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

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

A Navigation System Based on Multi-sensor Data Fusion

technical field

The invention relates to the technical field of robot navigation, in particular to a navigation system based on multi-sensor data fusion.

Background technique

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.

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.

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.

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.

Contents of the invention

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.

To achieve the above object, the present invention provides the following technical solutions:

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.

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. .

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.

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.

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.

Description of drawings

Fig. 1 is a hardware structural diagram of the present invention;

Fig. 2 is a structural diagram of the map building module of the present invention.

Fig. 3 is a structural diagram of the positioning module of the present invention.

Fig. 4 is a flow chart of the positioning system algorithm of the present invention.

Figure 5 is a block diagram of the path planning control system of the system.

Figure 6 is a structural diagram of the data fusion algorithm used in this system.

Detailed ways

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.

Example 1

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.

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.

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.

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.

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.

Figure 6 is a structural diagram of the multi-sensor data fusion algorithm used.

The installation method of the ultrasonic distance measuring sensor for collision avoidance and precise positioning:

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.

How to install the laser scanning sensor for navigation:

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.

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.

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. 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. 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. 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. 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.