CN107144854A - A kind of laser positioning and air navigation aid based on double reflecting poles - Google Patents
A kind of laser positioning and air navigation aid based on double reflecting poles Download PDFInfo
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- CN107144854A CN107144854A CN201710571634.6A CN201710571634A CN107144854A CN 107144854 A CN107144854 A CN 107144854A CN 201710571634 A CN201710571634 A CN 201710571634A CN 107144854 A CN107144854 A CN 107144854A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The invention discloses a kind of laser positioning based on double reflecting poles and air navigation aid, it is different from the geometric triangulation positioning in conventional art, the present invention deeply excavates and taken full advantage of the plural domain information of reflected light, the technical bottleneck of three reflecting poles in traditional sense is broken, its service condition is the data for being detected simultaneously by two reflecting poles, substantially increases the applicability of laser navigation technology；Although minimum requirements of the present invention may be detected simultaneously by multiple reflecting poles, by design data fusion treatment, can maximally utilize the information of reflecting pole, so as to further improve precision to detect two reflecting poles during practical application.
Description
Technical field
The invention belongs to intelligent storage logistics field, and in particular to a kind of laser positioning based on double reflecting poles and navigation side
Method.
Background technology
Positioning and airmanship based on laser sensor are the key techniques in the fields such as industrial AGV, intelligent robot,
Compared to traditional rail navigation mode, the technology has the advantages that positioning precision is high, flexible and changeable, it is adaptable to complicated, high dynamic
In industrial scene.The domestic and international existing laser positioning technology based on reflecting pole, employs geometric triangulation positioning principle, every when per
Necessarily require at quarter to be detected simultaneously by the just achievable positioning of three reflecting poles.This quantitative requirement is actually in complex industrial scene
It is difficult to meet, the practicality of laser positioning and airmanship is greatly constrained.
The content of the invention
In order to solve the above problems, the present invention provides a kind of new pattern laser positioning and air navigation aid, by extracting and utilizing
Plural domain information in laser ranging information, is reduced to two by the minimum requirements of three reflecting poles, efficiently solves reflecting pole
The technical bottleneck of minimum quantity, substantially increases the applicability of laser navigation technology.
The purpose of the present invention is achieved through the following technical solutions：A kind of laser positioning based on double reflecting poles is with leading
Boat method, this method includes：
(1) reflecting pole is arranged in industrial environment, reflecting pole world coordinates is preset, reflecting pole list of coordinates is generated；
(2) laser sensor installed on a mobile platform radially launches laser to surrounding, and receives reflection laser；
(3) efficient beam of the screening from reflecting pole：By detect reflection laser intensity I and with preset strength threshold value σ
Compare, judge that laser irradiation thing is reflecting pole or conventional environment object；
(4) reflecting pole quantity that current time is irradiated to and its relative coordinate of relative laser sensor are determined：According to anti-
The continuity of irradiating light beam angle, determines whether same reflecting pole, or, according to the continuous of the reflected beams angle and distance
Property, determine whether same reflecting pole；According to the reflected light data for belonging to same reflecting pole, number is carried out with reference to reflective column radius
According to amendment, relative coordinate of the reflecting pole relative to laser sensor is obtained, and be stored in reflecting pole list；
(5) reflecting pole list is initialized, the world coordinates of at least two reflecting poles is obtained：It is artificial to determine initial position correspondence
Reflecting pole list at least two reflecting poles world coordinates；Or, laser sensor obtains at least three in initial position
The angle and distance that reflecting pole is returned, calculates the distance between reflecting pole two-by-two, with according to reflecting pole list of coordinates generate it is anti-
Light beam range information matches, and obtains the world coordinates of at least two reflecting poles；
(6) calculated in dynamic process and expect reflecting pole list：According to last moment to current time laser sensor position
The prediction with angle, relative distance and angle between estimation laser sensor and all reflecting poles are put, and it is reflective to be stored in expectation
Colonnade table；
(7) in dynamic process reflecting pole list matching：Current time reflecting pole list is calculated with expecting reflective colonnade
Same reflecting pole is corresponding apart from its difference and the difference of angle in table, when the difference apart from its difference and angle is satisfied by predetermined threshold value
When, the match is successful；
(8) the laser sensor pose based on double reflecting pole data is calculated：Utilize the multifrequency of laser sensor measurement data
Domain information, optional two in the reflecting pole that the match is successful：L-th and k-th, and calculate：
zk=Xk+i*Yk
zl=Xl+i*Yl
Wherein, subscript l and k represent l and k-th of reflecting pole respectively；α and ρ represent relative certainly in laser sensor respectively
Under the polar coordinate system of body, the angle and distance of reflecting pole；X and Y are respectively reflecting pole in X and the component of Y-axis；Z is that reflecting pole exists
Complex coordinates under world coordinate system；zk,lTo calculate obtained laser sensor world coordinates according to l and k-th of reflecting pole,
θkIt is to calculate angle of the obtained laser sensor under world coordinate system according to the data of k-th of reflecting pole.
Further, in the step (6), directly using the position and angle of last moment laser sensor as current
The prediction at moment, or be predicted using filtering algorithm.
Further, after the step (8), in addition to the step of multiple optimizations：If laser sensor detects three
Individual and the above reflecting pole data, can carry out data fusion according to the pose that any two groups of calculating is obtained in multi-group data, obtain
To the position and angle of final mobile platform and laser sensor under world coordinate system.
Beneficial effects of the present invention are as follows：Different from the geometric triangulation positioning in conventional art, the present invention is deeply excavated simultaneously
The plural domain information of reflected light is taken full advantage of, has broken the technical bottleneck of three reflecting poles in traditional sense, its service condition
To be detected simultaneously by the data of two reflecting poles, the applicability of laser navigation technology is substantially increased；Although the present invention is most
It is low to require to detect two reflecting poles, but multiple reflecting poles may be detected simultaneously by during practical application, pass through design data
Fusion treatment, can maximally utilize the information of reflecting pole, so as to further improve precision.The present invention specific performance be：It is fixed
Position error<1cm, angular error<0.5 °, location frequency>35Hz.
Brief description of the drawings
Fig. 1 is hardware architecture diagram of the invention；
Fig. 2 is reflecting pole ranging and data correction schematic diagram；
Fig. 3 is mobile platform kinematics model schematic diagram；
Fig. 4 is the inventive method overall flow figure.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further described by embodiment.
A kind of high-precision laser positioning and air navigation aid based on double reflecting poles that the present invention is provided, this method include：
(1) reflecting pole is arranged in industrial environment, reflecting pole world coordinates is preset, reflecting pole list of coordinates is generated；
(2) laser sensor installed on a mobile platform radially launches laser to surrounding, and receives reflection laser
(laser sensor is arranged on the mobile platforms such as AGV, industrial vehicle)；
(3) efficient beam of the screening from reflecting pole：By detect reflection laser intensity I and with preset strength threshold value σ
Compare, judge that laser irradiation thing is reflecting pole or conventional environment object, screen the reflected light data for coming from reflecting pole；
(4) reflecting pole quantity that current time is irradiated to and its relative coordinate of relative laser sensor are determined：According to anti-
The continuity of irradiating light beam angle, determines whether same reflecting pole, or, according to the continuous of the reflected beams angle and distance
Property, determine whether same reflecting pole；According to the reflectance data for belonging to same reflecting pole, line number is entered with reference to reflective column radius R
According to amendment, as shown in Fig. 2 obtaining relative coordinate of the reflecting pole relative to laser sensor, and reflecting pole list is stored in；
According to the continuity of the reflected beams angle and distance, same reflecting pole, a kind of possible realization are determined whether
Mode is as follows：
For reflective strong point all in data tables：
If the sequence number step (i) of i-th of reflective strong point is equal to the sequence number step (i-1)+1 of the i-th -1 reflective strong point, and
And difference range (step (i))-range (step (i-1)) of distance for measuring of i-th and i-1 laser strong point be less than it is default away from
From threshold value range_threshold, then what light beam step (i) and step (i-1) were irradiated to is same reflecting pole, then will
(step (i), range) assignment into current k-th of landmark sublist, and in the sublist beam data group number
Number=number+1；
Otherwise, what is be irradiated to is a new reflecting pole, then current k-th of landmark sublist terminates；
If number=1, (k, α, ρ) is write into measure_landmark_list, wherein α=(step-1)
Resolution+min_angle, ρ=range+R；Min_angle is the minimum value of laser sensor scanning angle；
If number>=2, then extract two groups of data of the reflective point of maximum intensity in current landmark sublist
(step1,range1) and (step2,range2), calculate：
If range1<range2
Otherwise
Meanwhile, newly-built+1 landmark sublist of kth, group number is initialized as number=0；Will (step (i),
Range) assignment is into new landmark sublist, number=number+1；Continue to read data；
Finally give be irradiated to reflecting pole list measure_landmark_list；
Corresponding false code is as follows：
For i=1:number_data
If step (i)=step (i-1)+1＆＆range (step (i))-range (step (i-1))<range_
threshold
What then light beam step (i) and step (i-1) were irradiated to is same reflecting pole
By (step (i), range) assignment into current k-th of landmark sublist
Number=number+1；
else
If number=1,
(k, α, ρ) is write measure_landmark_list by then,
Wherein α=(step-1) resolution+min_angle, ρ=range+R；
else
Extract two groups of data (step of the reflective point of maximum intensity in current landmark sublist1,range1) and (step2,
range2), calculate：
If range1<range2
else
endif
endif
Newly-built+1 landmark sublist of kth；
Number=0；
By (step (i), range) assignment into new landmark sublist,
Number=number+1
endif
endfor
Wherein number_data is the number of reflective strong point, and resolution is that the angle of adjacent twice laser beam (divides
Resolution), range_threshold is the distance threshold for determining whether to be irradiated to same reflecting pole, and α and ρ are represented respectively to be swashed
Optical sensor is with respect under the polar coordinate system of itself, and the angle and distance of the reflecting pole, measure_landmark_list is irradiation
To the list of reflecting pole.
Or：According only to the continuity of the reflected beams angle, same reflecting pole, a kind of possible realization are determined whether
Mode is as follows：
For reflective strong point all in data tables：
If the sequence number step (i) of i-th of reflective strong point is equal to the sequence number step (i-1)+1 of the i-th -1 reflective strong point, that
What light beam step (i) and step (i-1) were irradiated to is same reflecting pole, then by (step (i), range) assignment to currently
In k-th of landmark sublist, and in the sublist beam data group number number=number+1；
Otherwise, what is be irradiated to is a new reflecting pole, then current k-th of landmark sublist terminates；
If number=1, (k, α, ρ) is write into measure_landmark_list, wherein α=(step-1)
Resolution+min_angle, ρ=range+R；Min_angle is the minimum value of laser sensor scanning angle；
If number>=2, then extract two groups of data of the reflective point of maximum intensity in current landmark sublist
(step1,range1) and (step2,range2), calculate：
If range1<range2
Otherwise
Meanwhile, newly-built+1 landmark sublist of kth, group number is initialized as number=0；Will (step (i),
Range) assignment is into new landmark sublist, number=number+1；Continue to read data；
Finally give be irradiated to reflecting pole list measure_landmark_list；
(5) reflecting pole list is initialized, the world coordinates of at least two reflecting poles is obtained：It is artificial to determine initial position correspondence
Reflecting pole list at least two reflecting poles world coordinates；Or, laser sensor obtains at least three in initial position
The angle and distance that reflecting pole is returned, calculates the distance between reflecting pole two-by-two, with according to reflecting pole list of coordinates generate it is anti-
Light beam range information matches, and obtains the world coordinates of at least two reflecting poles；A kind of possible implementation is as follows：
Calculate the distance between any two reflecting pole
Calculate the distance between reflective strong point of any two
For all combination of two (l, k) of M reflecting pole being irradiated in measure_landmark_list lists：
Find i, j ∈ 1 ..., N } so that | Dk,l-Ri,j| ＜ Ri,j·threshold；Then i is added to correspondence_list
(k), j is added to correspondence_list (l)；
Frequency of occurrence highest value in correspondence_list (k) is found, as reflective strong point k is corresponding reflective
Post c (k), if can not find such point, removes point i, and make M=M-1 from measure_landmark_list；
If the reflective strong point number M included in measure_landmark_list<=2, then warning is handled.
(6) calculated in dynamic process and expect reflecting pole list：According to last moment to current time laser sensor position
The prediction with angle, relative distance and angle between estimation laser sensor and all reflecting poles are put, and it is reflective to be stored in expectation
Colonnade table；(directly using last moment laser sensor position and angle as current time prediction, or using filtering
Algorithm is predicted) a kind of possible implementation is as follows：
For i-th of reflecting pole, i takes 1 to arrive N, calculates：
Wherein function arctan2 (x, y) returns to origin to the azimuth of point (x, y), value for (- π, π].
If ρt|t-1Less than maximal distance threshold max_distance, and αt|t-1More than laser sensor scanning angle
Minimum value min_angle subtract angle threshold threshold_angle, αt|t-1Less than the maximum of laser sensor scanning angle
Value max_angle adds angle threshold threshold_angle, then willIt is added to desired reflective list
In estimated_landmark_list；
Corresponding false code is as follows：
For i=1:N
If ρt|t-1＜ max_distance＆＆min_angle-threshold_angle ＜ αt|t-1＜ max_angle+
threshold_angle
Then willIt is added to desired reflective list estimated_landmarks_list
End
(7) in dynamic process reflecting pole list matching：Current time reflecting pole list is calculated with expecting reflective colonnade
Same reflecting pole is corresponding apart from its difference and the difference of angle in table, when the difference apart from its difference and angle is satisfied by predetermined threshold value
When, the match is successful；A kind of possible implementation is as follows：
For measure_landmark_list all reflecting poles, { i, X are foundi,Yi,ρt|t-1,αt|t-1So that：
Calculate measurement point (ρk,αk) and world coordinate systemError：
If dist<Threshold_distance, then c (k)=i
If can not find such point, remove point i from measure_landmark_list, and make M=M-1；If
The reflective strong point number M included in measure_landmark_list<=2, then warning is handled.
(8) the laser sensor pose based on double reflecting pole data is calculated：Utilize the multifrequency of laser sensor measurement data
Domain information, optional two in the reflecting pole that the match is successful：L-th and k-th, and calculate：
zk=Xk+i*Yk
zl=Xl+i*Yl
Wherein, subscript l and k represent l and k-th of reflecting pole respectively；α and ρ represent relative certainly in laser sensor respectively
Under the polar coordinate system of body, the angle and distance of reflecting pole；X and Y are respectively reflecting pole in X and the component of Y-axis；Z is that reflecting pole exists
Complex coordinates under world coordinate system；zk,lTo calculate obtained laser sensor world coordinates according to l and k-th of reflecting pole,
θkIt is to calculate angle of the obtained laser sensor under world coordinate system according to the data of k-th of reflecting pole；
(9) multiple optimizations：, can be according to multigroup number if laser sensor detects the reflecting pole data of three and the above
The pose that any two groups of calculating is obtained in carries out data fusion.Optional scheme has：Choose reflective light intensity most strong two groups of numbers
According to result of calculation as the current pose of laser sensor, or in multi-group data combination of two carry out pose calculating, Ran Houqiu
Take their average value, or weighted average (such as weight is related to intensity of reflected light).
Embodiment 1
As shown in figure 1, the hardware of the present invention, which is constituted, mainly includes laser sensor, industrial computer, onboard control circuit and car
Carry power supply；Described industrial computer, laser sensor are communicated with onboard control circuit by modes such as RS232/CAN/SPI；
Vehicle power carries out direct current supply to laser sensor and onboard control circuit through DC/DC moulds, through DC/AC moulds to vehicle-mounted work
Control machine carries out Alternating Current Power Supply.
Further, a number of reflecting pole is placed in suitable position in industrial environment (map), by taking AGV as an example,
So that any positions of the AGV in map can successfully be detected the reflecting pole of 2 or more；Laser transmitter projects laser
And detected reflectance signal.
Further, industrial computer calculates reflective intercolumniation, and static matching is used during initialization, then uses Dynamic Matching
To recognize reflecting pole, and the acquisition reflecting pole world coordinates information from reflecting pole list.
Further, industrial computer extracts the plural domain information in laser sensor ranging data, utilizes two reflecting poles
Data carry out the calculating of AGV coordinate positions and posture；If the reflective column information of more than 3 is detected simultaneously by, by reflecting pole number
According to combination of two is carried out, calculated respectively in the case where combining weekly, AGV position and appearance are then used as using the average value of result of calculation
State.The overall flow of the present invention is as shown in Figure 4.
Claims (3)
1. a kind of laser positioning and air navigation aid based on double reflecting poles, it is characterised in that this method includes：
(1) reflecting pole is arranged in industrial environment, reflecting pole world coordinates is preset, reflecting pole list of coordinates is generated；
(2) laser sensor installed on a mobile platform radially launches laser to surrounding, and receives reflection laser；
(3) efficient beam of the screening from reflecting pole：By detecting reflection laser intensity I and compared with preset strength threshold value σ
Compared with it is reflecting pole or conventional environment object to judge that laser irradiates thing；
(4) reflecting pole quantity that current time is irradiated to and its relative coordinate of relative laser sensor are determined：According to reflected light
The continuity of beam angle degree, determines whether same reflecting pole, or, according to the continuity of the reflected beams angle and distance, sentence
Whether disconnected is same reflecting pole；According to the reflected light data for belonging to same reflecting pole, carry out data with reference to reflective column radius and repair
Just, relative coordinate of the reflecting pole relative to laser sensor is obtained, and is stored in reflecting pole list；
(5) reflecting pole list is initialized, the world coordinates of at least two reflecting poles is obtained：It is artificial to determine that initial position is corresponding anti-
The world coordinates of at least two reflecting poles in light beam list；Or, it is reflective that laser sensor obtains at least three in initial position
The angle and distance that post is returned, calculates the distance between reflecting pole two-by-two, with the reflecting pole generated according to reflecting pole list of coordinates
Range information matches, and obtains the world coordinates of at least two reflecting poles；
(6) calculated in dynamic process and expect reflecting pole list：According to last moment to current time laser sensor position and
The prediction of angle, relative distance and angle between estimation laser sensor and all reflecting poles, and it is stored in the reflective colonnade of expectation
Table；
(7) in dynamic process reflecting pole list matching：Current time reflecting pole list is calculated with expecting in reflecting pole list
Same reflecting pole is corresponding apart from its difference and the difference of angle, when the difference apart from its difference and angle is satisfied by predetermined threshold value,
With success；
(8) the laser sensor pose based on double reflecting pole data is calculated：Believed using the complex frequency domain of laser sensor measurement data
Breath, optional two in the reflecting pole that the match is successful：L-th and k-th, and calculate：
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Wherein, subscript l and k represent l and k-th of reflecting pole respectively；α and ρ represent respectively laser sensor with respect to itself
Under polar coordinate system, the angle and distance of reflecting pole；X and Y are respectively reflecting pole in X and the component of Y-axis；Z is reflecting pole in the world
Complex coordinates under coordinate system；zk,lTo calculate obtained laser sensor world coordinates, θ according to l and k-th of reflecting polekIt is
Angle of the obtained laser sensor under world coordinate system is calculated according to the data of k-th of reflecting pole.
2. laser positioning and air navigation aid according to claim 1 based on double reflecting poles, it is characterised in that the step
(6) in, directly using last moment laser sensor position and angle as current time prediction, or using filtering calculate
Method is predicted.
3. laser positioning and air navigation aid according to claim 1 based on double reflecting poles, it is characterised in that the step
(8) after, in addition to the step of multiple optimizations：, can be with if laser sensor detects the reflecting pole data of three and the above
Data fusion is carried out according to the pose that any two groups of calculating is obtained in multi-group data, final mobile platform and laser sensing is obtained
Position and angle of the device under world coordinate system.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991613A (en) * | 2017-12-29 | 2019-07-09 | 长城汽车股份有限公司 | Localization method, positioning device, vehicle and readable storage medium storing program for executing |
| CN110082775A (en) * | 2019-05-23 | 2019-08-02 | 北京主线科技有限公司 | Vehicle positioning method and system based on laser aid |
| CN111179632A (en) * | 2020-01-06 | 2020-05-19 | 珠海丽亭智能科技有限公司 | Parking robot positioning and navigation method |
| CN111366896A (en) * | 2020-03-05 | 2020-07-03 | 三一机器人科技有限公司 | Method and device for detecting reflective column, electronic equipment and readable storage medium |
| CN111830491A (en) * | 2020-08-04 | 2020-10-27 | 三一机器人科技有限公司 | Method and device for monitoring reflector in navigation system and electronic equipment |
| CN112269378A (en) * | 2020-09-23 | 2021-01-26 | 锐捷网络股份有限公司 | Laser positioning method and device |
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| CN111179632B (en) * | 2020-01-06 | 2021-08-20 | 珠海丽亭智能科技有限公司 | Parking robot positioning and navigation method |
| CN111366896A (en) * | 2020-03-05 | 2020-07-03 | 三一机器人科技有限公司 | Method and device for detecting reflective column, electronic equipment and readable storage medium |
| CN111830491A (en) * | 2020-08-04 | 2020-10-27 | 三一机器人科技有限公司 | Method and device for monitoring reflector in navigation system and electronic equipment |
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