CN105892461A - Method and system for matching and recognizing the environment where robot is and map - Google Patents
Method and system for matching and recognizing the environment where robot is and map Download PDFInfo
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- CN105892461A CN105892461A CN201610244332.3A CN201610244332A CN105892461A CN 105892461 A CN105892461 A CN 105892461A CN 201610244332 A CN201610244332 A CN 201610244332A CN 105892461 A CN105892461 A CN 105892461A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000002245 particle Substances 0.000 claims abstract description 50
- 238000006073 displacement reaction Methods 0.000 claims description 60
- 230000004888 barrier function Effects 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000004744 fabric Substances 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012952 Resampling Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004807 localization Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 240000004272 Eragrostis cilianensis Species 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009967 tasteless effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
Abstract
The invention provides a method for matching and recognizing the environment where a robot is and a map. The method comprises the following steps: S10: utilizing a particle filter to position the environment where a robot is, and obtaining the positional information of the robot; S20: calculating the matching degree between the environment where the robot is and the read map; S30: determining whether the matching degree between the environment where the robot is and the map satisfies the matching demand; S40: if the matching degree between the environment where the robot is and the map does not satisfy the matching demand, the environment where the robot does not match the map; and if not, the environment where the robot matches the map. The method and system for matching and recognizing the environment where a robot is and a map can utilize the particle filter to position the environment where the robot is, can calculate the matching degree between the environment where the robot is and the map to determine whether the matching degree satisfies the matching demand, so that the method and system can identify whether the environment matches the map so as to improve the adaptability of the robot to the complicated environment and the self safety of the robot.
Description
Technical field
The present invention relates to robotics, refer in particular to the match cognization of robot local environment and map
Method and system.
Background technology
Along with science and technology constantly improves, the kind of mobile robot gets more and more, be widely used in industry,
The industries such as agricultural, fire-fighting, service, are liked by numerous people deeply.Mobile robot autonomous complete various
Before task, providing map and move the path planning that robot walks on map, mobile robot is pressed
Walk according to path planning.
But, mobile robot is during walking, it is more likely that can run into emergency situations, institute of robot
Place's environmental change conference affects the degree of accuracy of robot localization, if robot localization failure, robot may
Can be out of control.Therefore, mobile robot is more and more higher to the requirement of environmental suitability, needs to judge in time to move
Whether robot local environment mates with map, to avoid the raw unnecessary shock of mobile machine human hair.
Summary of the invention
The present invention is to solve the problem whether mobile robot local environment mates with map, it is provided that Yi Zhongji
The matching and recognition method of device people's local environment and map and system.This matching and recognition method and system identification
Go out whether robot local environment mates with map, thus improve robot to the adaptability of complex environment and machine
The security of device people self.
In order to realize the above goal of the invention of the present invention, the present invention is achieved by the following technical solutions:
The present invention provides the matching and recognition method of a kind of robot local environment and map, comprises the steps:
S10 utilizes particle filter to position robot local environment, obtains the positional information of described robot；
S20 calculates the matching degree of described robot local environment and the map read；S30 judges described machine
Whether people's local environment meets with the matching degree of described map mates requirement；If ring residing for the described robot of S40
Border is unsatisfactory for mating requirement with the matching degree of described map, and the most described robot local environment is with described map not
Coupling；Otherwise, described robot local environment and described map match.
Further, robot local environment and the matching and recognition method of map, further comprise the steps of: S01 profit
Obtain the laser data of described robot local environment with laser sensor, described laser data includes that laser connects
Receive total number, Laser emission total number, laser length and laser angle.
Further, described step S30 also comprises the steps: the S31 laser according to described laser sensor
Receive total number, calculate laser pick-off total number and account for the ratio of Laser emission total number；S32 judges that laser connects
Receive total number and whether account for the ratio of Laser emission total number more than the legal threshold value of laser；If S33 laser pick-off is total
Bar number accounts for the ratio of Laser emission total number more than the legal threshold value of laser, then judge the matching degree that calculates whether
Less than preset matching threshold value；If the matching degree that S34 calculates is less than preset matching threshold value, then calculate described
Matching degree, less than the duration of described preset matching threshold value, records the initial pose of described robot with current
Pose；S35 judges that whether the duration calculated is more than preset time threshold；If what S36 calculated holds
The continuous time more than preset time threshold, then according to initial pose and the current pose of described robot, calculates
The displacement difference of described robot；Otherwise, step S31 is jumped to；Whether the displacement difference that S37 judgement calculates
More than preset displacement threshold value；If the displacement difference calculated is more than preset displacement threshold value, residing for the most described robot
Environment does not mates with described map；Otherwise, described robot local environment and described map match.
Further, described step S10 further comprises the steps of: S11 and utilizes particle filter to ring residing for robot
Border positions, and obtains the pose of described robot；Its ranging formula is as follows:
X (t)=f (x (t-1), u (t))；
Y (t)=g (x (t), z (t), m)；
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is described robot local environment
Laser data, z (t) is the measurement noise analogue value, and m is cartographic information.
Further, described step S20 further comprises the steps of: S21 employing Gaussian distribution density function and calculates t
Weight p of moment single particle, is described robot local environment with described by accumulative for all particle weights
The matching degree of map；Single particle weight calculation formula is as follows:
Wherein, α is Gaussian Profile coefficient, and d is the laser length in described laser data, and β is that Gauss divides
The variance of cloth, l is between the barrier in described robot local environment and the barrier in described map
Distance.
Further, robot local environment and the matching and recognition method of map, further comprise the steps of: S50 and work as
When described robot local environment and described map match, described robot walks according to path planning；S60
When described robot local environment is not mated with described map, described robot reports to the police and stops according to planning
Walk in path.
Further, robot local environment and the matching and recognition method of map.Further comprise the steps of: S51 to work as
When described robot walks according to path planning, it is judged that whether described robot reaches home position；If S52
Described robot reaches home position, and the most described robot stops walking；Otherwise, step S01 is jumped to.
Further, the system of the matching and recognition method of robot local environment and map, including: location mould
Block, is used for utilizing particle filter to position robot local environment, obtains the pose of described robot；
Computing module, described computing module electrically connects with described locating module, is used for calculating residing for described robot
The matching degree of environment and the map read；Judge module, described judge module is electrically connected with described computing module
Connect, mate requirement for judging whether described robot local environment meets with the matching degree of described map；?
Joining identification module, described match cognization module electrically connects with described judge module, if for institute of described robot
Place's environment is unsatisfactory for mating requirement with the matching degree of described map, the most described robot local environment and describedly
Figure does not mates；Otherwise, described robot local environment and described map match.
Further, robot local environment and the match cognization system of map, including: data acquisition module,
For utilizing laser sensor to obtain the laser data of described robot local environment, described laser data includes
Laser pick-off total number, Laser emission total number, laser length and laser angle.
Further, described computing module is additionally operable to the laser pick-off total number according to described laser sensor, meter
Calculate laser pick-off total number and account for the ratio of Laser emission total number；Described judge module is additionally operable to judge that laser connects
Receive total number and whether account for the ratio of Laser emission total number more than the legal threshold value of laser；If laser pick-off total number
The ratio accounting for Laser emission total number is more than the legal threshold value of laser, and the most described judge module is additionally operable to judge to calculate
Whether the matching degree gone out is less than preset matching threshold value；If the matching degree calculated is less than preset matching threshold value,
The most described computing module is additionally operable to the duration calculating described matching degree less than described preset matching threshold value,
Logging modle is for recording the initial pose of described robot and current pose；Described judge module is additionally operable to sentence
Whether the disconnected duration calculated is more than preset time threshold；If the duration calculated is more than when presetting
Between threshold value, the most described computing module is additionally operable to the initial pose according to described robot and current pose, calculate
Go out the displacement difference of described robot；Described judge module is additionally operable to judge that whether the displacement difference calculated is more than pre-
If displacement threshold value；If the displacement difference calculated is more than preset displacement threshold value, the most described match cognization module is used for
Identify described robot local environment not mate with described map；Otherwise, described match cognization module is used for
Identify described robot local environment and described map match.
The present invention at least one of has the advantages that
1. the present invention utilizes particle filter to position robot local environment, calculates institute of robot
Place's environment and the matching degree of map, it is judged that whether matching degree meets coupling requirement, thus identifies environment and ground
Whether figure mates, thus improves robot to the adaptability of complex environment and the security of robot self.
2, the present invention is identifying after whether robot local environment mate with map, whether controls robot
Walk according to path planning, thus the environment for reply real-time change provides process strategy, such as, run into obstacle
During thing, coupling meets and requires optional detouring, otherwise matching degree be unsatisfactory for requirement can path planning etc. again.
3, the present invention is applicable not only to robot when walking on path planning, in complex environment, knows
Do not go out its environment not mate with map；Apply also for judging robot place environment whether with the map be given
Unanimously, can prompt the user whether to select wrong map.
Accompanying drawing explanation
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:
Fig. 1 is the schematic diagram of a kind of robot local environment and the matching and recognition method of map；
Fig. 2 is a part of schematic diagram of robot local environment and the matching and recognition method of map；
Fig. 3 is the schematic diagram of another kind of robot local environment and the matching and recognition method of map；
Fig. 4 is the schematic diagram of another robot local environment and the matching and recognition method of map；
Fig. 5 is another part schematic diagram of robot local environment and the matching and recognition method of map；
Fig. 6 is the composition structural representation of a kind of robot local environment and the match cognization system of map；
Fig. 7 is the composition structural representation of another kind of robot local environment and the match cognization system of map；
In figure:
10, locating module, 11, data acquisition module, 20, computing module, 21, logging modle,
30, judge module, 40, match cognization module, 50, control module, 60, alarm module.
Detailed description of the invention
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, following description
It is exemplary with accompanying drawing for the present invention, and is understood not to limit the present invention.Following description describes
The present invention is understood by numerous details to facilitate.But, in some instances, that know or routine
Details is the most undeclared, the requirement succinct to meet specification.
As it is shown in figure 1, according to one embodiment of present invention, a kind of robot local environment and map
Join recognition methods, comprise the steps:
S10 utilizes particle filter to position robot local environment, obtains the position of described robot
Information；
S20 calculates the matching degree of described robot local environment and the map read；
S30 judges whether described robot local environment meets with the matching degree of described map and mates requirement；
If described robot local environment is unsatisfactory for mating requirement with the matching degree of described map, then perform S40
Described robot local environment is not mated with described map；
If described robot local environment meets with the matching degree of described map mates requirement, then perform S41 institute
State robot local environment and described map match.
As shown in Figure 1 and Figure 2, according to another embodiment of the invention, a kind of robot local environment with
The matching and recognition method of map, comprises the steps:
S01 utilizes laser sensor to obtain the laser data of described robot local environment, described laser data
Including laser pick-off total number, Laser emission total number, laser length and laser angle；Preferably, institute
The model stating laser sensor can be RPLIDARA1M1；
S10 utilizes particle filter to position robot local environment, obtains the position of described robot
Information；
S20 calculates the matching degree of described robot local environment and the map read；
S31, according to the laser pick-off total number of described laser sensor, calculates laser pick-off total number and accounts for laser
Launch the ratio of total number；
S32 judges that whether laser pick-off total number accounts for the ratio of Laser emission total number more than the legal threshold of laser
Value, when the legal threshold value of described laser refers to run into barrier, laser pick-off total number accounts for Laser emission total number
Ratio；
If the ratio that S33 laser pick-off total number accounts for Laser emission total number is more than the legal threshold value of laser, then sentence
Whether the disconnected matching degree calculated is less than preset matching threshold value；Otherwise, step S41 is jumped to；
If the matching degree that S34 calculates is less than preset matching threshold value, then calculate described matching degree less than described
The duration of preset matching threshold value, record the initial pose of described robot and current pose；Otherwise, jump
Go to step S41；
S35 judges that whether the duration calculated is more than preset time threshold；
If the duration that S36 calculates is more than preset time threshold, then according to the initial bit of described robot
Appearance and current pose, calculate the displacement difference of described robot；Otherwise, step S31 is jumped to；
S37 judges that whether the displacement difference calculated is more than preset displacement threshold value；
If the displacement difference calculated is more than preset displacement threshold value, then perform robot local environment described in S40 with
Described map does not mates；
If the displacement difference calculated is less than preset displacement threshold value, then perform robot local environment described in S41 with
Described map match.
Concrete, laser pick-off total number refers to: the laser strip number reflected, and utilizes laser sensor to visit
Survey robot local environment, if local environment is more open, outside laser measurement scope, then reflect
Laser strip number account for Laser emission sum ratio will be less than the legal threshold value of laser；If environmental information is enriched,
Such as distribution of obstacles is complicated, and major part laser can fire back, then reflect in laser sensor
Laser strip number accounts for the ratio of Laser emission sum more than the legal threshold value of laser；
Judge the matching degree of robot local environment and map, it is judged that whether this matching degree is less than preset matching threshold
Value, if matching degree is less than preset matching threshold value, then it represents that this barrier is not present in map；If matching degree
More than or equal to preset matching threshold value, then it represents that this barrier is present in map, robot local environment and ground
Figure coupling；
Judge that matching degree is less than the duration of preset matching threshold value whether more than preset time threshold, if holding again
The continuous time is more than preset time threshold, then it represents that this barrier will not disappear at short notice, can hinder machine
People walks；If the duration is not more than preset time threshold, then it represents that this barrier can disappear at short notice,
Robot ambulation, robot local environment is not hindered still to mate with map；
Judge whether the displacement difference of robot is more than preset displacement threshold value again, if displacement difference is more than preset displacement threshold
Value, then it represents that robot still detects that after motion certain distance environmental change is big, gets rid of robot solid
Fixed position is in low matching degree and certain time, the situation that environmental change is little in fact, institute of robot
Place's environment does not mates with map, needs robot is carried out relevant control；If displacement difference is not more than preset displacement
Threshold value, then it represents that robot local environment is still mated with map.
According to still a further embodiment, a kind of robot local environment and the match cognization side of map
Method, comprises the steps:
S01 utilizes laser sensor to obtain the laser data of described robot local environment, described laser data
Including laser pick-off total number, Laser emission total number, laser length and laser angle；
S11 utilizes particle filter to position robot local environment, obtains the pose of described robot；
Its ranging formula is as follows:
X (t)=f (x (t-1), u (t))；
Y (t)=g (x (t), z (t), m)；
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is described robot local environment
Laser data, z (t) is the random observation noise simulation value between 0～1, and m is cartographic information；At this
Bright middle z (t) is exactly the c in weight calculation formula；
S21 uses Gaussian distribution density function to calculate weight p of t single particle, by all particles
Weight adds up the matching degree being described robot local environment with described map；Single particle weight calculation is public
Formula is as follows:
Wherein, α is Gaussian Profile coefficient, and d is the laser length in described laser data, and β is that Gauss divides
The variance of cloth, l is between the barrier in described robot local environment and the barrier in described map
Distance；Wherein, the value of l is the least, and matching degree is the highest, and environmental change is the least；
S31, according to the laser pick-off total number of described laser sensor, calculates laser pick-off total number and accounts for laser
Launch the ratio of total number；
S32 judges that whether laser pick-off total number accounts for the ratio of Laser emission total number more than the legal threshold of laser
Value, when the legal threshold value of described laser refers to run into barrier, laser pick-off total number accounts for Laser emission total number
Ratio；
If the ratio that S33 laser pick-off total number accounts for Laser emission total number is more than the legal threshold value of laser, then sentence
Whether the disconnected matching degree calculated is less than preset matching threshold value；
If the matching degree that S34 calculates is less than preset matching threshold value, then calculate described matching degree less than described
The duration of preset matching threshold value, record the initial pose of described robot and current pose；
S35 judges that whether the duration calculated is more than preset time threshold；
If the duration that S36 calculates is more than preset time threshold, then according to the initial bit of described robot
Appearance and current pose, calculate the displacement difference of described robot；Otherwise, step S31 is jumped to；
S37 judges that whether the displacement difference calculated is more than preset displacement threshold value；
If the displacement difference calculated is more than preset displacement threshold value, then perform robot local environment described in S40 with
Described map does not mates；
If the displacement difference calculated is less than preset displacement threshold value, then perform robot local environment described in S41 with
Described map match.
Concrete, the most simply describe particle filtering principle, the tool of its particle filtering
Body principle can refer to the based on the tasteless particle filter of distributed edge same of Application No. 201310424318.8
Step location and map constructing method.
As it is shown on figure 3, according to still another embodiment of the invention, a kind of robot local environment and map
Matching and recognition method, comprises the steps:
S01 utilizes laser sensor to obtain the laser data of described robot local environment, described laser data
Including laser pick-off total number, Laser emission total number, laser length and laser angle；
S11 utilizes particle filter to position robot local environment, obtains the pose of described robot；
Its ranging formula is as follows:
X (t)=f (x (t-1), u (t))；
Y (t)=g (x (t), z (t), m)；
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is described robot local environment
Laser data, z (t) is the measurement noise analogue value, and m is cartographic information；
S21 uses Gaussian distribution density function to calculate weight p of t single particle, by all particles
Weight adds up the matching degree being described robot local environment with described map；Single particle weight calculation is public
Formula is as follows:
Wherein, α is Gaussian Profile coefficient, and d is the laser length in described laser data, and β is that Gauss divides
The variance of cloth, l is between the barrier in described robot local environment and the barrier in described map
Distance；
S31, according to the laser pick-off total number of described laser sensor, calculates laser pick-off total number and accounts for laser
Launch the ratio of total number；
S32 judges that whether laser pick-off total number accounts for the ratio of Laser emission total number more than the legal threshold of laser
Value, when the legal threshold value of described laser refers to run into barrier, laser pick-off total number accounts for Laser emission total number
Ratio；
If the ratio that S33 laser pick-off total number accounts for Laser emission total number is more than the legal threshold value of laser, then sentence
Whether the disconnected matching degree calculated is less than preset matching threshold value；
If the matching degree that S34 calculates is less than preset matching threshold value, then calculate described matching degree less than described
The duration of preset matching threshold value, record the initial pose of described robot and current pose；
S35 judges that whether the duration calculated is more than preset time threshold；
If the duration that S36 calculates is more than preset time threshold, then according to the initial bit of described robot
Appearance and current pose, calculate the displacement difference of described robot；Otherwise, step S31 is jumped to；
S37 judges that whether the displacement difference calculated is more than preset displacement threshold value；
If the displacement difference calculated is more than preset displacement threshold value, then perform robot local environment described in S40 with
Described map does not mates；
If the displacement difference calculated is less than preset displacement threshold value, then perform robot local environment described in S41 with
Described map match；
S50 is when described robot local environment and described map match, and described robot is according to path planning
Walking；
Preferably, also include that step S51 is when described robot walks according to path planning, it is judged that described machine
Whether device people reaches home position；
Preferably, if also including, the described robot of step S52 reaches home position, and the most described robot stops
Walking；Otherwise, step S01 is jumped to；
S60 is not when described robot local environment is mated with described map, and described robot reports to the police and stops
Walking.
As shown in Figure 6, according to one embodiment of present invention, a kind of robot local environment and map
Join identification system, including:
Locating module 10, is used for utilizing particle filter to position robot local environment, obtains described
The pose of robot；
Computing module 20, described computing module 20 electrically connects with described locating module 10, is used for calculating institute
The matching degree of the map stating robot local environment and read；
Judge module 30, described judge module 30 electrically connects with described computing module 20, is used for judging described
Whether robot local environment meets with the matching degree of described map mates requirement；
Match cognization module 40, described match cognization module 40 electrically connects with described judge module 30, is used for
If described robot local environment is unsatisfactory for mating requirement with the matching degree of described map, institute of the most described robot
Place's environment does not mates with described map；Otherwise, described robot local environment and described map match.
As it is shown in fig. 7, according to another embodiment of the invention, a kind of robot local environment and map
Match cognization system, including:
Data acquisition module 11, for utilizing laser sensor to obtain the laser number of described robot local environment
According to, described laser data includes laser pick-off total number, Laser emission total number, laser length and laser
Angle；
Locating module 10, is used for utilizing particle filter to position robot local environment, obtains described
The pose of robot；Its ranging formula is as follows:
X (t)=f (x (t-1), u (t))；
Y (t)=g (x (t), z (t), m)；
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is described robot local environment
Laser data, z (t) is the measurement noise analogue value, and m is cartographic information；
Computing module 20, for using Gaussian distribution density function to calculate weight p of t single particle,
All particle weights are added up the matching degree being described robot local environment with described map；Single particle
Weight calculation formula is as follows:
Wherein, α is Gaussian Profile coefficient, and d is the laser length in described laser data, and β is that Gauss divides
The variance of cloth, l is between the barrier in described robot local environment and the barrier in described map
Distance；
Described computing module 20 is additionally operable to the laser pick-off total number according to described laser sensor, calculates and swashs
Light-receiving total number accounts for the ratio of Laser emission total number；
Judge module 30, for judging that laser pick-off total number accounts for the ratio of Laser emission total number and whether is more than
The legal threshold value of laser；
If laser pick-off total number accounts for the ratio of Laser emission total number more than the legal threshold value of laser, then described in sentence
Disconnected module 30 is additionally operable to judge that whether the matching degree calculated is less than preset matching threshold value；
If the matching degree calculated is less than preset matching threshold value, the most described computing module 20 is additionally operable to calculate
Described matching degree is less than the duration of described preset matching threshold value, and logging modle 21 is used for recording described machine
The initial pose of device people and current pose；
Described judge module 30 is additionally operable to judge that whether the duration calculated is more than preset time threshold；
If the duration calculated is more than preset time threshold, the most described computing module 20 is additionally operable to basis
The initial pose of described robot and current pose, calculate the displacement difference of described robot；
Described judge module 30 is additionally operable to judge that whether the displacement difference calculated is more than preset displacement threshold value；
If the displacement difference calculated is more than preset displacement threshold value, the most described match cognization module 40 is used for identifying
Described robot local environment is not mated with described map；Otherwise, described match cognization module 40 is used for identifying
Go out described robot local environment and described map match；
Control module 50, is used for when described robot local environment and described map match, described robot
Walk according to path planning；
Preferably, described judge module 30 is additionally operable to, when described robot walks according to path planning, sentence
Whether disconnected described robot reaches home position；
Preferably, the position if described robot reaches home, the most described control module 50 is additionally operable to control institute
State robot and stop walking；
Alarm module 60.For when described robot local environment is not mated with described map, described machine
People reports to the police, and described control module 50 is used for controlling robot and stops walking.
As shown in Figure 4, Figure 5, according to one embodiment of present invention, a kind of robot local environment and ground
The matching and recognition method of figure, comprises the steps:
S100: reading global map data, to build figure complete for acquiescence here；
S200: read the laser data that laser sensor gets, robot is by outside laser sensor perception
Boundary's environment, laser sensor is arranged on robot front end, and laser data includes laser angle and corresponding laser
Length, the model of laser sensor is RPLIDAR A1M1；
S300: obtain the walking path of robot, and control robot ambulation, by global path planning and
Control algolithm makes robot normally work；
S400: utilize particle filter algorithm to position；Particle filter positioning principle,
X (t)=f (x (t-1), u (t))； (1)
Y (t)=g (x (t), z (t), m)； (2)
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is described robot local environment
Laser data, z (t) is the measurement noise analogue value, and m is cartographic information；
Formula 1 is state equation, and formula 2 is observational equation, and its principle is by the sample set generation of previous moment
Enter in state equation, measurable go out a new sample set, also referred to as particle collection (pose of robot),
New particle collection is substituted in observational equation, the observation (laser data) obtained is contrasted with cartographic information,
The weight (also referred to as matching degree) of particle can be obtained；
S410: carry out particle initialization, creates equally distributed particle (sample), weight phase in map
Deng, use Gaussian probability-density function to carry out particle distribution；
S420: utilize gauss of distribution function to sample, it is thus achieved that particle collection；
S420: obtain the weight of each particle according to the particle after sampling and laser observations data, calculates all
Total weight (matching degree) of particle；The computing formula of weight is:
Wherein, α is Gaussian Profile coefficient, such as α=0.5；D is that the laser in described laser data greatly enhances most
Degree, such as d=6m, c=1/12；β is the variance of Gaussian Profile, such as β=0.08；L is described robot
Distance between barrier in local environment and the barrier in described map, the least explanation matching degree of distance
The highest, environmental change is the least；
S430: weight normalized, finally carries out resampling and obtains the optimal location of robot；
Total weight of all particles can be calculated according to formula 3 and then orient the physical location of robot；Just
Beginning state x (0) is an equally distributed sample set, and special instruction, particle filter algorithm realizes robot
Location also includes that some other step does not repeats, such as sampling and resampling；
S500: calculating robot's environment and map match degree, the factor of influence of matching degree includes: laser data
The most legal, total weight of particle, total weight duration and robot displacement, if laser data is legal
(i.e. major part laser data can reflect, and otherwise laser data proceeds in the case of insecure
Matching degree calculates nonsensical), particle low weight certain time, and the premise of displacement is had in robot
It is lower it is believed that robot local environment is not mated with the information on map.Here set six threshold values, be
The legal threshold value of laser (laser_count_thred), total weight threshold (total_weight_thred), the time
Threshold value (last_time_thred), robot displacement's threshold value (x_thred, y_thred, theta_thred),
Wherein the displacement of robot only needs to meet any one in displacement threshold value；
S501: calculate laser pick-off total number and account for the ratio of total transmitting, swash primarily to solve open area
Light number returns less, and total weight continues the relatively low erroneous judgement caused；
The most whether S502: judge whether the ratio shared by laser pick-off total number meets requirement, close more than laser
Method threshold value (laser_count_thred), if turning S503；Otherwise turn S504；
S503: obtain total weight of particle according to formula 3；
S504: exit matching degree identification；
S505: judge whether total weight meets requirement, if illustrating that total weight is less than the weight threshold set
(total_weight_thred) turn S506, otherwise turn S504；
S506: obtain the pose of robot, turn S507；
S507: judge whether that meeting total weight for the first time is less than threshold value, if turning S508, otherwise turns S509；
S508: record is initial time this moment.Now the pose of robot is the initial pose of matching degree identification；
S509: record the pose of current time and robot；
S510: calculate the time difference of S508 and S509, it is judged that whether the duration reaches the time threshold set
Value (last_time_thred), if turning S511, otherwise turns S501；
S511: calculate the displacement difference of S508 and S509, it is judged that whether displacement is more than the displacement threshold value set
(x_thred, y_thred, theta_thred), if turning S512, otherwise turns S504；
S512: environment does not mates with map, exports result；
S600: judge whether matching degree meets requirement, requires if met, and continues row by the path of initial planning
Walk, i.e. S800, otherwise turn S700；
S700: report to the police and stop walking；
S800: walk on by original route, turns S900；
S900: judge whether robot ambulation terminates, if not turning S200；
It should be noted that, above-described embodiment all can independent assortment as required.The above is only the present invention
Preferred embodiment, it is noted that for those skilled in the art, without departing from
On the premise of the principle of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (10)
1. a robot local environment and the matching and recognition method of map, it is characterised in that include as follows
Step:
S10 utilizes particle filter to position robot local environment, obtains the position of described robot
Information；
S20 calculates the matching degree of described robot local environment and the map read；
S30 judges whether described robot local environment meets with the matching degree of described map and mates requirement；
If S40 described robot local environment is unsatisfactory for mating requirement with the matching degree of described map, then described
Robot local environment is not mated with described map；Otherwise, described robot local environment and described map
Coupling.
Robot the most according to claim 1 local environment and the matching and recognition method of map, it is special
Levy and be, further comprise the steps of:
S01 utilizes laser sensor to obtain the laser data of described robot local environment, described laser data
Including laser pick-off total number, Laser emission total number, laser length and laser angle.
Robot the most according to claim 2 local environment and the matching and recognition method of map, it is special
Levying and be, described step S30 also comprises the steps:
S31, according to the laser pick-off total number of described laser sensor, calculates laser pick-off total number and accounts for laser
Launch the ratio of total number；
S32 judges that whether laser pick-off total number accounts for the ratio of Laser emission total number more than the legal threshold of laser
Value；
If the ratio that S33 laser pick-off total number accounts for Laser emission total number is more than the legal threshold value of laser, then sentence
Whether the disconnected matching degree calculated is less than preset matching threshold value；
If the matching degree that S34 calculates is less than preset matching threshold value, then calculate described matching degree less than described
The duration of preset matching threshold value, record the initial pose of described robot and current pose；
S35 judges that whether the duration calculated is more than preset time threshold；
If the duration that S36 calculates is more than preset time threshold, then according to the initial bit of described robot
Appearance and current pose, calculate the displacement difference of described robot；Otherwise, step S31 is jumped to；
S37 judges that whether the displacement difference calculated is more than preset displacement threshold value；If the displacement difference calculated is more than
Preset displacement threshold value, the most described robot local environment is not mated with described map；Otherwise, described machine
People's local environment and described map match.
Robot the most according to claim 2 local environment and the matching and recognition method of map, it is special
Levying and be, described step S10 further comprises the steps of:
S11 utilizes particle filter to position robot local environment, obtains the position of described robot
Appearance；Its ranging formula is as follows:
X (t)=f (x (t-1), u (t))；
Y (t)=g (x (t), z (t), m)；
Wherein, x (t) is the described robot pose in t, and x (t-1) is that described robot is in the t-1 moment
Pose, u (t) is the described robot control input quantity in t；Y (t) is ring residing for described robot
The laser data in border, z (t) is the measurement noise analogue value, and m is cartographic information.
Robot the most according to claim 4 local environment and the matching and recognition method of map, it is special
Levying and be, described step S20 further comprises the steps of:
S21 uses Gaussian distribution density function to calculate weight p of t single particle, by all particles
Weight adds up the matching degree being described robot local environment with described map；Single particle weight calculation
Formula is as follows:
C=1/2d；
Wherein, α is Gaussian Profile coefficient, and d is the laser length in described laser data, and β is that Gauss divides
The variance of cloth, l is between the barrier in described robot local environment and the barrier in described map
Distance.
6. mate knowledge according to the robot local environment described in any one in Claims 1 to 5 and map
Other method, it is characterised in that further comprise the steps of:
S50 is when described robot local environment and described map match, and described robot is according to path planning
Walking；
S60 is not when described robot local environment is mated with described map, and described robot reports to the police and stops
Walk according to path planning.
Robot the most according to claim 6 local environment and the matching and recognition method of map, it is special
Levy and be, further comprise the steps of:
S51 is when described robot walks according to path planning, it is judged that whether described robot reaches home position
Put；
The position if the described robot of S52 reaches home, the most described robot stops walking；Otherwise, jump to
Step S01.
8. apply at the robot local environment as described in any one in claim 1～7 and map for one kind
The system of matching and recognition method, it is characterised in that including:
Locating module, is used for utilizing particle filter to position robot local environment, obtains described
The pose of robot；
Computing module, described computing module electrically connects with described locating module, is used for calculating described machine
The matching degree of people's local environment and the map read；
Judge module, described judge module electrically connects with described computing module, is used for judging described robot
Whether local environment meets with the matching degree of described map mates requirement；
Match cognization module, described match cognization module electrically connects with described judge module, if for described
Robot local environment is unsatisfactory for mating requirement with the matching degree of described map, ring residing for the most described robot
Border is not mated with described map；Otherwise, described robot local environment and described map match.
Robot the most according to claim 8 local environment and the match cognization system of map, it is special
Levy and be, including:
Data acquisition module, for utilizing laser sensor to obtain the laser number of described robot local environment
According to, described laser data includes laser pick-off total number, Laser emission total number, laser length and swashs
Angular.
Robot the most according to claim 9 local environment and the match cognization system of map, its
It is characterised by:
Described computing module is additionally operable to the laser pick-off total number according to described laser sensor, calculates laser
Receive total number and account for the ratio of Laser emission total number；
Described judge module is additionally operable to judge whether laser pick-off total number accounts for the ratio of Laser emission total number
More than the legal threshold value of laser；
If the ratio that laser pick-off total number accounts for Laser emission total number is more than the legal threshold value of laser, then described
Judge module is additionally operable to judge that whether the matching degree calculated is less than preset matching threshold value；
If the matching degree calculated is less than preset matching threshold value, the most described computing module is additionally operable to calculate institute
Stating the matching degree duration less than described preset matching threshold value, logging modle is used for recording described robot
Initial pose and current pose；
Described judge module is additionally operable to judge that whether the duration calculated is more than preset time threshold；
If the duration calculated is more than preset time threshold, the most described computing module is additionally operable to according to institute
State the initial pose of robot and current pose, calculate the displacement difference of described robot；
Described judge module is additionally operable to judge that whether the displacement difference calculated is more than preset displacement threshold value；
If the displacement difference calculated is more than preset displacement threshold value, the most described match cognization module is used for identifying
Described robot local environment is not mated with described map；Otherwise, described match cognization module is used for identifying
Go out described robot local environment and described map match.
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