained and describes, thus the rapidity of the raising system decision-making, planning, reaction and correctness, make system obtain information more fully.
In view of microminiaturization, the intelligence degree raising of sensor technology, on acquisition of information basis, several functions is integrated further so that merge, this trend that is inevitable.It is theoretical that this navigational system has merged the front subjects such as sensor Data Fusion, and achievement in research is by a kind of novel navigational system being suitable for the applications such as space flight, military affairs, deep ocean work and nuclear industry field of guidance invention.
Summary of the invention
The object of the present invention is to provide a kind of navigational system based on Fusion, it is equipped with multiple sensors, realizes navigation task by special map structuring, self-service location, path planning; Improve the validity of acquisition of information and the real-time of the system decision-making and correctness, to solve the problem proposed in above-mentioned background technology.
For achieving the above object, the invention provides following technical scheme:
Based on a navigational system for Fusion, comprise four large functional modules: map structuring module, locating module, module of having the records of distance by the log and path planning module; Map structuring module is in conjunction with architectural drawing, surveying work place, and by environmental modeling software, the artificial mode generating grating map describes; Locating module then measures the relative position of machine human and environment by scanning laser sensor, obtained the distance of robot and wall by fitting a straight line, then obtains the world coordinates of robot through coordinate transform, realizes positioning function; Module of having the records of distance by the log adopts conventional odometer, and data of having the records of distance by the log and laser scanning measurement data fusion form navigation data stream; Path planning module then have employed the global path planning based on map, the scanning laser sensor of outfit and data that ultrasonic range finder sensor is surveyed comprehensively are analyzed data through blending algorithm, realizes navigation task by map structuring, self-service location, path planning.
As the further scheme of the present invention: scanning laser sensor and ultrasonic range finder sensor survey data all there is different priority, after data are acquired, utilize blending algorithm to carry out the division of priority to data, utilize the height of priority to carry out data fusion.
As the further scheme of the present invention: it is anterior that ultrasonic range finder sensor is arranged on robot chassis, as keeping away barrier and around barrier walking measuring unit.
As the further scheme of the present invention: scanning laser sensor is arranged on robot top; As accurately locating and keeping away barrier measuring unit.
Compared with prior art, the invention has the beneficial effects as follows: the present invention has comparatively comprehensively acquisition of information channel, by the information processing method of its uniqueness, effectively avoid redundancy and the contradiction of information, make navigational system have obvious lifting in real-time and accuracy rate.
Accompanying drawing explanation
Fig. 1 is hardware structure diagram of the present invention;
Fig. 2 is map structuring function structure chart of the present invention.
Fig. 3 is locating module structural drawing of the present invention.
Fig. 4 is positioning system algorithm flow chart of the present invention.
Fig. 5 is the path planning control system block diagram of native system.
The data anastomosing algorithm structural drawing that Fig. 6 adopts for native system.
Embodiment
Below in conjunction with the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment 1
Hardware configuration of the present invention as shown in Figure 1.Collecting sensor signal disposable plates is utilized the data that each sensor gathers to be processed, and the analysis of combining environmental aware application API and embeddeding computer, processed navigator fix, wherein ultrasonic range finder sensor as keep away barrier and around barrier walking measuring unit, scanning laser sensor is as accurately locating and keeping away barrier measuring unit.
As shown in Figure 2, in conjunction with architectural drawing, surveying work place, by environmental modeling software module, the artificial grid that generates marks map.Write map edit software, architectural drawing is inputted computing machine, architectural drawing is measured and marks out on grid map.Formation comprises the grating map of working environment structure (as wall, fitment) information.This map is the input of path planning system, is also the input of navigation positioning system simultaneously.
As shown in Figure 3, native system sets up robot coordinate system and global coordinate system transformational relation with compass input direction.Laser scanning measurement goes out the relative distance of machine human and environment, wall and general obstacle is distinguished by fitting a straight line, obtain the distance of robot to wall, converted by robot coordinate, by robot coordinate distance conversion world coordinates, grid in the corresponding grating map of this world coordinates thus realize the location of robot, the minor increment according to locator value and path planning point sequence realizes navigation.
Because location Calculation is complicated, being difficult to realize real-time calculating, in order to accelerate navigation speed, adopting data fusion of having the records of distance by the log to calculate navigation data, as shown in Figure 4, the path orientation between anchor point calculates employing and to have the records of distance by the log algorithm.
Figure 5 shows that path planning control system block diagram, in the present system, every 20 ° of ultrasonic range finder sensor installs an installation 10 altogether, cover about 180 °, ultrasonic range finder sensor angle and distance of obstacle data are mainly provided, are then realized keeping away barrier and the function that detours by workfollow contouring system.In it detour process, need navigator fix, have the records of distance by the log, the real-time cooperation of all unit such as grating map.
Fig. 6 is the Multisensor Data Fusion Algorithm structural drawing adopted.
The mounting means of collision prevention and pinpoint ultrasonic range finder sensor:
One circle ultrasonic range finder sensor is installed as keeping away barrier and around barrier walking measuring unit in front portion, robot chassis.Scanning laser sensor is installed above ultrasonic range finder sensor as accurately locating and keeping away barrier measuring unit, this scanning laser sensor installation site must take into full account environments match correlativity, if working environment can not meet environments match requirement, then the accurate positioning action of scanning laser sensor will be difficult to play, can only do collision prevention application, suggestion installation site is for capturing article height.
The mounting means of scanning laser sensor for navigating:
The scanning laser sensor being used as navigation is arranged on robot top.Height should be higher as far as possible, should be able to ensure that laser can scan the wall in environment.The location navigation mode that navigation scheme of the present invention is planned based on grid body map path, therefore adopts structured environment parameter measurement locator meams and whole contouring system to closely cooperate.The higher of scanning laser sensor installation is conducive to structured environment parameter measurement.Have in addition and mate the Navigation and localization of having any problem to ensure can realize when having the records of distance by the log and occurring unpredictable risk robot with measuring system of having the records of distance by the log with the chassis design scheme adopted, adopt structured environment parameter measurement navigation scheme more to insure, adopt environmental parameter measurement scheme based on above-mentioned two reason native systems.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (4)
1. based on a navigational system for Fusion, it is characterized in that, comprise map structuring module, locating module, module of having the records of distance by the log and path planning module; Map structuring module is in conjunction with architectural drawing, surveying work place, by environmental modeling software, manually generates grating map; Locating module then measures the relative position of machine human and environment by scanning laser sensor, obtained the distance of robot and wall by fitting a straight line, then obtains the world coordinates of robot through coordinate transform, realizes positioning function; Module of having the records of distance by the log adopts conventional odometer, and data of having the records of distance by the log and laser scanning measurement data fusion form navigation data stream; Path planning module then have employed the global path planning based on map; The scanning laser sensor of outfit and data that ultrasonic range finder sensor is surveyed comprehensively are analyzed data through blending algorithm, realizes navigation task by map structuring, self-service location, path planning.
2. the navigational system based on Fusion according to claim 1, it is characterized in that, described scanning laser sensor and ultrasonic range finder sensor survey data all there is different priority, after data are acquired, utilize blending algorithm to carry out the division of priority to data, utilize the height of priority to carry out data fusion.
3. the navigational system based on Fusion according to claim 1, is characterized in that, it is anterior that described ultrasonic range finder sensor is arranged on robot chassis, as keeping away barrier and around barrier walking measuring unit.
4. the navigational system based on Fusion according to claim 1, is characterized in that, described scanning laser sensor is arranged on robot top, as accurately locating and keeping away barrier measuring unit.
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| CN105116902A (en) * | 2015-09-09 | 2015-12-02 | 北京进化者机器人科技有限公司 | Mobile robot obstacle avoidance navigation method and system |
| CN105425803A (en) * | 2015-12-16 | 2016-03-23 | 纳恩博（北京）科技有限公司 | Autonomous obstacle avoidance method, device and system |
| CN105910604A (en) * | 2016-05-25 | 2016-08-31 | 武汉卓拔科技有限公司 | Multi-sensor-based autonomous obstacle avoidance navigation system |
| CN106969784A (en) * | 2017-03-24 | 2017-07-21 | 中国石油大学(华东) | It is a kind of concurrently to build figure positioning and the combined error emerging system of inertial navigation |
| CN107063242A (en) * | 2017-03-24 | 2017-08-18 | 上海思岚科技有限公司 | Have the positioning navigation device and robot of virtual wall function |
| CN108089585A (en) * | 2018-01-06 | 2018-05-29 | 深圳慎始科技有限公司 | A kind of sweeping robot with map structuring and navigation |
| CN108089200A (en) * | 2018-01-12 | 2018-05-29 | 深圳慎始科技有限公司 | A kind of sweeping robot with linear solid-state radar |
| CN108673508A (en) * | 2018-06-08 | 2018-10-19 | 山东鲁能智能技术有限公司 | The Multi-sensor Fusion control method and system of hotline maintenance robot |
| CN109000648A (en) * | 2018-05-03 | 2018-12-14 | 南京理工大学 | A kind of mobile robot indoor orientation method based on laser filtering |
| CN109445430A (en) * | 2018-10-19 | 2019-03-08 | 安徽信息工程学院 | A kind of automated guided vehicle |
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | Intelligent device |
| CN110018684A (en) * | 2018-01-06 | 2019-07-16 | 深圳慎始科技有限公司 | A kind of solid-state radar sweeping robot |
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| CN110793543A (en) * | 2019-10-21 | 2020-02-14 | 国网电力科学研究院有限公司 | Positioning and navigation precision measuring device and method of power inspection robot based on laser scanning |
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| CN111947644A (en) * | 2020-08-10 | 2020-11-17 | 北京洛必德科技有限公司 | Outdoor mobile robot positioning method and system and electronic equipment thereof |
| CN113189977A (en) * | 2021-03-10 | 2021-07-30 | 新兴际华集团有限公司 | Intelligent navigation path planning system and method for robot |
| CN114252074A (en) * | 2021-12-08 | 2022-03-29 | 天津港股份有限公司 | Navigation system of unmanned guided transport vehicle |
| CN114608549A (en) * | 2022-05-10 | 2022-06-10 | 武汉智会创新科技有限公司 | Building measurement method based on intelligent robot |
| CN116483016A (en) * | 2023-06-25 | 2023-07-25 | 北京瀚科智翔科技发展有限公司 | Universal kit for unmanned modification of manned control equipment and implementation method |
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