CN106441275A - Method and device for updating planned path of robot - Google Patents
Method and device for updating planned path of robot Download PDFInfo
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- CN106441275A CN106441275A CN201610843839.0A CN201610843839A CN106441275A CN 106441275 A CN106441275 A CN 106441275A CN 201610843839 A CN201610843839 A CN 201610843839A CN 106441275 A CN106441275 A CN 106441275A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention is applicable to the technical field of robots, and provides a method and a device for updating a planned path of a robot. The method comprises the following steps of obtaining a current carrier coordinate in real time in the movement process of the robot, converting the current carrier coordinate into a current global coordinate of the robot, calculating a movement speed estimation and a position estimation that the robot moves to a next site according to the current global coordinate and a current movement speed, obtaining a three-dimensional coordinate point a pixel point in a depth image representing an obstacle in a surrounding environment of the robot, transforming the three-dimensional coordinate point into a two-dimensional coordinate point, further obtaining the angular point of the obstacle in the surrounding environment according to the two-dimensional coordinate point, and finally updating the planned path of the robot in combination with the position estimation and the angular point of the obstacle. Thus, the accurate positioning and the avoidance of the obstacle are realized by utilizing speed and position information which is obtained by a sensor of the robot; the calculation in the path updating process is decreased through transforming the three-dimensional coordinate into the two-dimensional coordinate; the response speed of updating the path is improved.
Description
Technical field
The invention belongs to robotics, more particularly to a kind of update method in robot planning path and device.
Background technology
Existing robot is generally come using global positioning system (Global Positioning System, be abbreviated as GPS)
Positioning, and using laser, the environment of periphery is detected, with the contexture by self of realizing route.GPS is the leading whole world in the U.S.
Alignment system, is that one kind has comprehensive, round-the-clock, all the period of time, high-precision satellite navigation system, and adopts laser sensor
It is the principle using laser ranging, by recording three-dimensional coordinate, reflectance and the stricture of vagina of the substantial amounts of intensive point in testee surface
The information such as reason, rebuild out threedimensional model and the various map data such as line, face, body of measured target.
However, there are some problems using GPS when a small range carries out object positioning.On the one hand, the easy quilt of gps signal
The objects such as building, massif are blocked, and on the other hand, GPS is difficult to get the important geography information such as robot move angle, and adopts
Surrounding enviroment are found out with laser sensor and is also required to the longer calculating time, so that robot compares in moving range
When little, real-time, the precise positioning of robot difficult to realize.
Content of the invention
It is an object of the invention to provide a kind of update method in robot planning path and device, it is intended to solve due to existing
There is technology that a kind of efficient robotic routing update method cannot be provided, causes robot machine to be difficult to when small range is moved
The problem of the real-time, precise positioning of device people.
On the one hand, the invention provides a kind of update method in robot planning path, methods described comprises the steps：
Obtain the present carrier coordinate in robot moving process in real time, the present carrier coordinate is transformed to the machine
The current world coordinatess of device people；
According to the current world coordinatess and current translational speed, the movement that the robot moves to next place is calculated
Velocity estimation and location estimation；
The three-dimensional coordinate point for representing pixel in barrier depth image in the robot is obtained, will be described
Three-dimensional coordinate point is converted to two-dimensional coordinate point, to obtain the projected outline of barrier in the robot；
The angle point of barrier in the surrounding is obtained according to the two-dimensional coordinate point；
The path planning of the robot is updated according to the angle point of the location estimation and the barrier.
On the other hand, the invention provides a kind of updating device in robot planning path, described device includes：
Coordinate transformation unit, for obtaining the present carrier coordinate in robot moving process in real time, works as front bearing by described
Body coordinate is transformed to the current world coordinatess of the robot；
Parameter acquiring unit, moves for according to the current world coordinatess and current translational speed, calculating the robot
Move moving speed estimation and the location estimation in next place；
Coordinate transformation unit, for pixel in barrier depth image in the acquisition expression robot
Three-dimensional coordinate point, the three-dimensional coordinate point is converted to two-dimensional coordinate point, to obtain barrier in the robot
Projected outline；
Angle point acquiring unit, for obtaining the angle point of barrier in the surrounding according to the two-dimensional coordinate point；With
And
Routing update unit, for updating the rule of the robot according to the angle point of the location estimation and the barrier
Draw path.
Present carrier coordinate is transformed to by the present invention by obtaining the present carrier coordinate in robot moving process in real time
The current world coordinatess of robot, according to current world coordinatess and current translational speed, calculating robot moves to next place
Moving speed estimation and location estimation, obtain the three-dimensional for representing pixel in barrier depth image in robot
Coordinate points, three-dimensional coordinate point are converted to two-dimensional coordinate point, to obtain the projected outline of barrier in robot, are entered
And the angle point according to barrier in two-dimensional coordinate point acquisition surrounding, last binding site is estimated and the angle point of barrier updates
The path planning of robot, so as to achieve the essence of barrier using the speed of robot self-sensor device acquisition and positional information
Determine position and evade, and the computation complexity during two-dimensional coordinate reduces routing update is turned by three-dimensional coordinate, improve
The response speed of routing update.
Description of the drawings
Fig. 1 is the flowchart of the update method in robot planning path provided in an embodiment of the present invention；
Fig. 2 is the structural representation of the updating device in robot planning path provided in an embodiment of the present invention；And
Fig. 3 is the preferred structure schematic diagram of the updating device in robot planning path provided in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
Below in conjunction with specific embodiment, implementing for the present invention is described in detail：
What Fig. 1 showed the update method in robot planning path provided in an embodiment of the present invention realizes flow process, in order to just
In explanation, the part related to the embodiment of the present invention is illustrate only, details are as follows：
In step S101, obtain the present carrier coordinate in robot moving process in real time, present carrier coordinate is become
It is changed to the current world coordinatess of robot.
The embodiment of the present invention is applied to robot, for the autonomous path planning in robot moving process.In robot
Be configured with corresponding sensor, for example, acceleration transducer, gyroscope etc., with obtain in moving process with robot mobile phase
The data of pass, for example, in terms of acceleration, the deflection of moving process etc..Present carrier coordinate be robot at current location
Corresponding coordinate in carrier coordinate system, and carrier coordinate system is the coordinate system being connected in robot.As an example, the coordinate
The initial point O of systembCan be located at the barycenter of robot.xbTowards the direction of robot movement, ybRobot direction of advance is then pointed to
Right-hand side, zbPerpendicular to ObxbybPlane and meet right-hand rule.Current world coordinatess are robots at current location in the overall situation
Corresponding coordinate in coordinate system, global coordinate system is the world coordinatess system that (for example, navigation application) is arranged in a particular application.
It is therefore preferred that carrier coordinate system and the global coordinate system of robot should be built in advance, so as to utilize carrier coordinate
Coordinate pair robot in system (robot) is positioned, and without using special alignment system or global system, robot is entered
Row positioning, improves positioning precision of the robot when a small range is moved.Present carrier coordinate is being transformed to robot
Current world coordinatess when, changed using the transformational relation between carrier coordinate system and global coordinate system.Specifically,
Using formulaThe current world coordinatess of calculating robot, to obtain the accurate global seat of robot
Mark.Wherein,For present carrier coordinate, Wherein ψ is course angle (robot is around the anglec of rotation of z-axis), θ
For the angle of pitch (robot is around the anglec of rotation of y-axis), it is default normal that γ is roll angle (robot is around the anglec of rotation of x-axis), λ
Number.
In step s 102, according to current world coordinatess and current translational speed, calculating robot moves to next place
Moving speed estimation and location estimation.
In embodiments of the present invention, need obtain robot current translational speed, with according to current world coordinatess and work as
Front translational speed, calculating robot moves to the moving speed estimation in next place and location estimation.That is, from present bit
Put or coordinate is moved along the path that robot is determined in prior location with the speed, to determine the next possible shifting of robot
Dynamic speed and position or coordinate.
Preferably, according to formula
Calculating robot moves to moving speed estimation and the location estimation in next place respectively.Wherein, VxWRepresent machine
Speed of the people under global coordinate system on x-axis direction, VyWRepresent the speed on y-axis direction, V under global coordinate systemzWRepresent global
Speed under coordinate system on z-axis direction, Δ ωxwJ () represents under global coordinate system between x-axis direction j time point and j-1 time point
Acceleration change value, Δ ωywAcceleration change between y-axis direction j time point and j-1 time point under (j) expression global coordinate system
Value, Δ ωzwJ () represents acceleration change value, k, k+1 table between z-axis direction j time point and j-1 time point under global coordinate system
Show current point in time and future time point, xwRepresent the position on x-axis direction, y under global coordinate systemwRepresent y under global coordinate system
Position on direction of principal axis, zwRepresent the position on z-axis direction, T under global coordinate system2Represent the calculating cycle of navigator fix, T1Table
The sensor sample cycle is shown as, n is constant, and T2=n*T1.So, Then represent current time respectively
Point (k time point), speed of future time point (k+1 time point) robot under global coordinate system in all directions,Then represent current point in time (k time point), future time point (k+1 time point) robot complete respectively
Coordinate under office's coordinate system in all directions.
In step s 103, the three-dimensional coordinate for representing pixel in barrier depth image in robot is obtained
Point, three-dimensional coordinate point is converted to two-dimensional coordinate point, to obtain the projected outline of barrier in robot.
In embodiments of the present invention, map or the barrier on robot mobile route can be obtained by Kinect depth transducer
Hinder object image, then would indicate that the three-dimensional coordinate point of obstructions chart picture is converted to two-dimensional coordinate point, then by picture in depth image
The depth information of vegetarian refreshments, latitude information and longitudinal axis information are converted into point-like cloud data, according to default conversion relation and point-like
Cloud data, calculate the three-dimensional coordinate point for representing barrier in robot, according between three-dimensional coordinate and two-dimensional coordinate
Default projection relation, three-dimensional coordinate point is converted to two-dimensional coordinate point, so as to obtain barrier in robot
Two-dimensional projection's profile.So, the two-dimensional map being converted to by depth image or obstructions chart picture, do not reduce two-dimensional map or
While barrier pattern accuracy, can effectively reduce the complexity of subsequent calculations, improve the renewal efficiency of robot path.
The angle point of barrier in surrounding in step S104, is obtained according to two-dimensional coordinate point.
In embodiments of the present invention, in surrounding is obtained during the angle point of barrier, using default window function meter
The correlation matrix of each two-dimensional coordinate point is calculated, is rung according to the Harris angle point that correlation matrix calculates each two-dimensional coordinate point
Should, a non-maxima suppression is done in the then Harris angle point response to each two-dimensional coordinate point, with preset window
Maximum point is looked in two-dimensional coordinate point, when the Harris angle point response of the two-dimensional coordinate point in preset window is more than default
The Harris angle point response of threshold values and two-dimensional coordinate point is the local maximum in preset window, will be true for the two-dimensional coordinate point
It is set to the angle point of barrier in surrounding, so as to identify barrier or obstacles borders in obstructions chart picture.
The path planning of robot in step S105, is updated according to the angle point of location estimation and barrier.
In embodiments of the present invention, the next place that can move into according to the robot being previously obtained, in conjunction with identification
Barrier, the path that further robot can be determined in prior location is modified, updates, to prevent robot from moving
During collision obstacle.
Speed that the embodiment of the present invention is obtained using robot self-sensor device and positional information achieve the essence of barrier
Determine position and evade, and the computation complexity during two-dimensional coordinate reduces routing update is turned by three-dimensional coordinate, improve
The response speed of routing update.
Fig. 2 shows the structure of the updating device in robot planning path provided in an embodiment of the present invention, for the ease of saying
Bright, the part related to the embodiment of the present invention is illustrate only, including：
Coordinate transformation unit 21, for obtaining the present carrier coordinate in robot moving process in real time, by present carrier
Coordinate is transformed to the current world coordinatess of robot；
Parameter acquiring unit 22, for according to current world coordinatess and current translational speed, calculating robot moves to down
The moving speed estimation and location estimation in one place；
Coordinate transformation unit 23, for three of pixel in barrier depth image in acquisition expression robot
Dimension coordinate point, three-dimensional coordinate point is converted to two-dimensional coordinate point, to obtain the projected outline of barrier in robot；
Angle point acquiring unit 24, for obtaining the angle point of barrier in surrounding according to two-dimensional coordinate point；And
Routing update unit 25, for updating the path planning of robot according to the angle point of location estimation and barrier.
As shown in Figure 3, it is preferable that the updating device also includes：
Coordinate system construction unit 20, for building carrier coordinate system and the global coordinate system of robot in advance.
Coordinate transformation unit 21 includes：
Coordinate computation subunit 211, for according to formulaThe current world coordinatess of calculating robot,
Wherein,For present carrier coordinate, Wherein ψ is course angle (robot is around the anglec of rotation of z-axis), θ
For the angle of pitch (robot is around the anglec of rotation of y-axis), it is default normal that γ is roll angle (robot is around the anglec of rotation of x-axis), λ
Number.
Parameter acquiring unit 22 includes：
Parameter computation unit 221, for according to formula：
Calculating robot moves to moving speed estimation and the location estimation in next place respectively.Wherein, VxWRepresent machine
Speed of the people under global coordinate system on x-axis direction, VyWRepresent the speed on y-axis direction, V under global coordinate systemzWRepresent global
Speed under coordinate system on z-axis direction, Δ ωxwJ () represents under global coordinate system between x-axis direction j time point and j-1 time point
Acceleration change value, Δ ωywAcceleration change between y-axis direction j time point and j-1 time point under (j) expression global coordinate system
Value, Δ ωzwJ () represents acceleration change value, k, k+1 table between z-axis direction j time point and j-1 time point under global coordinate system
Show current point in time and future time point, xwRepresent the position on x-axis direction, y under global coordinate systemwRepresent y under global coordinate system
Position on direction of principal axis, zwRepresent the position on z-axis direction, T under global coordinate system2Represent the calculating cycle of navigator fix, T1Table
The sensor sample cycle is shown as, n is constant, and T2=n*T1.So, Then represent current time respectively
Point (k time point), speed of future time point (k+1 time point) robot under global coordinate system in all directions,Then represent current point in time (k time point), future time point (k+1 time point) robot complete respectively
Coordinate under office's coordinate system in all directions.
In embodiments of the present invention, each unit of the updating device can be realized by corresponding hardware or software unit, each list
Unit can be independent soft and hardware unit, it is also possible to be integrated into a soft and hardware unit of robot, here is not in order to limit
The present invention.
Presently preferred embodiments of the present invention is the foregoing is only, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement that is made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of update method in robot planning path, it is characterised in that methods described comprises the steps：
Obtain the present carrier coordinate in robot moving process in real time, the present carrier coordinate is transformed to the robot
Current world coordinatess；
According to the current world coordinatess and current translational speed, the translational speed that the robot moves to next place is calculated
Estimate and location estimation；
The three-dimensional coordinate point for representing pixel in barrier depth image in the robot is obtained, by the three-dimensional
Coordinate points are converted to two-dimensional coordinate point, to obtain the projected outline of barrier in the robot；
The angle point of barrier in the surrounding is obtained according to the two-dimensional coordinate point；
The path planning of the robot is updated according to the angle point of the location estimation and the barrier.
2. the method for claim 1, it is characterised in that obtain the present carrier coordinate in robot moving process in real time
The step of before, methods described also includes：
Carrier coordinate system and the global coordinate system of the robot are built in advance.
3. method as claimed in claim 2, it is characterised in that the present carrier coordinate is transformed to working as the robot
The step of front world coordinatess, including：
According to formulaThe current world coordinatess of the robot are calculated, wherein,For present carrier coordinate,
Wherein ψ is course angle, and it is roll angle that θ is the angle of pitch, γ, and λ is default constant.
4. method as claimed in claim 3, it is characterised in that calculate the translational speed that the robot moves to next place
The step of estimation and location estimation, including：
According to formula：
Moving speed estimation and location estimation that the robot move to next place, wherein, V are calculated respectivelyxWRepresent global
Speed under coordinate system on x-axis direction, VyWRepresent the speed on y-axis direction, V under global coordinate systemzWRepresent under global coordinate system
Speed on z-axis direction, Δ ωxwJ () represents that under global coordinate system, between x-axis direction j time point and j-1 time point, acceleration becomes
Change value, Δ ωywJ () represents acceleration change value, Δ ω between y-axis direction j time point and j-1 time point under global coordinate systemzw
J acceleration change value between z-axis direction j time point and j-1 time point under () expression global coordinate system, when k, k+1 represent current
Between point and future time point, T2Represent the calculating cycle of navigator fix, T1It is expressed as sensor sample cycle, T2=n*T1.
5. the method for claim 1, it is characterised in that obtain and represent barrier depth in the robot
The three-dimensional coordinate point of pixel in image, the step of the three-dimensional coordinate point is converted to two-dimensional coordinate point, including：
The depth information of pixel, latitude information and longitudinal axis information in the depth image are converted into point-like cloud data；
According to default conversion relation and the point-like cloud data, barrier in the expression robot is calculated
Three-dimensional coordinate point；
According to default projection relation between three-dimensional coordinate and two-dimensional coordinate, the three-dimensional coordinate point is converted to two-dimensional coordinate
Point.
6. the method for claim 1, it is characterised in that obtained in the surrounding according to the two-dimensional coordinate point and hinder
Hinder thing angle point the step of, including：
The correlation matrix of each two-dimensional coordinate point is calculated using default window function；
The Harris angle point response of each two-dimensional coordinate point is calculated according to the correlation matrix；
A non-maxima suppression is done in Harris angle point response to each two-dimensional coordinate point, with the two dimension in preset window
Maximum point is looked in coordinate points；
When the Harris angle point response of the two-dimensional coordinate point in the preset window is more than default threshold values and the two-dimensional coordinate
The Harris angle point response of point is the local maximum in the preset window, and the two-dimensional coordinate point is defined as the surrounding ring
The angle point of barrier in border.
7. a kind of updating device in robot planning path, it is characterised in that described device includes：
Coordinate transformation unit, for obtaining the present carrier coordinate in robot moving process in real time, the present carrier is sat
Mark is transformed to the current world coordinatess of the robot；
Parameter acquiring unit, moves to for according to the current world coordinatess and current translational speed, calculating the robot
The moving speed estimation and location estimation in next place；
Coordinate transformation unit, for obtaining the three-dimensional for representing pixel in barrier depth image in the robot
Coordinate points, the three-dimensional coordinate point are converted to two-dimensional coordinate point, to obtain the throwing of barrier in the robot
Shadow profile；
Angle point acquiring unit, for obtaining the angle point of barrier in the surrounding according to the two-dimensional coordinate point；And
Routing update unit, for updating the planning road of the robot according to the angle point of the location estimation and the barrier
Footpath.
8. device as claimed in claim 7, it is characterised in that described device also includes：
Coordinate system construction unit, for building carrier coordinate system and the global coordinate system of the robot in advance.
9. device as claimed in claim 8, it is characterised in that the coordinate transformation unit includes：
Coordinate computation subunit, for according to formulaThe current world coordinatess of the robot are calculated,
Wherein,For present carrier coordinate,
10. device as claimed in claim 9, it is characterised in that the parameter acquiring unit includes：
Parameter computation unit, for according to formula：
Moving speed estimation and location estimation that the robot move to next place are calculated respectively.
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| CN201610843839.0A CN106441275A (en) | 2016-09-23 | 2016-09-23 | Method and device for updating planned path of robot |
| PCT/CN2017/085352 WO2018054080A1 (en) | 2016-09-23 | 2017-05-22 | Method and device for updating planned path of robot |
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