CN104655007B - One kind creates environment scene world coordinates method and system - Google Patents
One kind creates environment scene world coordinates method and system Download PDFInfo
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- CN104655007B CN104655007B CN201310597902.3A CN201310597902A CN104655007B CN 104655007 B CN104655007 B CN 104655007B CN 201310597902 A CN201310597902 A CN 201310597902A CN 104655007 B CN104655007 B CN 104655007B
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Abstract
The present invention is applied to robot and builds Cartographic Technique field, environment scene world coordinates method and system are created there is provided one kind, this method is applied to the system comprising laser range finder and robot, and the laser range finder is mounted in the robot, and methods described includes：Robot local coordinate data of the external environment condition relative to the robot in the process of moving are gathered by the laser range finder；The travel speed and deviation angle of the robot are obtained, the local coordinate data are converted to by world coordinates data according to the travel speed and deviation angle；The cartographic information of external environment condition according to the world coordinates data creation.Pass through the present invention so that data acquisition more comprehensively, accurately, can accurately reproduce two-dimensional environment scene.
Description
Technical field
Cartographic Technique field, more particularly to a kind of establishment environment scene world coordinates method are built the invention belongs to robot
And system.
Background technology
Laser range finder measures environmental surfaces corresponding points to the distance of measurement position by laser scanning, by adjusting the distance and
Angle can obtain the coordinate of corresponding points relative laser rangefinder.But the detection range of laser range finder is not 360 degree, by it
The limitation of scanning range, every time scanning can only all obtain a part of data of scene, to obtain scene global coordinate, it is necessary to not
Same angle is scanned to environment scene.The data that laser scanner is scanned every time are all environment scenes relative to scanning position
The local coordinate value put, i.e., in the data that different scan positions is obtained not under same coordinate system.Prior art needs
The data point set that different scanning position is scanned is matched to obtain scene global coordinate, and amount of calculation is larger and not accurate enough
Really.
The content of the invention
The embodiment of the present invention is to provide a kind of establishment environment scene world coordinates method, to solve prior art in establishment
The problem of amount of calculation is larger and not accurate enough during scene global coordinate.
The first aspect of the embodiment of the present invention creates environment scene world coordinates method there is provided one kind, applied to comprising sharp
The system of optar and robot, the laser range finder is mounted in the robot, and methods described includes：
By the laser range finder gather the robot in the process of moving external environment condition relative to the robot
Local coordinate data；
The travel speed and deviation angle of the robot are obtained, according to the travel speed and deviation angle by the office
Portion's coordinate data is converted to world coordinates data；
The cartographic information of external environment condition according to the world coordinates data creation.
The second aspect of the embodiment of the present invention creates environment scene world coordinates system there is provided one kind, and the system includes：
Laser range finder and robot, the laser range finder are mounted in the robot；
Data acquisition module, for gathering robot external environment condition in the process of moving by the laser range finder
Relative to the local coordinate data of the robot；
Data conversion module, travel speed and deviation angle for obtaining the robot, according to the travel speed
The local coordinate data are converted into world coordinates data with deviation angle；
Data processing module, the cartographic information for the external environment condition according to the world coordinates data creation.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：The embodiment of the present invention using robot as swash
The carrier of optar, enables laser range finder more comprehensively to gather the local coordinate number of external environment condition by robot
According to, and the local coordinate data are converted to by world coordinates data according to the travel speed and deviation angle of robot so that
Data result more comprehensively, accurately, can accurately reproduce two-dimensional environment scene.And the embodiment of the present invention is realized simply, to hard
Part requires relatively low, so that product cost is advantageously reduced, with stronger usability and practicality.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the application scenarios that the establishment environment scene world coordinates method that first embodiment of the invention is provided is applicable
Figure；
Fig. 2 is the schematic diagram for the robot that first embodiment of the invention is provided；
Fig. 3 is the implementation process figure for the establishment environment scene world coordinates method that second embodiment of the invention is provided；
Fig. 4 is the schematic diagram in the robot driving process that second embodiment of the invention is provided；
Fig. 5 is another schematic diagram in the robot driving process that second embodiment of the invention is provided；
Fig. 6 is the composition structure chart for the establishment environment scene world coordinates system that third embodiment of the invention is provided.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one：
Fig. 1 shows the application scenarios that the establishment environment scene world coordinates method that first embodiment is provided is applicable, and is
It is easy to explanation, illustrate only the part related to the embodiment of the present invention.
As shown in figure 1, the application scenarios include laser range finder 1, robot 2 and processor 3, the laser range finder
1 is mounted in the robot 2, is mounted in the expansion board of the robot 2.Exemplary, the machine
Device people 2 is also configured with two front-wheels, rear single wheel, wireless network module and linux operating systems etc..
The present embodiment is after start machine people 2, speed when setting the straight trip speed of the robot, turning（Work as straight line
Set the speed of two front-wheels identical during traveling；It is outer ring wheel velocity to set inner ring wheel velocity in two front-wheels when cornering
Half）And initial travel direction.Exemplary, as shown in Fig. 2 using the startup position of robot 2 as the origin of coordinates, initially
Travel direction is y-axis, and the distance between two front-wheels are d, and the scanning angle of laser range finder 1 is（- 30 °, 120 °）.
In order to more comprehensively gather the data of external environment condition, using robot 2 as laser range finder 1 carrier, by described
Laser range finder 1 gathers the robot 2 local coordinate number of the external environment condition relative to the robot 2 in the process of moving
According to.Wherein, the laser range finder 1 measures preset range using non-contacting mode（5.6m, 240 ° of scope）Interior object
Size and position.
In the present embodiment, processor 3 sends control instruction to robot 2, and the control instruction includes the row of robot 2
Direction, travel speed etc. are sailed, robot 2 is after the control instruction that the processor 3 is sent is received, according to the control instruction
In travel direction, travel speed travelled.Laser range finder 1 gathers the robot 2 external environment condition in the process of moving
Relative to the local coordinate data of the robot 2, and the local coordinate data are sent to the robot 2 deposited
The local coordinate data are converted to world coordinates data by storage, robot 2 according to the travel speed and deviation angle of itself, and
When the world coordinates data reach predetermined threshold value, the robot 2 suspends N seconds（N is the integer more than or equal to 1）, and
The world coordinates data are sent to the processor 3 during pause, can be specifically according to ICP/IP protocol
The world coordinates data are sent to the processor 3.
Robot 2 continues to travel after currently stored world coordinates data are sent into processor 3, in circulation execution
The steps such as data acquisition, data conversion and data transmission are stated, until required external environment condition data have all been gathered or machine
Device people 2 is received after the stopping of the transmission of processor 3, and laser range finder 1 stops the collection of data.Processor 3 is according to receiving
Whole world coordinates data create the cartographic information of the external environment condition by visual softwares such as matlab, to reduce outside
Two-dimensional environment scene.
The embodiment of the present invention is realized simply, relatively low to hardware requirement, with higher flexibility.And data acquisition is complete
It is face, accurate so that outside two-dimensional environment scene can be with accurate reproduction.
Embodiment two：
Fig. 3 shows the implementation process for the establishment environment scene world coordinates method that second embodiment is provided, and this method can
Applied to the application scenarios shown in Fig. 1, details are as follows for this method process：
In step S301, by laser range finder gather robot in the process of moving external environment condition relative to the machine
The local coordinate data of device people.
In the present embodiment, the laser range finder is mounted in the robot, can be specifically be mounted in it is described
In the expansion board of robot.Using robot as the carrier of laser range finder 1, the machine is gathered by the laser range finder
People's local coordinate data of the external environment condition relative to the robot in the process of moving.Wherein, the laser range finder is used
Non-contacting mode measures preset range（5.6m, 240 ° of scope）Interior dimension of object and position.
In the present embodiment, described 682 points of laser range finder single pass, from（- 30 °, 120 °）Scan, obtain one by one
Point again by angle calculation, obtain coordinate points, formula is as follows：
The angle value of every line of laser range finder is：
angle=(i-(LRF_DATA_NB/2.0-1024/4.0))*360.0/1024.0；
The i-th point coordinates is in 682 points：
x=kb_lrf_DistanceData[i]*cos(angle*M_PI/180.0);
y=kb_lrf_DistanceData[i]*sin(angle*M_PI/180.0);
Wherein, kb_lrf_DistanceData [i] is distance of the laser range finder to object in preset range,
LRF_DATA_NB values are that 682, M_PI values are 3.14.
In step s 302, the travel speed and deviation angle of the robot are obtained, according to the travel speed and partially
Move angle and the local coordinate data are converted into world coordinates data.
Particularly, when the inceptive direction that the Robot is set（Such as y-axis, as shown in Figure 4）During traveling, Laser Measuring
Distance meter scanning range changes, and the angle of every line of laser range finder is constant, and x-axis seat target value is constant, and y-axis coordinate value becomes
Change, being transformed into the i-th point coordinates in world coordinates data is：
x=kb_lrf_DistanceData[i]×cos(angle×M_PI/180.0)；
y=ch_y+kb_lrf_DistanceData[i]×sin(angle×M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0, LRF_DATA_NB values
It is the distance of the robot movement for 682, ch_y（It can be obtained according to the time of traveling and the straight trip speed of setting）, kb_
Lrf_DistanceData [i] is distance of the laser range finder to object in preset range, and M_PI is 3.14.
When the robot bends to right arrival（X2, y2）（As shown in Figure 5）When, laser range finder angle change is：
angle=(i-(LRF_DATA_NB/2.0-1024/4.0))*360.0/1024.0+ch_angle；
Ch_angle is the step angle of robot, ch_angle values are 360 °/(N-1), N is the integer more than 1, N tools
Body can be the number of times that robot is scanned around a circle in testing, when robot is reached（X2, y2）When, what laser range finder was scanned
Surrounding environment Coordinate Conversion i-th point coordinates into world coordinates data is：
x=ch_x+1.5d×(1-cos(ch_angle×M_PI/180.0))；
y=ch_y+1.5d×sin(ch_angle×M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and N can be specifically time of the robot around a circle scanning in experiment
Number, d is the distance between described two front-wheels of robot, and M_PI values are 3.14；
When the robot turns to the left, the i-th point coordinates is in the world coordinates data being transformed into：
x=ch_x-1.5d×sin(ch_angle×M_PI/180.0)；
y=ch_y+1.5d×cos(ch_angle×M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and N can be specifically time of the robot around a circle scanning in experiment
Number, d is the distance between described two front-wheels of robot, and M_PI values are 3.14.
When the Robot is travelled relative to the oblique line directions of inceptive direction（As shown in figure 5, from（X2, y2）Arrive（X3,
y3））When, laser range finder angle change is：angle=(i-(LRF_DATA_NB/2.0-1024/4.0))*360.0/1024.0
+ch_angle；
Ch_angle is the step angle of robot, ch_angle values are 360 °/(N-1), N is the integer more than 1, N tools
Body can be the number of times that robot is scanned around a circle in testing, by circumference equation：(x-a)2+(y-b)2=r2, (a, b) is that coordinate is former
Point, being transformed into the i-th point coordinates in the world coordinates data of oblique line directions is：
x=ch_x+kb_lrf_DistanceData[i]×cos(angle×M_PI/180.0)；
y=ch_y+kb_lrf_DistanceData[i]×sin(angle×M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0+ch_angle, LRF_
DATA_NB values are 682, and (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and N can be specifically time of the robot around a circle scanning in experiment
Number, kb_lrf_DistanceData [i] is distance of the laser range finder to object in preset range, and M_PI values are 3.14.
The present embodiment, can be by the robot local seat that laser range finder is collected in the process of moving by above-mentioned formula
Mark data are transformed into world coordinates data.
Further, the present embodiment is before the travel speed and deviation angle of the robot is obtained, in addition to：
Start machine people, the speed when straight trip speed of the robot being set, being turned（Two are set when straight-line travelling
The speed of front-wheel is identical；Inner ring wheel velocity is the half of outer ring wheel velocity in two front-wheels of setting when cornering）And just
Beginning travel direction etc..
In step S303, the cartographic information of external environment condition according to the world coordinates data creation.
Can be specifically to be created according to the whole world coordinates data received by visual softwares such as matlab
The cartographic information of the external environment condition, to reduce the two-dimensional environment scene of outside.
By the embodiment of the present invention so that data acquisition more comprehensively, accurately, can accurately reproduce two-dimensional environment scene.And
And realize simply, it is relatively low to hardware requirement, with higher flexibility.
Embodiment three：
Fig. 6 shows the composition structure for the establishment environment scene world coordinates system that third embodiment of the invention is provided, and is
It is easy to explanation, illustrate only the part related to the embodiment of the present invention.
The system can be applied to the application scenarios described in Fig. 1.
The establishment environment scene world coordinates system includes laser range finder 1 and robot 2, the laser range finder 1
It is mounted in the robot 2.Wherein, the system also includes：
Data acquisition module 11, data conversion module 21 and data processing module 31；
The data acquisition module 11 is used for outer in the process of moving by the laser range finder collection robot
Local coordinate data of portion's environment relative to the robot；
The data conversion module 21 is used for the travel speed and deviation angle for obtaining the robot, according to the traveling
The local coordinate data are converted to world coordinates data by speed and deviation angle；
The data processing module 31, the map letter for the external environment condition according to the world coordinates data creation
Breath.
Exemplary, the data acquisition module 11 can be applied to laser range finder 1；The data conversion module 21 can be answered
For robot 2；The data processing module 31 can be applied to the processor 3 shown in Fig. 1.In practical application, it can be not limited to
This, such as the data conversion module 21 can also be applied to processor 3, this is no longer going to repeat them.
Further, the robot 2 can also include data transmission blocks 22, and the data transmission blocks 22 are used for will
The world coordinates data are sent to data processing module 31；
Further, the laser range finder 2 can also include：
Setup module 23, for before the travel speed and deviation angle of the robot is obtained, starting the machine
People, speed and initial travel direction when the straight trip speed of the robot being set, being turned.
Further, the data conversion module 21 specifically for：
When the inceptive direction traveling that the Robot is set, the i-th point coordinates is in world coordinates data：
x=kb_lrf_DistanceData[i]×cos(angle×M_PI/180.0)；
y=ch_y+kb_lrf_DistanceData[i]×sin(angle×M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0, LRF_DATA_NB values
It is the distance of robot movement for 682, ch_y, kb_lrf_DistanceData [i] is the laser range finder to making a reservation for
In the range of object distance, M_PI values are 3.14；
When the robot bends to right, the i-th point coordinates is in world coordinates data：
x=ch_x+1.5d×(1-cos(ch_angle×M_PI/180.0))；
y=ch_y+1.5d×sin(ch_angle×M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and d is the distance between described two front-wheels of robot, and M_PI values are
3.14；
When the robot turns to the left, the i-th point coordinates is in world coordinates data：
x=ch_x-1.5d×sin(ch_angle×M_PI/180.0)；
y=ch_y+1.5d×cos(ch_angle×M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and d is the distance between described two front-wheels of robot, and M_PI values are
3.14；
When the Robot non-initial direction running, the i-th point coordinates is in world coordinates data：
x=ch_x+kb_lrf_DistanceData[i]×cos(angle×M_PI/180.0)；
y=ch_y+kb_lrf_DistanceData[i]×sin(angle×M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0+ch_angle, LRF_
DATA_NB values are 682, and (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot,
Ch_angle values are 360 °/(N-1), N is integer more than 1, and kb_lrf_DistanceData [i] is the laser range finder
The distance of object in preset range, M_PI values are 3.14.
It is apparent to those skilled in the art that, for convenience and simplicity of description, only with above-mentioned each function
Unit, the division progress of module are for example, in practical application, as needed can distribute above-mentioned functions by different work(
Can unit, module complete, i.e., the internal structure of described system is divided into different functional unit or module, to complete above description
All or part of function.Each functional unit or module in embodiment can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit, above-mentioned integrated list
Member or module can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each function
Unit, the specific name of module are also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Above-mentioned system
Unit, the specific work process of module, may be referred to the corresponding process of preceding method embodiment, will not be repeated here in system.
In summary, the embodiment of the present invention is made using robot as the carrier of laser range finder by the enforcement of robot
Laser range finder can more comprehensively gather the local coordinate data of external environment condition, and travel speed according to robot and/or partially
Move angle and the local coordinate data are converted into world coordinates data so that data result more comprehensively, accurately, can be accurate
Reproduce two-dimensional environment scene.And the embodiment of the present invention realize it is simple, it is relatively low to hardware requirement, thus advantageously reduce product into
This, with stronger usability and practicality.
Those of ordinary skill in the art are further appreciated that all or part of step realized in above-described embodiment method is can
To instruct the hardware of correlation to complete by program, described program can be stored in a computer read/write memory medium
In, described storage medium, including ROM/RAM, disk, CD etc..
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Some equivalent substitutes or obvious modification are made on the premise of not departing from present inventive concept, and performance or purposes are identical, all should
It is considered as belonging to the scope of patent protection that the present invention is determined by the claims submitted.
Claims (8)
1. one kind creates environment scene world coordinates method, it is characterised in that applied to comprising laser range finder and robot
System, the laser range finder is mounted in the robot, and methods described includes：
Office of the external environment condition relative to the robot in the process of moving of the robot is gathered by the laser range finder
Portion's coordinate data；
The travel speed and deviation angle of the robot are obtained, the part is sat according to the travel speed and deviation angle
Mark data are converted to world coordinates data；
The cartographic information of external environment condition according to the world coordinates data creation；
The travel speed and deviation angle for obtaining the robot, according to the travel speed and deviation angle by the office
Portion's coordinate data, which is converted to world coordinates data, to be included：
When the inceptive direction straight-line travelling that the Robot is set, the i-th point coordinates is in world coordinates data：
X=kb_lrf_DistanceData [i] × cos (angle × M_PI/180.0)；
Y=ch_y+kb_lrf_DistanceData [i] × sin (angle × M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0, angle represents angle value,
LRF_DATA_NB values are that 682, ch_y is the distance that the robot is moved, and kb_lrf_DistanceData [i] is described sharp
Optar is to the distance of object in preset range, and M_PI values are 3.14.
2. the method as described in claim 1, it is characterised in that obtain the robot travel speed and deviation angle it
Before, methods described includes：
Start the robot, speed and initial travel direction when the straight trip speed of the robot being set, being turned.
3. the method as described in claim 1, it is characterised in that the travel speed and deviation angle of the acquisition robot
Degree, the local coordinate data are converted into world coordinates data according to the travel speed and deviation angle includes：
When the robot bends to right, the i-th point coordinates is in world coordinates data：
X=ch_x+1.5d × (1-cos (ch_angle × M_PI/180.0))；
Y=ch_y+1.5d × sin (ch_angle × M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot, ch_
Angle values are 360 °/(N-1), N represents the time of robot pause, and N is integer more than 1, before d is two, the robot
Distance between wheel；
When the robot turns to the left, the i-th point coordinates is in world coordinates data：
X=ch_x-1.5d × sin (ch_angle × M_PI/180.0)；
Y=ch_y+1.5d × cos (ch_angle × M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot, ch_
Angle values are 360 °/(N-1), N represents the time of robot pause, and N is integer more than 1, before d is two, the robot
Distance between wheel, M_PI values are 3.14.
4. the method as described in claim 1, it is characterised in that the travel speed and deviation angle of the acquisition robot
Degree, the local coordinate data are converted into world coordinates data according to the travel speed and deviation angle includes：
When oblique line directions traveling of the Robot relative to inceptive direction, the i-th point coordinates is in world coordinates data：
X=ch_x+kb_lrf_DistanceData [i] × cos (angle × M_PI/180.0)；
Y=ch_y+kb_lrf_DistanceData [i] × sin (angle × M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0+ch_angle, angle tables
Show angle value, LRF_DATA_NB values are 682, and (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the machine
The step angle of people, ch_angle values are 360 °/(N-1), and N represents the time of robot pause, and N is integer more than 1, kb_
Lrf_DistanceData [i] is distance of the laser range finder to object in preset range, and M_PI values are 3.14.
5. one kind creates environment scene world coordinates system, it is characterised in that the system includes：
Laser range finder and robot, the laser range finder are mounted in the robot；
Data acquisition module, for gathering the robot by the laser range finder, external environment condition is relative in the process of moving
In the local coordinate data of the robot；
Data conversion module, travel speed and deviation angle for obtaining the robot, according to the travel speed and partially
Move angle and the local coordinate data are converted into world coordinates data；
Data processing module, the cartographic information for the external environment condition according to the world coordinates data creation；
The data conversion module specifically for：
When the inceptive direction traveling that the Robot is set, the i-th point coordinates is in world coordinates data：
X=kb_lrf_DistanceData [i] × cos (angle × M_PI/180.0)；
Y=ch_y+kb_lrf_DistanceData [i] × sin (angle × M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0, angle represents angle value,
LRF_DATA_NB values are that 682, ch_y is the distance that the robot is moved, and kb_lrf_DistanceData [i] is described sharp
Optar is to the distance of object in preset range, and M_PI values are 3.14.
6. system as claimed in claim 5, it is characterised in that the system also includes：
Setup module, for before the travel speed and deviation angle of the robot is obtained, starting the robot, is set
The straight trip speed of the robot, speed and initial travel direction when turning.
7. system as claimed in claim 5, it is characterised in that the data conversion module specifically for：
When the robot bends to right, the i-th point coordinates is in world coordinates data：
X=ch_x+1.5d × (1-cos (ch_angle × M_PI/180.0))；
Y=ch_y+1.5d × sin (ch_angle × M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot, ch_
Angle values are 360 °/(N-1), N represents the time of robot pause, and N is integer more than 1, before d is two, the robot
Distance between wheel, M_PI values are 3.14；
When the robot turns to the left, the i-th point coordinates is in world coordinates data：
X=ch_x-1.5d × sin (ch_angle × M_PI/180.0)；
Y=ch_y+1.5d × cos (ch_angle × M_PI/180.0)；
Wherein, (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the step angle of the robot, ch_
Angle values are 360 °/(N-1), N represents the time of robot pause, and N is integer more than 1, before d is two, the robot
Distance between wheel, M_PI values are 3.14.
8. system as claimed in claim 5, it is characterised in that the data conversion module specifically for：
When oblique line directions traveling of the Robot relative to inceptive direction, the i-th point coordinates is in world coordinates data：
X=ch_x+kb_lrf_DistanceData [i] × cos (angle × M_PI/180.0)；
Y=ch_y+kb_lrf_DistanceData [i] × sin (angle × M_PI/180.0)；
Wherein, angle=(i- (LRF_DATA_NB/2.0-1024/4.0)) × 360.0/1024.0+ch_angle, angle tables
Show angle value, LRF_DATA_NB values are 682, and (ch_x, ch_y) is the world coordinates of the i-th -1 point, and ch_angle is the machine
The step angle of people, ch_angle values are 360 °/(N-1), and N represents the time of robot pause, and N is integer more than 1, kb_
Lrf_DistanceData [i] is distance of the laser range finder to object in preset range, and M_PI values are 3.14.
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