CN107144855A - A kind of laser positioning and air navigation aid based on double reflectors - Google Patents
A kind of laser positioning and air navigation aid based on double reflectors Download PDFInfo
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- CN107144855A CN107144855A CN201710571639.9A CN201710571639A CN107144855A CN 107144855 A CN107144855 A CN 107144855A CN 201710571639 A CN201710571639 A CN 201710571639A CN 107144855 A CN107144855 A CN 107144855A
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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
Abstract
The invention discloses a kind of laser positioning based on double reflectors 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 pieces of reflectors in traditional sense is broken, its service condition is the data for being detected simultaneously by two pieces of reflectors, substantially increases the applicability of laser navigation technology；Although minimum requirements of the present invention may be detected simultaneously by multiple reflectors, by design data fusion treatment, can maximally utilize the information of reflector, so as to further improve precision to detect two pieces of reflectors 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 reflectors 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 reflector, employs geometric triangulation positioning principle, every when per
Necessarily require at quarter to be detected simultaneously by the just achievable positioning of three pieces of reflectors.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 pieces by the minimum requirements of three pieces of reflectors, efficiently solves reflector
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 reflectors is with leading
Boat method, comprises the following steps：
(1) reflector is arranged in industrial environment, reflector world coordinates is preset, reflector 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 reflector：By detect reflection laser intensity I and with preset strength threshold value σ
Compare, judge that laser irradiation thing is reflector or conventional environment object；
(4) reflector 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 reflector, or, according to the continuous of the reflected beams angle and distance
Property, determine whether same reflector；The reflected beams according to same reflector is belonged to obtain the reflector relative to laser
The relative coordinate of sensor, and it is stored in reflector list；
(5) reflector list is initialized, the world coordinates of at least two reflectors is obtained：It is artificial to determine initial position correspondence
Reflector list at least two reflectors world coordinates；Or, laser sensor obtains at least three in initial position
The angle and distance that reflector is returned, calculates the distance between reflector two-by-two, with according to reflector list of coordinates generate it is anti-
Tabula rasa range information matches, and obtains the world coordinates of at least two reflectors；
(6) calculated in dynamic process and expect reflector 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 reflectors are put, and it is reflective to be stored in expectation
Panel table；
(7) in dynamic process reflector list matching：Current time reflector list is calculated with expecting reflective panel
Same reflector 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 reflector data is calculated：Utilize the multifrequency of laser sensor measurement data
Domain information, optional two pieces in the reflector 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 reflector respectively；α and ρ represent relative certainly in laser sensor respectively
Under the polar coordinate system of body, the angle and distance of reflector；X and Y are respectively reflector in X and the component of Y-axis；Z is that reflector exists
Complex coordinates under world coordinate system；zk,lTo calculate obtained laser sensor world coordinates according to l and k-th of reflector,
θkIt is to calculate angle of the obtained laser sensor under world coordinate system according to the data of kth block reflector.
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 polylith is the step of optimize：If laser sensor detects three
Individual and the above reflector 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 pieces of reflectors in traditional sense, its service condition
To be detected simultaneously by the data of two pieces of reflectors, the applicability of laser navigation technology is substantially increased；Although the present invention is most
It is low to require to detect two pieces of reflectors, but multiple reflectors may be detected simultaneously by during practical application, pass through design data
Fusion treatment, can maximally utilize the information of reflector, 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 mobile platform kinematics model schematic diagram；
Fig. 3 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 laser positioning and air navigation aid based on double reflectors that the present invention is provided, this method include：
(1) reflector is arranged in industrial environment, reflector world coordinates is preset, reflector 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 reflector：By detect reflection laser intensity I and with preset strength threshold value σ
Compare, judge that laser irradiation thing is reflector or conventional environment object, screen the reflected light data for coming from reflector；
(4) reflector 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 reflector, or, according to the continuous of the reflected beams angle and distance
Property, determine whether same reflector；The reflected beams according to same reflector is belonged to obtain the reflector relative to laser
(method is the relative coordinate of sensor：Averagely, most strong light is taken, weighted average is appointed and taken), and it is stored in reflector list；
According to the continuity of the reflected beams angle and distance, same reflector, 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 distance (step (i))-distance (step (i-1)) of distance for measuring of i-th and i-1 laser strong point be less than it is pre-
If distance threshold distance_threshold, then what light beam step (i) and step (i-1) were irradiated to is that same is reflective
Plate, then will (step (i), ρ) assignment into a upper landmark structure；
Otherwise what is be irradiated to is one piece of new reflector, starts a new landmark structure；Calculate：α=(step
(i)-1)·resolution+α；ρ=distance (step (i))
(step (i), α, ρ) is write in new landmark structures；
Finally give the reflector list measure_landmark_ being irradiated to being made up of landmark structures
list；
Corresponding false code is as follows：
For i=1:number_data
If step (i)=step (i-1)+1＆＆distance (step (i))-distance (step (i-1))<
distance_threshold
What then light beam step (i) and step (i-1) were irradiated to is same reflector
else
α=(step (i) -1) resolution+ α；ρ=distance (step (i))
(step (i), α, ρ) is write into landmark
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), distance_threshold is the distance threshold for determining whether to be irradiated to same reflector, and α and ρ are represented respectively
Laser sensor is with respect under the polar coordinate system of itself, and the angle and distance of the reflector, measure_landmark_list is photograph
It is mapped to the list of reflector.
Or：According only to the continuity of the reflected beams angle, same reflector, 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 reflector, then by (step (i), α, ρ) assignment to upper one
In landmark structures；
Otherwise what is be irradiated to is one piece of new reflector, starts a new landmark structure, is calculated：
α=(step (i) -1) resolution+ α；ρ=distance (step (i))
(step (i), α, ρ) is write in new landmark structures；
Finally give the reflector list measure_landmark_ being irradiated to being made up of landmark structures
list；
(5) reflector list is initialized, the world coordinates of at least two reflectors is obtained：It is artificial to determine initial position correspondence
Reflector list at least two reflectors world coordinates；Or, laser sensor obtains at least three in initial position
The angle and distance that reflector is returned, calculates the distance between reflector two-by-two, with according to reflector list of coordinates generate it is anti-
Tabula rasa range information matches, and obtains the world coordinates of at least two reflectors；A kind of possible implementation is as follows：
Calculate the distance between any two reflector
Calculate the distance between reflective strong point of any two
For all combination of two (l, k) of M reflector 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
Plate 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 reflector 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 reflectors are put, and it is reflective to be stored in expectation
Panel 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 piece of reflector, 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 reflector list matching：Current time reflector list is calculated with expecting reflective panel
Same reflector 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 reflectors, { 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 reflector data is calculated：Utilize the multifrequency of laser sensor measurement data
Domain information, optional two pieces in the reflector 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 reflector respectively；α and ρ represent relative certainly in laser sensor respectively
Under the polar coordinate system of body, the angle and distance of reflector；X and Y are respectively reflector in X and the component of Y-axis；Z is that reflector exists
Complex coordinates under world coordinate system；zk,lTo calculate obtained laser sensor world coordinates according to l and k-th of reflector,
θkIt is to calculate angle of the obtained laser sensor under world coordinate system according to the data of kth block reflector；
(9) polylith optimizes：, can be according to multigroup number if laser sensor detects the reflector data of three and the above
Any two groups of calculating is obtained in pose carries out data fusion, obtains final mobile platform and laser sensor is sat in the world
Position and angle under mark system.Optional scheme has：The result of calculation for choosing reflective light intensity most strong two groups of data is used as laser
The current pose of sensor, or combination of two carries out pose calculating in multi-group data, then asks for their average value, or weighting
Average value (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 modules, through DC/AC modules to vehicle-mounted work
Control machine carries out Alternating Current Power Supply.
Further, a number of reflector 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 2 pieces or more of reflector；Laser transmitter projects laser
And detected reflectance signal.
Further, industrial computer calculates reflector spacing, and static matching is used during initialization, then uses Dynamic Matching
To recognize reflector, and the acquisition reflector world coordinates information from reflector list.
Further, industrial computer extracts the plural domain information in laser sensor ranging data, utilizes two pieces of reflectors
Data carry out the calculating of AGV coordinate positions and posture；If more than 3 pieces of reflector information is detected simultaneously by, by reflector 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 3.
Claims (3)
1. a kind of laser positioning and air navigation aid based on double reflectors, it is characterised in that this method includes：
(1) reflector is arranged in industrial environment, reflector world coordinates is preset, reflector 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 reflector：By detecting reflection laser intensity I and compared with preset strength threshold value σ
Compared with it is reflector or conventional environment object to judge that laser irradiates thing；
(4) reflector 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 reflector, or, according to the continuity of the reflected beams angle and distance, sentence
Whether disconnected is same reflector；The reflected beams according to same reflector is belonged to obtain the reflector relative to laser sensor
Relative coordinate, and be stored in reflector list；
(5) reflector list is initialized, the world coordinates of at least two reflectors is obtained：It is artificial to determine that initial position is corresponding anti-
The world coordinates of at least two reflectors in tabula rasa list；Or, it is reflective that laser sensor obtains at least three in initial position
The angle and distance that plate is returned, calculates the distance between reflector two-by-two, with the reflector generated according to reflector list of coordinates
Range information matches, and obtains the world coordinates of at least two reflectors；
(6) calculated in dynamic process and expect reflector 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 reflectors, and it is stored in the reflective panel of expectation
Table；
(7) in dynamic process reflector list matching：Current time reflector list is calculated with expecting in reflector list
Same reflector 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 reflector data is calculated：Believed using the complex frequency domain of laser sensor measurement data
Breath, optional two pieces in the reflector 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 reflector respectively；α and ρ represent respectively laser sensor with respect to itself
Under polar coordinate system, the angle and distance of reflector；X and Y are respectively reflector in X and the component of Y-axis；Z is reflector in the world
Complex coordinates under coordinate system；zk,lTo calculate obtained laser sensor world coordinates, θ according to l and k-th of reflectorkIt is
Angle of the obtained laser sensor under world coordinate system is calculated according to the data of kth block reflector.
2. laser positioning and air navigation aid according to claim 1 based on double reflectors, 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 reflectors, it is characterised in that the step
(8) after, in addition to polylith is the step of optimize：, can be with if laser sensor detects the reflector 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 (9)
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| CN107817803A (en) * | 2017-11-14 | 2018-03-20 | 上海诺力智能科技有限公司 | The control system and its control method of a kind of secondary accurate positioning suitable for AGV |
| CN108828609A (en) * | 2018-08-21 | 2018-11-16 | 北京电子工程总体研究所 | A kind of method and device of fuze sled test location position |
| CN109613550A (en) * | 2018-12-28 | 2019-04-12 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of laser radar map structuring and localization method based on reflector |
| CN109631919A (en) * | 2018-12-28 | 2019-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of hybrid navigation map constructing method for merging reflector and occupying grid |
| CN109917413A (en) * | 2019-01-21 | 2019-06-21 | 苏州雷泰医疗科技有限公司 | A kind of precision navigation localization method of intelligence transfer bed |
| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
| CN110031817A (en) * | 2018-12-28 | 2019-07-19 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of fast matching method of laser radar reflector |
| CN110133593A (en) * | 2019-05-23 | 2019-08-16 | 浙江厚达智能科技股份有限公司 | Unmanned indoor vehicle |
| CN110471072A (en) * | 2019-08-19 | 2019-11-19 | 华晟（青岛）智能装备科技有限公司 | A kind of reflecting pole position identifying method and system |
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