CN107063229A - Mobile robot positioning system and method based on artificial landmark - Google Patents
Mobile robot positioning system and method based on artificial landmark Download PDFInfo
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- CN107063229A CN107063229A CN201710128736.0A CN201710128736A CN107063229A CN 107063229 A CN107063229 A CN 107063229A CN 201710128736 A CN201710128736 A CN 201710128736A CN 107063229 A CN107063229 A CN 107063229A
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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
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Abstract
The invention provides a kind of mobile robot positioning system based on artificial landmark and method, including：The artificial landmark of mobile robot and multiple different colours, the artificial landmark of the different colours is arranged on the fixed position in the running environment of mobile robot according to optimization placement method；The sensor installed in the mobile robot is identified and matched to artificial landmark detected in the mobile robot running, realizes the positioning of mobile robot.The mode that the present invention crosses preferred arrangement sets road sign, and demarcates these positions, it is ensured that optional position can observe at least one artificial landmark in the environment for robot, it is to avoid the situation that can't detect road sign occur.The present invention is different according to road sign surface color, the laser data of return is also different, and road sign is encoded using binary coding mode, generates different coded formats, so as to effectively and rapidly distinguish different artificial landmarks, the positioning of robot is accurately completed by the position of artificial landmark.
Description
Technical field
The present invention relates to localization for Mobile Robot technical field, in particular it relates to the mobile robot based on artificial landmark
Alignment system and method.
Background technology
With the development and progress of robot technology, mobile robot just gradually comes into people as housework and office assistant
Life, self align technology is that mobile robot realizes one of intelligentized key technology, is that Indoor Robot is taken using itself
The sensor device of band obtains the information of current environment, and determines robot position in the environment according to the information collected
Technology.In Mobile Robotics Navigation positioning, realize that being accurately positioned for robot itself is that mobile robot has independence
One of prerequisite, therefore the real-time reliable location of research robot has very important meaning.When machine man-hour, it
The specific road sign of position can only be recognized by self-contained sensor, is completed according to target recognition result is satisfied the need certainly
Main positioning and navigation task.Road sign refers to the characteristic information that robot is perceived to external world by sensor, can be recognized.And
In the autonomous robot navigation system based on road sign, the subject matter of research be the selection of road sign, design, detection, positioning,
Environment attribute and path planning etc..And the road sign used can substantially be divided into two classes：Natural landmark and artificial landmark.Natural road
Mark refers to be already present on object and feature in environment；Natural landmark is larger by extraneous ambient influnence, less stable.Cause
This, in landmark identification, often uses artificial landmark.Artificial landmark refer to the object or mark of particular design, it is necessary to
It is placed in specific environment.And road sign can be detected by sensors such as laser, infrared, sonar and visions.Such as, make
Active beacon with the strip road sign for being attached to metope or using patch on the ceiling, robot is completed by recognizing these road signs
Positioning.The numerous and complicated road sign feature of species make it that choosing suitable characteristics as road sign becomes particularly important, and how research chooses suitable
The feature of localization for Mobile Robot, or even allow robot oneself study how to define optimal feature, it is always mobile robot
The key scientific problems in field.The characteristic model set up in most of researchs is limited only to a certain kind, or uses manual features, or
Using physical feature, also there is small part that the two is combined into application, but Shortcomings.Therefore, determining in autonomous robot
In position, choose suitable road sign and target of satisfying the need accurately identify it is most important.
Through retrieval, Application No. CN201610202692.7 is entitled：A kind of Indoor Robot positioning navigation method, its
Positioning navigation method is：Quickly positioned by the relative positioning method of reckoning in the position that can't detect road sign；In detection
Calculated to the position of road sign and obtain absolute coordinate, so as to obtain accurate pose coordinate；When robot is from can't detect road sign
Position is moved to the position for being able to detect that road sign, to accumulating the offset deviation caused by position error in relative positioning area before
It is modified.
Above-mentioned technical scheme comes with some shortcomings, when mobile robot is advanced in the environment, it may appear that can't detect road
Target situation, now can only quickly be positioned by the relative positioning of reckoning, but this method can produce larger error,
Positioning precision is not high, is unfavorable for the autonomous positioning of robot.
In a word, the field of robot application is more and more extensive, and self align technology has turned into currently to be given priority to and research
Object.And the positioning of situation complicated and changeable in environment to robot causes very big interference, therefore, to mobile robot certainly
The research of localization method has very important significance.
The content of the invention
It is fixed it is an object of the invention to provide a kind of mobile robot based on artificial landmark for defect of the prior art
Position system and method.
The mobile robot positioning system based on artificial landmark provided according to the present invention, including：Mobile robot and many
The artificial landmark of individual different colours, the artificial landmark of the different colours is arranged on the fixation in the running environment of mobile robot
Position；The sensor installed in the mobile robot enters to artificial landmark detected in the mobile robot running
Row identification and matching, realize the positioning of mobile robot.
Preferably, the sensor uses laser range sensor, and the different artificial landmarks that detected can be known
The corresponding different laser datas of other and generation.
Preferably, the optimization placement method refers to：During mobile robot optional position in the process of running, the biography
Sensor can at least detect an artificial landmark.
Preferably, the artificial landmark includes two rectangular slabs, and at an angle between two rectangular slabs, the angle
Actual adjustment can be carried out according to running environment and the arrangement quantity of artificial landmark.
Preferably, the scanning angle of the sensor in the mobile robot is 270 degree, two rectangular slabs of artificial landmark
Angle is set to 120 degree, and the angle opening direction dorsad mobile robot of all artificial landmarks.
The method for positioning mobile robot based on artificial landmark provided according to the present invention, comprises the following steps：
Step 1：Selected origin of coordinates O, sets up global coordinate system, and set up the reference frame of each artificial landmark respectively
With the reference frame of mobile robot itself, artificial landmark is designated as relative to the coordinate in global coordinate system (x1, y1,
z1)；
Step 2：The laser data for the artificial landmark that ligh-ranging sensor is measured, is denoted as data point set S, and to laser
The laser data that distance measuring sensor is detected carries out fitting a straight line, extracts the data met, is denoted as data point set P；
Step 3：Spin matrix R and translation matrix P, Yi Jiyi will be obtained after data point set P and data point set S iterative calculation
The relative position coordinates of mobile robot.
Preferably, pre-treatment step：It is multiple not according to optimization placement method setting in the running environment of mobile robot
During with the artificial landmark of color, i.e. mobile robot optional position in the process of running, the biography in mobile robot
Sensor can at least detect an artificial landmark.
Preferably, the step 2 includes：Mobile robot is recognized by laser range sensor during traveling and transported
Artificial landmark in row environment, when detecting the artificial landmark set using laser range sensor, according to artificial landmark table
The different color in face is different to the reflectivity of laser, and using the difference of reflectivity, the black of fixed width is arranged on artificial landmark
White blocks, black numeral 0 represents that white numeral 1 represents that the difference of color lump puts in order to form laser range sensor energy
The binary coding enough recognized；
Wherein, the data met are extracted in step 2 to refer to：A reference position is chosen before each artificial landmark,
Reference position measures reference data with laser range sensor, is denoted as data point set S；In positioning, passed in laser ranging
Fitting a straight line is carried out in one frame data of sensor, the point corresponding with artificial landmark is therefrom extracted, is denoted as data point set P.
Preferably, iterative calculation in the step 3 is comprised the following steps that：
By data point set P and data point set S iteration closest approach algorithms, i.e. ICP is matched, and spin moment is obtained after calculating
Battle array R and translation matrix P；Order matrixAnd calculating matrix T inverse matrix M, i.e. M=T-1, moved according to matrix M
Relative position coordinates of the mobile robot relative to the reference position before artificial landmark.
Preferably, the step 3 also includes：Assuming that the location of robot is relative to the coordinate of global coordinate system：
(X, Y, Z), then have：
Complete the coordinate setting to mobile robot.
Compared with prior art, the present invention has following beneficial effect：
1st, the method for positioning mobile robot based on artificial landmark that the present invention is provided is set by way of preferred arrangement
Road sign, and demarcate these positions, it is ensured that optional position can observe at least one artificial landmark in the environment for robot, it is to avoid
There is the situation that can't detect road sign, detection range is wide, adds positioning precision.
2nd, artificial landmark set in the mobile robot positioning system based on artificial landmark that the present invention is provided has
Specific shape and different colors, therefore robot detects road sign when advancing in the environment using laser range sensor
When, different according to road sign surface color, the laser data of return is also different, and road sign is compiled using binary coding mode
Code, generates different coded formats, so as to effectively and rapidly distinguish different road signs.
3rd, the robot in the present invention is when recognizing road sign, and the data detected to laser range sensor carry out straight line plan
Close, extract the data met, transformation matrix is obtained using ICP matchings, calculated using the transformation matrix and the reference pose demarcated
Go out the relative pose of robot, can relatively accurately complete the positioning of robot.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
The flow chart for the method for positioning mobile robot based on artificial landmark that Fig. 1 provides for the present invention；
Fig. 2 is the embodiment schematic diagram of the mobile robot positioning system based on artificial landmark in the present invention；
In figure：
The artificial landmarks of 1- first；
The artificial landmarks of 2- second；
3- third party's work road signs；
4- mobile robots.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
The mobile robot positioning system based on artificial landmark provided according to the present invention, including：Mobile robot and many
The artificial landmark of individual different colours, the artificial landmark of the different colours is arranged on mobile robot according to optimization placement method
Fixed position in running environment；The sensor installed in the mobile robot in the mobile robot running to being examined
The artificial landmark measured is identified and matched, and realizes the positioning of mobile robot.
The sensor uses laser range sensor, the different artificial landmarks detected can be identified and be generated
Corresponding different laser data.
The optimization placement method refers to：During mobile robot optional position in the process of running, the sensor is equal
An artificial landmark can at least be detected.
The artificial landmark includes two rectangular slabs, and at an angle between two rectangular slabs, and the angle can be according to
Actual adjustment is carried out according to running environment and the arrangement quantity of artificial landmark.
The scanning angle of sensor in the mobile robot is 270 degree, and the angle of two rectangular slabs of artificial landmark is set
It is set to 120 degree, and the angle opening direction dorsad mobile robot of all artificial landmarks.
The method for positioning mobile robot based on artificial landmark provided according to the present invention, comprises the following steps：
Step 1：Selected origin of coordinates O, sets up global coordinate system, and set up the reference frame of each artificial landmark respectively
With the reference frame of mobile robot itself, artificial landmark is designated as relative to the coordinate in global coordinate system (x1, y1,
z1)；
Step 2：A reference position is chosen before each artificial landmark, in reference position laser range sensor
Reference data is measured, data point set S is denoted as.In positioning, straight line plan is carried out in a frame data of laser range sensor
Close, therefrom extract the point corresponding with artificial landmark, be denoted as data point set P；
Step 3：Data point set P is matched with data point set S with iteration closest approach algorithm (ICP), can be with after calculating
Obtain spin matrix R and translation matrix P；
Step 4：Order matrixAnd calculating matrix T inverse matrix, i.e. M=T-1；
Step 5：Relative position coordinates of the mobile robot relative to the preceding reference position of artificial landmark are calculated according to matrix M；
Specifically, it is assumed that the location of robot is relative to the coordinate of global coordinate system：(X, Y, Z), then have
Complete the coordinate setting to mobile robot.
The technical scheme in the present invention is described in more details below in conjunction with the accompanying drawings.
It is as shown in Figure 1 localization for Mobile Robot flow chart, mobile robot 4 is first with laser range sensor to road sign
It is scanned, obtains related data, then fitting a straight line is carried out to these data, extracts wherein valid data as ginseng during matching
Number, carries out ICP matchings, calculates transformation matrix, by the relative pose of the road sign position calculating robot demarcated, completes robot
Positioning flow.
It is illustrated in figure 2 the localization for Mobile Robot operation simulated scenario figure based on artificial landmark, it is assumed that be in area
10m2Room in, shown in figure using the first artificial landmark 1 of specific shape, the second artificial landmark 2, third party's work road
Mark 3, i.e. two block lengths about 40cm sheet material composition angle is about 120 ° of road sign, and mobile robot 4, which is in demarcation, artificial landmark
Environment in.Need to have measured the laser data of each road sign in the front of road sign when building figure, preserve data, be used as ICP
The parameter matched somebody with somebody, needs before positioning with laser data first to measure and record with reference to pose.
The laser sensor that mobile robot 4 starts in positioning, mobile robot 4 carries out the scanning that angle is 270 °, sweeps
Retouch result to assume to detect the first artificial landmark 1, the second artificial landmark 2, third party's work road sign 3, every piece of road sign can return sharp
Photo measure data, because road sign surface color is different, and different colors is different to the reflectivity of laser, utilizes reflectivity
Difference, so the laser data returned is also different.The black and white color lump of fixed width is arranged on artificial landmark, black represents " 0 ",
White represents " 1 ".The difference of color lump puts in order the binary coding to be formed and can be recognized with laser range sensor.Conveniently by it
Distinguish.For these road signs scanned, selected distance mobile robot is recently and just facing to angular deviation minimum
Road sign, using the reference pose of the road sign as this robot localization reference pose.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the case where not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of mobile robot positioning system based on artificial landmark, it is characterised in that including：Mobile robot and it is multiple not
With the artificial landmark of color, the artificial landmark of the different colours is arranged on the fixed bit in the running environment of mobile robot
Put；The sensor installed in the mobile robot is carried out to artificial landmark detected in the mobile robot running
Identification and matching, realize the positioning of mobile robot.
2. the mobile robot positioning system according to claim 1 based on artificial landmark, it is characterised in that the sensing
Device uses laser range sensor, the different artificial landmarks detected can be identified and generate corresponding different laser
Data.
3. the mobile robot positioning system according to claim 1 based on artificial landmark, it is characterised in that the optimization
Method for arranging refers to：During mobile robot optional position in the process of running, the sensor can at least detect one
Artificial landmark.
4. the mobile robot positioning system according to any one of claim 1 to 3 based on artificial landmark, its feature exists
In the artificial landmark includes two rectangular slabs, and at an angle between two rectangular slabs, and the angle can be according to operation
The arrangement quantity of environment and artificial landmark carries out actual adjustment.
5. the mobile robot positioning system according to claim 4 based on artificial landmark, it is characterised in that the movement
The scanning angle of sensor in robot is 270 degree, and the angle of two rectangular slabs of artificial landmark is set to 120 degree, and all
The angle opening direction of artificial landmark dorsad mobile robot.
6. a kind of method for positioning mobile robot based on artificial landmark, it is characterised in that comprise the following steps：
Step 1：Selected origin of coordinates O, sets up global coordinate system, and set up reference frame and the shifting of each artificial landmark respectively
The reference frame of mobile robot itself, artificial landmark is designated as (x1, y1, z1) relative to the coordinate in global coordinate system；
Step 2：The laser data for the artificial landmark that ligh-ranging sensor is measured, is denoted as data point set S, and to laser ranging
The laser data that sensor is detected carries out fitting a straight line, extracts the data met, is denoted as data point set P；
Step 3：Spin matrix R and translation matrix P, and moving machine will be obtained after data point set P and data point set S iterative calculation
The relative position coordinates of device people.
7. the method for positioning mobile robot according to claim 6 based on artificial landmark, it is characterised in that pretreatment step
Suddenly：The artificial landmark of multiple different colours is set in the running environment of mobile robot according to optimization placement method, that is, moved
During robot optional position in the process of running, the sensor in mobile robot can at least detect a people
Work road sign.
8. the method for positioning mobile robot based on artificial landmark according to claim 6 or 7, it is characterised in that described
Step 2 includes：Mobile robot recognizes the artificial landmark in running environment during the traveling by laser range sensor,
When detecting the artificial landmark set using laser range sensor, according to the different color in artificial landmark surface to laser
Reflectivity is different, using the difference of reflectivity, arranges the black and white color lump of fixed width on artificial landmark, and black is with digital 0 table
Show, white numeral 1 represents that the difference of color lump puts in order to form the binary coding that laser range sensor can be recognized；
Wherein, the data met are extracted in step 2 to refer to：A reference position is chosen before each artificial landmark, in reference
Reference data is measured with laser range sensor at position, data point set S is denoted as；In positioning, in laser range sensor
A frame data in carry out fitting a straight line, therefrom extract the point corresponding with artificial landmark, be denoted as data point set P.
9. the method for positioning mobile robot according to claim 6 based on artificial landmark, it is characterised in that the step
Iterative calculation in 3 is comprised the following steps that：
By data point set P and data point set S iteration closest approach algorithms, i.e. ICP is matched, and spin matrix R is obtained after calculating
With translation matrix P；Order matrixAnd calculating matrix T inverse matrix M, i.e. M=T-1, moving machine is obtained according to matrix M
Relative position coordinates of the device people relative to the reference position before artificial landmark.
10. the method for positioning mobile robot according to claim 6 based on artificial landmark, it is characterised in that the step
Rapid 3 also include：Assuming that the location of robot is relative to the coordinate of global coordinate system：(X, Y, Z), then have：
Complete the coordinate setting to mobile robot.
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| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN108388244A (en) * | 2018-01-16 | 2018-08-10 | 上海交通大学 | Mobile-robot system, parking scheme based on artificial landmark and storage medium |
| CN109164413A (en) * | 2018-08-22 | 2019-01-08 | 深圳市波特立物联科技有限公司 | Beacon infrastructure, road surface, sensing device, mobile machine, system and method |
| CN109188490A (en) * | 2018-09-21 | 2019-01-11 | 江南大学 | A kind of semienclosed core detection delivery device of rotation |
| CN109278017A (en) * | 2018-12-05 | 2019-01-29 | 安徽硕威智能科技有限公司 | Localization method and its system of the robot in certain tracks |
| CN109557919A (en) * | 2018-12-17 | 2019-04-02 | 盐城工学院 | A kind of grating map construction method that broadens merging artificial landmark information |
| CN110197095A (en) * | 2019-05-13 | 2019-09-03 | 深圳市普渡科技有限公司 | The method and system of robot identification positioning identifier |
| CN110389349A (en) * | 2018-04-17 | 2019-10-29 | 北京京东尚科信息技术有限公司 | Localization method and device |
| CN113687650A (en) * | 2021-07-06 | 2021-11-23 | 浙江世仓智能仓储设备有限公司 | Method for operating and positioning shuttle |
| CN114061567A (en) * | 2021-11-10 | 2022-02-18 | 郭艳芳 | Intelligent positioning measurement method and system, storage medium and intelligent terminal |
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| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN108388244A (en) * | 2018-01-16 | 2018-08-10 | 上海交通大学 | Mobile-robot system, parking scheme based on artificial landmark and storage medium |
| CN110389349A (en) * | 2018-04-17 | 2019-10-29 | 北京京东尚科信息技术有限公司 | Localization method and device |
| CN109164413A (en) * | 2018-08-22 | 2019-01-08 | 深圳市波特立物联科技有限公司 | Beacon infrastructure, road surface, sensing device, mobile machine, system and method |
| CN109188490B (en) * | 2018-09-21 | 2022-08-12 | 江南大学 | Rotary semi-closed nuclear detection throwing device |
| CN109188490A (en) * | 2018-09-21 | 2019-01-11 | 江南大学 | A kind of semienclosed core detection delivery device of rotation |
| CN109278017A (en) * | 2018-12-05 | 2019-01-29 | 安徽硕威智能科技有限公司 | Localization method and its system of the robot in certain tracks |
| CN109557919A (en) * | 2018-12-17 | 2019-04-02 | 盐城工学院 | A kind of grating map construction method that broadens merging artificial landmark information |
| CN110197095A (en) * | 2019-05-13 | 2019-09-03 | 深圳市普渡科技有限公司 | The method and system of robot identification positioning identifier |
| CN110197095B (en) * | 2019-05-13 | 2023-08-11 | 深圳市普渡科技有限公司 | Method and system for identifying, positioning and identifying robot |
| CN113687650A (en) * | 2021-07-06 | 2021-11-23 | 浙江世仓智能仓储设备有限公司 | Method for operating and positioning shuttle |
| CN113687650B (en) * | 2021-07-06 | 2024-06-04 | 浙江世仓智能仓储设备有限公司 | Shuttle operation positioning method |
| CN114061567A (en) * | 2021-11-10 | 2022-02-18 | 郭艳芳 | Intelligent positioning measurement method and system, storage medium and intelligent terminal |
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