CN106595630B - It is a kind of that drawing system and method are built based on laser navigation Intelligent Mobile Robot - Google Patents
It is a kind of that drawing system and method are built based on laser navigation Intelligent Mobile Robot Download PDFInfo
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- CN106595630B CN106595630B CN201510662540.0A CN201510662540A CN106595630B CN 106595630 B CN106595630 B CN 106595630B CN 201510662540 A CN201510662540 A CN 201510662540A CN 106595630 B CN106595630 B CN 106595630B
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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
Abstract
Drawing system and method are built based on laser navigation Intelligent Mobile Robot the invention discloses a kind of, system includes laser radar, industrial personal computer, GPS module and vision module, wherein, laser radar and GPS module are set on inspection machine human body, visual apparatus is set to inspection machine human body front end, industrial personal computer acquires visual apparatus to the grabgraf of environment, two adjacent images are compared, the course angle of analysis robot, laser radar is by the range information of acquisition, the coordinate information that GPS module will acquire is transferred to industrial personal computer, range information is converted 2 d plane picture by industrial personal computer, and plan view is rotated to course angle identical as robot to the map for obtaining the current neighboring area of robot.The present invention, which builds drawing method using the substation of GPS, vision and laser radar based on laser navigation Intelligent Mobile Robot, can fill up the deficiency that existing substation builds figure mode, improve the precision and speed for building figure, reduce manpower consumption.
Description
Technical field
Drawing system and method are built based on laser navigation Intelligent Mobile Robot the present invention relates to a kind of.
Background technique
It is the necessary links before the operation of laser navigation Intelligent Mobile Robot that substation, which builds figure, mainly by the ground of substation
Figure is precisely recorded in detail and by way of data as far as possible.Laser navigation Intelligent Mobile Robot using the map with
The peripheral information that laser radar obtains in real time compares, and determines laser navigation Intelligent Mobile Robot position by location algorithm
It sets.So the precision of Suo Jian substation map is most important for the navigator fix of laser navigation Intelligent Mobile Robot.
It includes with several that existing substation, which builds drawing method:
1. substation is built figure and drawn mostly using artificial now, by total station, meter ruler and laser range finder are carried out manually
Mapping；But artificial drafting is used, biggish error can be generated, to laser navigation Intelligent Mobile Robot positioning accuracy and is led
Boat effect has an impact, while artificial draw can also expend a large amount of manpowers and time cost；
2. being acquired jointly using the laser radar and encoder being installed on laser navigation Intelligent Mobile Robot ontology
Data, the later period is by data fusion, to generate substation's map, substation's map that this mode generates can generate biggish tired
Product error, causes part-toroidal road that can not be closed；
3. building figure equipment using three-dimensional and setting multiple spot in substation and be scanned and build figure, three-dimensional map is passed through software by the later period
The data for splicing stationary point scanning, also need two dimension needed for converting three-dimensional map to laser navigation Intelligent Mobile Robot later
Substation's map, needs to buy the three-dimensional special equipment for building figure, and somewhat expensive needs to carry out zonule every a distance to build
Figure, later period need to splice map by software, need to take considerable time acquisition data.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes and a kind of builds figure system based on laser navigation Intelligent Mobile Robot
System and method, this method are built using the substation of GPS, vision and laser radar based on laser navigation Intelligent Mobile Robot
Drawing method can fill up the deficiency that existing substation builds figure mode, improve the precision and speed for building figure, reduce manpower consumption.This
Method can eliminate the cumulative errors generated in encoder collection process, make the perfect closure of the substation finally obtained figure.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of drawing system of building based on laser navigation Intelligent Mobile Robot, including laser radar, industrial personal computer, GPS mould
Block and vision module, wherein laser radar and GPS module are set on inspection machine human body, and visual apparatus is set to inspection
Robot body front end, industrial personal computer acquire visual apparatus to the grabgraf of environment, two adjacent images are compared, and analyze machine
The coordinate information that the range information of acquisition, GPS module will acquire is transferred to industrial personal computer, industry control by the course angle of people, laser radar
Range information is converted 2 d plane picture by machine, and plan view is rotated to course angle identical as robot to obtain robot
The map of current neighboring area.
The drawing system of building includes multiple groups crusing robot, and received laser data is transferred to by industrial personal computer with course data
Host computer obtains substation's map in conjunction with the GPS information of each crusing robot.
The vision module carries out grabgraf to environment with fixed frequency, and sends image to industrial personal computer by LAN interface.
The coordinate that the GPS module will acquire is sent to laser navigation substation by RS232 interface with fixed frequency and patrols
Examine the industrial personal computer of robot.
The laser radar is sent to industrial personal computer with the distance in fixed frequency acquisition radar sector.
It is a kind of that drawing method is built based on above system, comprising the following steps:
(1) Intelligent Mobile Robot receives patrol task, travels according to fixed route；
(2) Intelligent Mobile Robot is in the process of moving with fixed sample frequency recording laser radar, GPS data with
And visual apparatus image；
(3) distance of laser radar is mapped in rectangular coordinate system, vision module is being sensed by capturing distant objects
Displacement on device, calculates the course angle variation of every two frame sampling of transformer substation robot, and machine is obtained by way of integral
The current course angle of device people；
(4) GPS module recorder people current position coordinates, and with visual apparatus obtain course angle and mapping after swash
Optical radar Data Integration completes the zonule cloud point map in frame data substation；
(5) multiframe data are merged, obtains the cloud point map in built region.
In the step (3), if in n-th and (n+1)th image, the displacement of characteristic area in the X-axis direction is Δ X,
Robot current location is obtained by GPS and is calculated apart from object of reference distance D, then by antitrigonometric function, calculates machine
The course angle of every two images of device people changes:
It asks method identical adjacent two angle changes later, the accumulation of each angle change is just obtained into current robot boat
To:
In the step (4), method particularly includes:
In above formula, Xn, Yn are that n-th of laser radar range data is mapped in the coordinate in rectangular coordinate system；dnIt is n-th
Distance of the laser radar data away from substation's object；Start angle when ω is laser radar scanning；N is laser radar distance letter
The serial number of breath, i.e., each frame laser data share n range information；θ is laser radar angular resolution, and α is robot course
Angle, XGPS and YGPS are the environment coordinate of robot current location.
In the step (5), cloud point map can be converted into the map or image of arbitrary format.
The invention has the benefit that
(1) substation of the GPS based on laser navigation Intelligent Mobile Robot, vision and laser radar is used to build figure side
Method can fill up the deficiency that existing substation builds figure mode, improve the precision and speed for building figure, reduce manpower consumption；
(2) relative to using building figure mode and can eliminating and generate in encoder collection process for laser radar and encoder
Cumulative errors make the perfect closure of the substation finally obtained figure；
(3) figure zonule stationary point is built relative to three-dimensional build figure and later period manually spliced by software.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is that the present invention uses laser radar and encoder to build diagram intention；
Fig. 3 is that GPS, vision and the laser radar that the present invention uses build diagram intention；
Fig. 4 is two figures that vision module of the invention captures.
Wherein, 1.GPS module；2. laser radar；3. visual apparatus；4. laser navigation Intelligent Mobile Robot ontology.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, the substation of the GPS of laser navigation Intelligent Mobile Robot, vision and laser radar build figure side
Method, it includes the Intelligent Mobile Robot that laser radar is housed, and robot is provided with industrial personal computer, GPS module, vision mould
Block and laser radar.
Intelligent Mobile Robot equipped with laser radar has the function of remote controlled travelling.
GPS module is linked with industrial personal computer using RS232 interface.
Vision module and laser radar are connected with industrial personal computer by LAN interface.
Laser navigation Intelligent Mobile Robot need to be made in institute when building figure using the Intelligent Mobile Robot of laser navigation
Graph region traveling need to be built, GPS, vision module and laser radar will acquire data simultaneously at this time.The coordinate that GPS is obtained is with solid
Determine frequency to be sent to by RS232 interface in the industrial personal computer of laser navigation Intelligent Mobile Robot, vision module and laser thunder
Up to will be installed on the ontology of laser navigation Intelligent Mobile Robot, and pass through LAN interface and industrial computer communication.In robot
During transporting function, vision module carries out grabgraf to environment with fixed frequency, and sends image to industrial personal computer by LAN interface,
Industrial personal computer will be compared two adjacent images by the method for pattern-recognition, and robot course angle, while laser are analyzed
Radar is also sent to industrial personal computer with the distance in fixed frequency acquisition radar sector, and industrial personal computer converts two dimension for range information and puts down
Face figure, and plan view is rotated to course angle identical as robot to the map for obtaining the current neighboring area of robot, in conjunction with
Multiple groups robotic laser data and course data and GPS information can get substation's map.
As shown in Fig. 2, passing through the encoder and laser radar that are installed on laser navigation Intelligent Mobile Robot ontology
Substation's map that acquisition data generate can generate biggish accumulated error, cause part-toroidal road that can not be closed.It can be to machine
Device people's later period, which navigates, to be caused to seriously affect, if robot location's loss and positional fault position, since map integrally distorts, for
The line walking line configuring being convenient for also brings along inconvenience, and executing robot patrol task using non-type map but will be to substation
Fortune operates normally and brings security risk.
As shown in figure 3, the map for building drawing system and method generation of laser navigation Intelligent Mobile Robot, inspection route
Closure is well consistent with substation's actual environment height, and the contour of object in surrounding enviroment is obvious, to ensure that substation patrols
The running precision for examining robot reduce or eliminates robot location's loss and positional fault positioning probability, while being also more convenient for
Line walking line configuring.
It is a kind of that drawing method is built based on above system, comprising the following steps:
(1) Intelligent Mobile Robot receives patrol task, travels according to fixed route；
(2) Intelligent Mobile Robot is in the process of moving with fixed sample frequency recording laser radar, GPS data with
And visual apparatus image；
(3) distance of laser radar is mapped in rectangular coordinate system, vision module is by capturing object of reference and passing through mould
The method of Corner Detection extracts characteristic area in formula identification, and calculates displacement of the characteristic area in visual sensor, specific side
Method are as follows:
It is assumed that A, B be shooting n-th and (n+1)th image, the characteristic matching of A, B kind characteristic area,
Δ X is characterized the displacement of region in the X-axis direction.Pass through GPS obtain robot current location and calculate apart from object of reference away from
From D, then by antitrigonometric function, the course angle variation of every two images of robot is calculated:
It asks method identical adjacent two angle changes later, the accumulation of each angle change is obtained with current robot
Course:
(4) GPS module recorder people current position coordinates, and with visual apparatus obtain course angle and mapping after swash
Optical radar Data Integration completes the zonule cloud point map in frame data substation；
(5) the cloud point map in built region is obtained, method particularly includes:
In step (5), method particularly includes:
In above formula, Xn, Yn are that n-th of laser radar range data is mapped in the coordinate in rectangular coordinate system；dnIt is n-th
Distance of the laser radar data away from substation's object；Start angle when ω is laser radar scanning；N is laser radar distance letter
The serial number of breath, i.e., each frame laser data share n range information；θ is laser radar angular resolution, and α is robot course
Angle, XGPS and YGPS are the environment coordinate of robot current location.
In step (5), cloud point map can be converted into the map or image of arbitrary format.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of drawing method of building for building drawing system based on laser navigation Intelligent Mobile Robot, laser navigation substation inspection
The drawing system of building of robot includes laser radar, industrial personal computer, GPS module and vision module, wherein laser radar and GPS module
It is set on inspection machine human body, visual apparatus is set to inspection machine human body front end, and industrial personal computer acquires visual apparatus pair
The grabgraf of environment compares two adjacent images, the course angle of analysis robot, and laser radar believes the distance of acquisition
The coordinate information that breath, GPS module will acquire is transferred to industrial personal computer, and range information is converted 2 d plane picture by industrial personal computer, and will
Plan view is rotated to course angle identical as robot to obtain the map of the current neighboring area of robot, it is characterized in that: including
Following steps:
(1) Intelligent Mobile Robot receives patrol task, travels according to fixed route；
(2) Intelligent Mobile Robot is in the process of moving with fixed sample frequency recording laser radar, GPS data and view
Feel equipment image；
(3) distance of laser radar is mapped in rectangular coordinate system, vision module is by capturing distant objects on a sensor
Displacement, calculate the course angle variation of every two frame sampling of transformer substation robot, and obtain robot by way of integral
Current course angle；
In the step (3), if in n-th and (n+1)th image, the displacement of characteristic area in the X-axis direction is Δ X, pass through
GPS obtains robot current location and calculates apart from object of reference distance D, then by antitrigonometric function, calculates robot
The course angle of every two images changes:
It asks method identical adjacent two angle changes later, the accumulation of each angle change is just obtained into current robot course:
(4) GPS module recorder people current position coordinates, and the laser thunder after course angle and mapping is obtained with visual apparatus
Up to Data Integration, the zonule cloud point map in frame data substation is completed；
(5) multiframe data are merged, obtains the cloud point map in built region.
2. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: building drawing system includes multiple groups crusing robot, received laser data and course data are transferred to by industrial personal computer
Position machine obtains substation's map in conjunction with the GPS information of each crusing robot.
3. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: the vision module carries out grabgraf to environment with fixed frequency, and image is sent to industry control by LAN interface
Machine.
4. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: the coordinate that the GPS module will acquire is sent to laser navigation substation by RS232 interface with fixed frequency and patrols
Examine the industrial personal computer of robot.
5. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: the laser radar is sent to industrial personal computer with the distance in fixed frequency acquisition radar sector.
6. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: in the step (4), method particularly includes:
In above formula, Xn, Yn are that n-th of laser radar range data is mapped in the coordinate in rectangular coordinate system；dnFor n-th of laser
Distance of the radar data away from substation's object；Start angle when ω is laser radar scanning；N is laser radar range information
Serial number, i.e., each frame laser data share n range information；θ is laser radar angular resolution, and α is robot course angle,
XGPS and YGPS is the environment coordinate of robot current location.
7. it is as described in claim 1 it is a kind of based on laser navigation Intelligent Mobile Robot build drawing system build drawing method,
It is characterized in that: cloud point map can be converted into the map or image of arbitrary format in the step (5).
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| CN111337030B (en) * | 2020-05-19 | 2020-09-08 | 北京数字绿土科技有限公司 | Backpack-based laser radar scanning system and navigation positioning method |
| CN111983631B (en) * | 2020-08-17 | 2023-11-21 | 云南电网有限责任公司电力科学研究院 | Snakelike electric power inspection robot positioning system for long and narrow airtight space |
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