CN106598039A - Substation patrol robot obstacle avoidance method based on laser radar - Google Patents
Substation patrol robot obstacle avoidance method based on laser radar Download PDFInfo
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- CN106598039A CN106598039A CN201510664724.0A CN201510664724A CN106598039A CN 106598039 A CN106598039 A CN 106598039A CN 201510664724 A CN201510664724 A CN 201510664724A CN 106598039 A CN106598039 A CN 106598039A
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Abstract
The invention discloses a substation patrol robot obstacle avoidance method based on laser radar. A robot scans the surrounding environment through laser radar; an adopted environmental map is a two-dimensional matrix, which is a Boolean matrix of an actual substation, and the position in the substation having a device is defined as Boolean true; the current position coordinate of the robot and heading angle thereof as well as laser radar data obtained after mapping are fused; at the moment, whether the two-dimensional matrix is true or not is judged, if the two-dimensional matrix is true, it is indicated that the corresponding position of the substation has the substation device, and if the two-dimensional matrix is not true, it is indicated that the corresponding position of the substation has an obstacle, and with the coordinate of the robot as an index, corresponding elements are set as true in a new two-dimensional matrix; and a current surrounding navigation data layer of the robot serves as auxiliary information for obstacle avoidance, if a robot planned travel route passes through a corresponding matrix, where the navigation data layer is true, the robot replans a path and utilizes a shortest path algorithm to avoid the obstacle, thereby reducing possibility of the substation patrol robot in colliding with the obstacles.
Description
Technical field
The present invention relates to a kind of Intelligent Mobile Robot barrier-avoiding method based on laser radar.
Background technology
Power transformation crusing robot, extensively using increasingly extensive, when robot performs patrol task instant evading just is being taken in transformer station
Barrier is most important, and this safety for being not only related to robot is more related to the normal operation of transformer station.
The Intelligent Mobile Robot of infrared obstacle avoidance function, it is by the infrared sensor in robot, sniffing robot
Obstacle information in moving process, makes a response, and realizes effective avoidance of robot.It includes that several are high along robot
Degree direction is arranged on the multiple infrared sensor modules in robot.
Ultrasonic obstacle avoidance apparatus are installed in robot；Ultrasonic obstacle device is arranged at machine robot outside and towards robot motion side
To when robot close barrier, ultrasonic radar will send signal to robot interior industrial computer so as to obstacle avoidance.
Based on the binocular vision navigation system of Intelligent Mobile Robot, it includes robot body, in the front portion of robot body
The image that the image capturing system for gathering the environmental information graph on forward road will be gathered is provided with, based on network transmission system,
It is uploaded to visual analysis system：According to the binocular image information and camera interior and exterior parameter information of image capturing system collection, detection
Barrier in transformer station's road area；Path planning is carried out according to the environmental information of vision system detection, to robot ambulation road
Line is adjusted in time, it is to avoid robot collides with barrier.
1. the avoidance effect of Intelligent Mobile Robot is directly proportional to the infrared sensor quantity on body, has both installed more
Infrared sensor it is higher for the discrimination of barrier, installing more sensor can print impact device people's appearance, can make
Intelligent Mobile Robot appearance design is limited, and the detecting distance of infrared sensor is also very limited, for obstacle farther out
Thing can not in time find and evade in advance；
2. Vltrasonic device is installed and robot front side, it is impossible to detect barrier size and shape, and only away from barrier away from
Object can be just detected when close to, possibly cannot be dodged in time；
3. detecting problem closer to the distance is equally existed using binocular vision navigation, for remote barrier can not find in time,
And can be affected in the case where night or light are weaker, it is impossible to detect the barrier in front of robot and execution is evaded.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of Intelligent Mobile Robot barrier-avoiding method based on laser radar, this
Method effectively reduces sensor installation number, increases barrier detection distance so as to reserved plenty of time hides obstacle for robot
Thing is laid equal stress on new planning path, reduces the possibility of Intelligent Mobile Robot collision obstacle.Simultaneously can be with round-the-clock running, no
Must examine think vision avoidance equally filter according to etc. condition.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of Intelligent Mobile Robot obstacle avoidance system based on laser radar, including laser radar, industrial computer and driver, its
In, laser radar is set on Intelligent Mobile Robot, surrounding enviroment are scanned, robot body is obtained to periphery object
Range information, be transmitted to industrial computer, the range information for collecting is compared, drawn by industrial computer with known environment map
Barrier position, produces drive signal, is sent to driver, and driver drives robot running gear changes track route
Carry out avoidance.
The laser radar uses LAN and industrial computer communication.
The industrial computer is connected with driver with industrial computer using RS232 interfaces.
Based on the barrier-avoiding method of above-mentioned obstacle avoidance system, comprise the following steps：
(1) robot by itself alignment system it is clear and definite itself particular location and robot course, laser radar is to periphery
Environment is scanned；
(2) environmental map for using is two-dimensional matrix, is the Boolean matrix of actual transformer station, there is the position of equipment in transformer station
It is demarcated as boolean true；
(3) robot current position coordinates are closed just with the laser radar data after its course angle and mapping, complete laser layer
Build, determine the zonule cloud point map in frame data transformer station；
(4) whether two-dimensional matrix is now judged as true, if very then illustrating to be equipped with transformer station's equipment of itself in transformer station's corresponding positions,
If not very then illustrating that the position is barrier, using its coordinate as indexing in new two-dimensional matrix, corresponding element is put very；
(5) auxiliary information of the navigation data layer of the current periphery of robot as avoidance will be made, if robot planning vehicle line
Through the genuine homography of navigation data stratification, robot path planning and will use shortest path first again, avoiding obstacles.
In the step (2), the environmental map for using is two-dimensional matrix, is the Boolean matrix of actual transformer station, i.e. the power transformation head of a station
The M [w] [h] of h two-dimensional matrixs corresponding with width w, the position for having equipment in transformer station is demarcated as boolean very, in power transformation (a, b) position
It is true to be equipped with substation equipment and demarcate M [a] [b], that is, complete the structure of substation data layer.
In the step (3), the zonule cloud point map in frame data transformer station is：
In above formula, Xn, Yn are the coordinate that n-th laser radar range data is mapped in rectangular coordinate system；Dn swashs for n-th
Distance of the optical radar data away from transformer station's object；Start angle when ω is Laser Radar Scanning；N is laser radar range information
Sequence number, i.e., each frame laser data has n range information；θ be laser radar angular resolution, α be robot course angle, XL
With the environment coordinate that YL is robot current location.
In the step (4), whether M [Xn] [Yn] is now judged as true, if very then illustrating in transformer station (Xn, Yn) position
Be set to transformer station's equipment of itself, if not very then illustrate the position for barrier, and using its coordinate as index in new Two-Dimensional Moment
O [Xn] [Yn] is put very in battle array O [w] [h], judges that the complete laser data of a frame completes robot by the method currently all
The Data Collection of barrier in the navigation data layer on side.
Beneficial effects of the present invention are：
(1) present invention can effectively reduce sensor installation number using based on the Intelligent Mobile Robot barrier-avoiding method of laser radar
Amount, increases barrier detection distance so as to reserved plenty of time is laid equal stress on new planning path for robot avoiding barrier；
(2) possibility of Intelligent Mobile Robot collision obstacle is reduced；
(3) can be with round-the-clock running, it is not necessary to examine and think that vision avoidance equally considers the conditions such as illumination.
Description of the drawings
Fig. 1 is the data aspect schematic diagram of the present invention；
Fig. 2 is embodiment of the present invention schematic diagram；
Fig. 3 is embodiment of the present invention schematic diagram；
Wherein, 1) laser data layer, 2) substation data layer, 3) guidance path layer.
Specific embodiment：
Below in conjunction with the accompanying drawings the invention will be further described with embodiment.
As shown in figure 1, the Intelligent Mobile Robot barrier-avoiding method based on laser radar, needs to use one substation inspection device
People, robot needs to carry laser radar, industrial computer and driver.
Laser radar uses LAN and industrial computer communication.
Industrial computer is connected with driver with industrial computer using RS232 interfaces.
Intelligent Mobile Robot barrier-avoiding method robot based on laser radar needs clear and definite its particular location in transformer station, machine
The laser radar that device people is carried in the process of moving is scanned to surrounding enviroment, and obtains robot body to periphery object
Range information, is compared by algorithm with known environment map, so as to filter out barrier position.
Based on the barrier-avoiding method of above-mentioned obstacle avoidance system, comprise the following steps：
(1) robot by itself alignment system it is clear and definite itself particular location and robot course, laser radar is to periphery
Environment is scanned；
(2) environmental map for using is two-dimensional matrix, and it is the Boolean matrix of actual transformer station, i.e. power transformation head of a station h and width w
The M [w] [h] of correspondence two-dimensional matrix.The position for having equipment in transformer station is demarcated as boolean very, such as has change in power transformation (a, b) position
It is true that power station equipment demarcates M [a] [b], that is, complete the structure of substation data layer.
(3) robot current position coordinates are closed just with the laser radar data after its course angle and mapping, complete laser layer
Structure, i.e., the zonule cloud point map in frame data transformer station：
In above formula, Xn, Yn are the coordinate that n-th laser radar range data is mapped in rectangular coordinate system；Dn swashs for n-th
Distance of the optical radar data away from transformer station's object；Start angle when ω is Laser Radar Scanning；N is laser radar range information
Sequence number, i.e., each frame laser data has n range information；θ be laser radar angular resolution, α be robot course angle, XL
With the environment coordinate that YL is robot current location.
(4) whether now judge M [Xn] [Yn] as true, if very then illustrate transformer station (Xn, Yn) position be transformer station from
Body equipment, if not very then illustrate that the position is barrier, and will in new two-dimensional matrix O [w] [h] using its coordinate as index
O [Xn] [Yn] puts very, judges that the complete laser data of a frame completes the navigation data layer of the current periphery of robot by the method
The Data Collection of middle barrier.
(5) Intelligent Mobile Robot will make the auxiliary information of the navigation data layer of the current periphery of robot as avoidance after,
If robot planning vehicle line is through the genuine homography of navigation data stratification, robot will path planning and using most short again
Path method such as A-Stra algorithms, effective avoiding obstacles.
Laser data layer is that the range data for being exported laser radar is converted into two coordinates and uses robot by trigonometric function
Current location compares with towards after data-bias with laser data layer, and Obstacle Position is mapped to into navigation layers, will be into data investigation
Schematic diagram obtained by afterwards, the direction of arrow is robot motion direction, to match the equipment in transformer station in circle, is without delineation
Barrier, navigation layers can path planning again, generating new path laser radar as shown in Figure 3 can at a distance find barrier
Hinder thing so as to perform avoiding action in advance.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to the limit of the scope of the present invention
System, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art need not pay
The various modifications made by going out creative work or deformation are still within protection scope of the present invention.
Claims (7)
1. a kind of Intelligent Mobile Robot obstacle avoidance system based on laser radar, is characterized in that：Including laser radar, industrial computer
And driver, wherein, laser radar is set on Intelligent Mobile Robot, surrounding enviroment are scanned, obtain robot sheet
Range information of the body to periphery object, is transmitted to industrial computer, and industrial computer is by the range information for collecting and known environment map
Compare, draw barrier position, produce drive signal, be sent to driver, driver drives robot running gear
Changing track route carries out avoidance.
2. a kind of Intelligent Mobile Robot obstacle avoidance system based on laser radar as claimed in claim 1, is characterized in that：Institute
State laser radar and use LAN and industrial computer communication.
3. a kind of Intelligent Mobile Robot obstacle avoidance system based on laser radar as claimed in claim 1, is characterized in that：Institute
State industrial computer to be connected using RS232 interfaces with driver with industrial computer.
4. the barrier-avoiding method based on the obstacle avoidance system as any one of claim 1-3, is characterized in that：Comprise the following steps：
(1) robot by itself alignment system it is clear and definite itself particular location and robot course, laser radar is to periphery
Environment is scanned；
(2) environmental map for using is two-dimensional matrix, is the Boolean matrix of actual transformer station, there is the position of equipment in transformer station
It is demarcated as boolean true；
(3) robot current position coordinates are closed just with the laser radar data after its course angle and mapping, complete laser layer
Build, determine the zonule cloud point map in frame data transformer station；
(4) whether two-dimensional matrix is now judged as true, if very then illustrating to be equipped with transformer station's equipment of itself in transformer station's corresponding positions,
If not very then illustrating that the position is barrier, using its coordinate as indexing in new two-dimensional matrix, corresponding element is put very；
(5) auxiliary information of the navigation data layer of the current periphery of robot as avoidance will be made, if robot planning vehicle line
Through the genuine homography of navigation data stratification, robot path planning and will use shortest path first again, avoiding obstacles.
5. barrier-avoiding method as claimed in claim 4, is characterized in that：In the step (2), the environmental map for using is two
Dimension matrix, is the Boolean matrix of actual transformer station, i.e. the M [w] [h] of power transformation head of a station h two-dimensional matrixs corresponding with width w, in power transformation
It is true that the position for having equipment in standing is demarcated as boolean, power transformation (a, b) position have substation equipment demarcate M [a] [b] be it is true, i.e., it is complete
Into the structure of substation data layer.
6. barrier-avoiding method as claimed in claim 4, is characterized in that：In the step (3), in frame data transformer station
Zonule cloud point map is：
In above formula, Xn, Yn are the coordinate that n-th laser radar range data is mapped in rectangular coordinate system；Dn swashs for n-th
Distance of the optical radar data away from transformer station's object；Start angle when ω is Laser Radar Scanning；N is laser radar range information
Sequence number, i.e., each frame laser data has n range information；θ be laser radar angular resolution, α be robot course angle, XL
With the environment coordinate that YL is robot current location.
7. barrier-avoiding method as claimed in claim 4, is characterized in that：In the step (4), M [Xn] [Yn] is now judged
Whether it is true, if very then illustrating that in transformer station (Xn, Yn) position be transformer station's equipment of itself, if not very then illustrating the position
Barrier is set to, and O [Xn] [Yn] is put very, by the method in new two-dimensional matrix O [w] [h] using its coordinate as index
Judge that the complete laser data of a frame completes the Data Collection of barrier in the navigation data layer of the current periphery of robot.
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| CN107562048A (en) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | Dynamic obstacle avoidance control method based on laser radar |
| CN107817509A (en) * | 2017-09-07 | 2018-03-20 | 上海电力学院 | Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar |
| CN108170145A (en) * | 2017-12-28 | 2018-06-15 | 浙江捷尚人工智能研究发展有限公司 | Robot obstacle-avoiding system and its application process based on laser radar |
| CN108268043A (en) * | 2018-01-25 | 2018-07-10 | 山东鲁能智能技术有限公司 | The method for safe operation and device of a kind of crusing robot |
| CN108334080A (en) * | 2018-01-18 | 2018-07-27 | 大连理工大学 | A kind of virtual wall automatic generation method for robot navigation |
| CN108363395A (en) * | 2018-02-11 | 2018-08-03 | 智久(厦门)机器人科技有限公司 | A kind of method of AGV automatic obstacle avoidings |
| CN108919806A (en) * | 2018-07-13 | 2018-11-30 | 杭州国辰机器人科技有限公司 | A kind of outdoor automatic obstacle avoiding method based on Fusion |
| CN109254298A (en) * | 2018-09-30 | 2019-01-22 | 中国安全生产科学研究院 | The positioning system of safety patrol inspection robot in subway tunnel |
| CN110040017A (en) * | 2019-04-02 | 2019-07-23 | 远景能源（江苏）有限公司 | It is a kind of for controlling the method and system of mobile charging device |
| CN110411435A (en) * | 2018-04-26 | 2019-11-05 | 北京京东尚科信息技术有限公司 | Robot localization method, apparatus and robot |
| CN110849366A (en) * | 2018-08-20 | 2020-02-28 | 广州弘度信息科技有限公司 | Navigation method and system based on fusion of vision and laser radar |
| CN112650218A (en) * | 2020-12-04 | 2021-04-13 | 国网湖北省电力有限公司检修公司 | Transformer substation inspection route planning method and device based on collision detection |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN113485359A (en) * | 2021-07-29 | 2021-10-08 | 北京超维世纪科技有限公司 | Multi-sensor fusion obstacle avoidance system of industrial inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107562048A (en) * | 2017-08-08 | 2018-01-09 | 浙江工业大学 | Dynamic obstacle avoidance control method based on laser radar |
| CN107562048B (en) * | 2017-08-08 | 2020-10-09 | 浙江工业大学 | Dynamic obstacle avoidance control method based on laser radar |
| CN107817509A (en) * | 2017-09-07 | 2018-03-20 | 上海电力学院 | Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar |
| CN108170145A (en) * | 2017-12-28 | 2018-06-15 | 浙江捷尚人工智能研究发展有限公司 | Robot obstacle-avoiding system and its application process based on laser radar |
| CN108334080A (en) * | 2018-01-18 | 2018-07-27 | 大连理工大学 | A kind of virtual wall automatic generation method for robot navigation |
| CN108268043A (en) * | 2018-01-25 | 2018-07-10 | 山东鲁能智能技术有限公司 | The method for safe operation and device of a kind of crusing robot |
| CN108363395A (en) * | 2018-02-11 | 2018-08-03 | 智久(厦门)机器人科技有限公司 | A kind of method of AGV automatic obstacle avoidings |
| CN110411435B (en) * | 2018-04-26 | 2021-06-29 | 北京京东尚科信息技术有限公司 | Robot positioning method and device and robot |
| CN110411435A (en) * | 2018-04-26 | 2019-11-05 | 北京京东尚科信息技术有限公司 | Robot localization method, apparatus and robot |
| CN108919806A (en) * | 2018-07-13 | 2018-11-30 | 杭州国辰机器人科技有限公司 | A kind of outdoor automatic obstacle avoiding method based on Fusion |
| CN110849366A (en) * | 2018-08-20 | 2020-02-28 | 广州弘度信息科技有限公司 | Navigation method and system based on fusion of vision and laser radar |
| CN109254298A (en) * | 2018-09-30 | 2019-01-22 | 中国安全生产科学研究院 | The positioning system of safety patrol inspection robot in subway tunnel |
| CN110040017A (en) * | 2019-04-02 | 2019-07-23 | 远景能源（江苏）有限公司 | It is a kind of for controlling the method and system of mobile charging device |
| CN112650218A (en) * | 2020-12-04 | 2021-04-13 | 国网湖北省电力有限公司检修公司 | Transformer substation inspection route planning method and device based on collision detection |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN113485359A (en) * | 2021-07-29 | 2021-10-08 | 北京超维世纪科技有限公司 | Multi-sensor fusion obstacle avoidance system of industrial inspection robot |
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Address after: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant after: Shandong Luneng Intelligent Technology Co., Ltd. Address before: 250101 B block 626, Yinhe building, 2008 Xinjie street, Ji'nan high tech Zone, Shandong. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co., Ltd. Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |