CN107764270A - A kind of laser scan type indoor map generation and updating device and method - Google Patents
A kind of laser scan type indoor map generation and updating device and method Download PDFInfo
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- CN107764270A CN107764270A CN201710976295.XA CN201710976295A CN107764270A CN 107764270 A CN107764270 A CN 107764270A CN 201710976295 A CN201710976295 A CN 201710976295A CN 107764270 A CN107764270 A CN 107764270A
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
The present invention provides a kind of laser scan type indoor map generation and updating device and method, laser radar including kinematic robot and on kinematic robot, the laser radar is arranged on the top of kinematic robot, encoder and central processor core are installed in the kinematic robot, laser radar is connected with central processor core, signal antenna is also equipped with the kinematic robot, kinematic robot is communicated to connect by signal antenna and main control computer, the laser radar to indoor environment being scanned and will scan obtained discrete points data information transfer to central processor core, the characteristics of present invention makes full use of laser radar acquisition data speed fast and accurate, it can quickly and accurately carry out indoor map generation and renewal.
Description
Technical field
The present invention relates to indoor map to model field, specifically a kind of laser scan type indoor map generation and updating device
And method.
Background technology
Map building is a basic problem in kinematic robot field, and environmental map is in kinematic robot navigator fix
With critically important effect is played in path planning.Realize the independent navigation of kinematic robot, it is most important that by position come
Obtain the accurate pose of robot in the environment.Kinematic robot positioning is carried out according to priori map and independent navigation obtains extensively
Using, but actual environment tends not to provide accurate priori map, and this brings very big to the independent navigation of kinematic robot
Problem.Therefore, positioning of the kinematic robot in circumstances not known and map structuring turn into one of kinematic robot research field
Hot issue.The conventional cartographic representation of kinematic robot has two kinds at present, when occupancy grid method, with each grid quilt
The probable value occupied represents environmental information, but the accuracy of grid map is not high.Second, the method for expressing based on geometry, is utilized
Line segment, camber line represent environmental information.Geometry map information storage is small, can be directly applied to kinematic robot navigation and
On path planning.But the existing geometry accuracy of map using the generation of the sensors such as infrared and sonar is small, generation geometry map
Time-consuming.Laser radar is compared with sensors such as infrared, sonars, and acquisition data speed is fast and accurate.Therefore, laser radar is utilized
The map that data are made has very high accuracy.
The content of the invention
The present invention provides a kind of laser scan type indoor map generation and updating device and side according to the deficiencies in the prior art
Method, the characteristics of making full use of laser radar acquisition data speed fast and accurate, it can quickly and accurately carry out indoor map life
Into and renewal.
Technical scheme：A kind of laser scan type indoor map generation and updating device, including kinematic robot
And the laser radar on kinematic robot, the laser radar are arranged on the top of kinematic robot, the motion
Encoder and central processor core are installed, laser radar is connected with central processor core, the motion in robot
Signal antenna is also equipped with robot, kinematic robot is communicated to connect by signal antenna and main control computer, the laser
Radar to indoor environment being scanned and will scan obtained discrete points data information transfer to central processor core, institute
State encoder to be used to measure the movable information of kinematic robot and be transmitted to central processor core, the central processing unit
The kinematic robot movable information for discrete data point information and the encoder measurement that chip gathers to laser radar is handled
Obtain the local map under kinematic robot relevant position afterwards, the signal antenna is used for kinematic robot and main control computer
Communication connection, central processor core will handle obtained local map by signal antenna and be transferred to main control computer and receive
The control instruction that main control computer is sent, main control computer receive the local map that central processor core is sent and to fitness machines
Local map under each position of device people is handled to obtain indoor global map and original map is updated.
It is also equipped with what is be powered for laser radar, encoder and central processor core in the kinematic robot
Power module.
The robotically-driven module for powered motion robot motion, robot are additionally provided with the kinematic robot
Drive module is connected with robot control module, and robot control module is connected to central processor core.
The central processor core is also connected with course referrer module, and course referrer module coordinates with encoder to be transported
The movable information of mobile robot.
The central processor core is also connected with local map generation module, and local map generation module is according to central processing
The discrete data point information of laser radar collection after the processing of device chip and the kinematic robot movable information of encoder measurement
Local map is generated, is transferred to after local map generation module generation local map in connected map memory module, nothing
Line transport module connects map memory module and the local map in map memory module is transferred in main control computer.
The bottom of the kinematic robot is provided with the walking mechanism being connected with robotically-driven module.
The walking mechanism of the kinematic robot is the wheel type traveling mechanism or stable mobile crawler type quickly moved
Walking mechanism.
A kind of laser scan type indoor map generation and update method, including step in detail below：
The data of 361 environment points are obtained by laser radar, scope 180 degree, 0.5 degree are spaced, these with polar coordinates
The data of expression are converted into the world coordinates under Descartes system；
The processing data information for the discrete point that laser radar is collected passes through area into for representing the line segment of environmental information
Domain partitioning, line segment segmentation and line segment represent three steps to generate local map；
Kinematic robot moves indoors, obtains multiple local maps, by merging multiple local map generations globally
Figure；
Local map line segment related to global map is found, machine is completed by calculating the relation between related line segment
The renewal being accurately positioned with global map of people.
It is described generation local map the step of be：
By Coordinate Conversion, the cartesian coordinate of 361 discrete points is obtained, it is a region first to assume this 361 points, is risen
Point is first point, and terminal is the 361st point, carries out area dividing according to the distance of continuous point-to-point transmission, comprises the following steps that：
Calculate the distance between continuous two points Dj；
Judge that if Dj is more than threshold value δ set in advance, then it is assumed that the two points are discontinuous, with this point for segmentation
Region is divided into two pieces by point, because the distance of barrier to laser radar is different, the distance between continuous adjacent scanning element
Difference, in order to obtain more accurate piecemeal effect, using the method for dynamic threshold come piecemeal, if scanning element is into laser radar
The distance of the heart is less than D, and the threshold value of selection is δ, if distance is more than D and is less than 2D, the threshold value of selection is 2 δ；
Judge the number of the scanning element in each region, if the number that each region includes point is less than 3, the region by regarding
For noise region, give up these noise spots；
By area dividing, obtain that the region Bi (i=1,2 ... N) that line segment represents can be used, these regions can be by one
Bar or a plurality of line segment represent, carry out linear partition to these regions, step is as follows：
In region unit Bi, straight line L is made with first point Ps (Xs, Ys) and last point PE (Xe, Ye), calculated
Remaining each point selects a maximum point of distance, if this distance is more than threshold alpha, by this block region to the distance of this straight line
It is divided into two parts, the same method using dynamic threshold carries out linear partition, and threshold alpha elects the 1/10 of straight line L length as；
Repeat the above steps, the range of linearity Li (i=1,2 ... M) that a line segment represents can be used by obtaining M；Generation office
Portion's map.
The step of renewal of the global map is：
The line segment parameter that generation local map obtains is need to look for the normative reference of related line segment, can be divided into following four step
Suddenly：
1. taking out a line segment LG of global map, according to the method for " line segment scope ", draw and meet bar in local map
The line segment of part, if it does not exist, then taking out the line segment of next global map, calculate again, it is all eligible until finding
Line segment LC untill；
2. judging whether the line segment in local map is related to the line segment in global map, there are two conditions to be used to test：
1) Δ θ=∣ θ L- θ G ∣<β, θ L are local map middle conductor and the angle of X-axis, θ G
It is global map middle conductor LG and the angle of X-axis, β is threshold value, if two lines section is related,
This condition must is fulfilled for,
2) line segment LC center of gravity is less than a threshold value δ L to line segment LG vertical range DL,
If meeting two above condition, this two lines section is related；
3. for eligible LC 1., the step of repetition 2., then choose eligible 2 and there is highest confidence level,
Namely related line segments of the minimum line segment LC of (Δ θ, DL) value as line segment LG；
4. repeat step 1. -3., find out all related line segments pair and be calculated every a pair of relation lines section (Δ θ,
DL)；
After searching out all related line segments, it is exactly to obtain the accurate pose of robot in next step, comprises the following steps that：
Choose a pair of related line segments, it is assumed that (X, Y, θ) is the pose of the robot obtained by robot its own system,
The angle of calculating robot first, the parameter of related line segment LC in local map is then recalculated, obtain new center of gravity, new center of gravity
Distance to line segment LG is Dl；
Choose other three pairs of related line segments, repeat the above steps, be so always obtained four groups of robots pose (Xi, Yi,
θ i), wherein i=1,2,3,4, using least squares method so that the quadratic sum of each group pose to the error of new pose is minimum；
The local map for updating to obtain by pose has higher confidence level, and the line segment for merging local map can be with complete
Into the renewal of global map, it is divided into following two steps：
The renewal of related line segment, related line segment can be divided into 3 kinds of situations, 1) line segment of local map is the line in global map
A part for section；2) line segment in the line segment and global map of local map is completely superposed；3) line segment and the overall situation of local map
Line segment in map partially overlaps；
If first and second kinds of situations, then leave out this line segment from local map, if the third situation, then with
This reconfigures a line segment based on initial data to related line segment, and its parameter is added in global map；
After the renewal for completing related line segment, in local map also exist and the incoherent line segment of global map, just this
Line segment is directly inserted into global map, so far, completes the renewal of global map；
The line segment range method is specially：
LG is a line segment in global map, and a model is drawn a circle to approve as fixed point using LG two end points and laser radar center
R is enclosed, for given scope R, the line segment in local map can be divided into following four situation：Two end points of line segment are all outside R
Portion and with R without friendship；Two end points of line segment are all inside R；One end points of line segment is inside R, and an end points is outside R；
Two end points of line segment have two intersection points all outside R and with R, when finding related line segment, only consider these in Zone R domain model
Enclose interior line segment.
The technique effect of the present invention：The characteristics of making full use of laser radar acquisition data speed fast and accurate, can be quick
And accurately carry out indoor map generation and renewal.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is principle of the invention structural representation.
Label represents respectively in figure：1- kinematic robots, 2- laser radars, 3- encoders, 4- central processor cores, 5-
Signal antenna, the robotically-driven modules of 6-, 7- main control computers, 8- courses referrer module, 9- power modules, the control of 10- robots
Molding block, 11- local map generation modules, 12- map memory modules, 13- wireless transport modules.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of laser scan type indoor map generation and updating device, including kinematic robot 1 and peace
Laser radar 2 on kinematic robot, the laser radar 2 are arranged on the top of kinematic robot 1, the exercise machine
Encoder 3 and central processor core 4 are installed, laser radar 2 is connected with central processor core 4, the motion in people 1
Signal antenna 5 is also equipped with robot 1, kinematic robot 1 is communicated to connect by signal antenna 5 and main control computer 7, described
Laser radar 2 to indoor environment being scanned and will scan obtained discrete points data information transfer to central processing unit core
Piece 4, the encoder 3 is used to measure the movable information of kinematic robot 1 and is transmitted to central processor core 4, described
The kinematic robot 1 for discrete data point information and encoder 3 measurement that central processor core 4 gathers to laser radar 2 is transported
Dynamic information obtains the local map under the relevant position of kinematic robot 1 after being handled, the signal antenna 5 is used for exercise machine
People 1 and the communication connection of main control computer 7, central processor core 4 are passed by signal antenna 5 by obtained local map is handled
It is defeated to main control computer 7 and receive main control computer 7 transmission control instruction, main control computer 7 receive central processor core 4
The local map of transmission and the local map under 1 each position of kinematic robot is handled to obtain indoor global map and
Original map is updated.
As shown in Fig. 2 it is also equipped with the kinematic robot 1 as laser radar 2, encoder 3 and central processing unit
The power module 9 that chip 4 is powered.
The robotically-driven module 6 for powered motion robot motion is additionally provided with kinematic robot 1, robot drives
Dynamic model block 6 is connected with robot control module 10, and robot control module 10 is connected to central processor core 4.
Central processor core 4 is also connected with course referrer module 8, and course referrer module 8 coordinates with encoder 3 to be transported
The movable information of mobile robot 1.
Central processor core 4 is also connected with local map generation module 11, and local map generation module 11 is according to centre
Manage the discrete data point information of the collection of laser radar 2 after device chip 4 is handled and the kinematic robot motion of the measurement of encoder 3
Information generates local map, and local map generation module 11 is transferred to connected map memory module after generating local map
In 12, wireless transport module 13 connects map memory module 12 and the local map in map memory module 12 is transferred into master control
In computer 7.
The bottom of kinematic robot 1 is provided with the walking mechanism being connected with robotically-driven module 6.
The walking mechanism of kinematic robot 1 is the wheel type traveling mechanism or stable mobile crawler-type traveling quickly moved
Mechanism.
A kind of laser scan type indoor map generation of the present invention and update method, specific workflow are as follows：
Map building can be divided into local map and create and global map establishment.Global map be by merge it is multiple partly
What the information of figure was formed, because the pose obtained by robot hardware's system has the error of accumulative diverging, therefore searching office
The correlation of portion's map and the global map obtained is that the key that kinematic robot positioning creates with global map is asked
Topic.
During the establishment of local map, it is proposed that the method for one " polymerization-segmentation-polymerization " come obtain line segment to
Represent environmental information.The method that dynamic threshold is used during polymerization and segmentation, can obtain one in the short period of time
Individual accurate local map.The line segment parameter obtained during being created using local map, find local map and global map
Matching relationship, realize being accurately positioned for robot.Using the center of laser radar and one region of end point configuration of line segment,
The line segment relevant with this region is only considered during matching somebody with somebody, here it is the method for " line segment scope ", it is therefore an objective to reduces matching process
In amount of calculation.This method can substantially reduce the creation time of global map.
1. local map creates
1.1 Coordinate Conversion
The data (scope 180 degree, being spaced 0.5 degree) of 361 environment points can be obtained by laser radar, these data are
The local coordinate that polar coordinate system using laser radar center as limit represents, for the convenience of processing, these with polar coordinates table
The data shown are converted into the world coordinates under Descartes system.
1.2 local maps create
The processing data information for the discrete point that laser radar is collected uses into for representing the line segment of environmental information
The method of " polymerization-segmentation-polymerization ", three steps are represented to complete by area dividing, line segment segmentation and line segment.
1.2.1 area dividing
By Coordinate Conversion, the cartesian coordinate of 361 discrete points can be obtained.It is an area first to assume this 361 points
Domain, starting point are first points, and terminal is the 361st point.Area dividing is carried out according to the distance of continuous point-to-point transmission, specific steps are such as
Under：
1. calculate the distance between continuous two points Dj.
2. judge that if Dj is more than threshold value δ set in advance, then it is assumed that the two, which are put, is
It is discontinuous, region is divided into two pieces for cut-point with this point.Due to barrier to laser radar distance not
Together, the distance between continuous adjacent scanning element is also different, in order to obtain more accurate piecemeal effect, using dynamic threshold
Method carrys out piecemeal, such as scanning element is less than D to the distance at laser radar center, and the threshold value of selection is δ, if distance is more than D
And it is less than 2D, the threshold value of selection is 2 δ.
3. judge the number of the scanning element in each region, if the number that each region includes point is less than 3, the region quilt
It is considered as noise region, gives up these noise spots.
1.2.2 line segment is split
By area dividing, obtain that the region Bi (i=1,2 ... N) that line segment represents can be used, these regions can be by one
Bar or a plurality of line segment represent.These regions are entered
Row linear partition, step are as follows：
1. in region unit Bi, with first point Ps (Xs, Ys) and last point PE
(Xe, Ye) makees straight line L, calculates remaining each point to the distance of this straight line, selects a maximum point of distance,
If this distance is more than threshold alpha, this block region is divided into two parts, the same method using dynamic threshold carries out linear partition,
Threshold alpha is chosen as the 1/10 of straight length L.
2. repeat step 1), can obtain M can use the range of linearity Li (i=1,2 ... M) that a line segment represents.Will
Raw scanning data is first divided into region unit, and being then divided into can be with the line segment of linear expression
1.2.3 line segment represents
By two above step, 361 points for scanning to obtain are divided into area dividing and M, line segment segmentation schematic diagram
The range of linearity is, it is necessary to construct a line segment farthest to describe the linear relationship between these points.Assuming that range of linearity Li
The number of the scanning element contained is N, represents weight vector with W (w1, w2 ... ..wN-1), it is assumed that the distance of adjacent point-to-point transmission
For the length of starting point to terminating point is L, then can so obtain region Li weight vector W (w1, w2 ... ..wN-1).
The establishment of 2 global maps
Kinematic robot obtains a local map in a defined location, when kinematic robot moves in room
When, multiple local maps are obtained, global map is formed by merging multiple local maps.Due to local map using
World coordinates, therefore should overlap to the line segment that identical environmental scanning obtains, obtained due to robot hardware's system
There is error in pose, line segment can not possibly be completely superposed, and such line segment is exactly related line segment.The key of fusion is exactly to find part
Map line segment related to global map, being accurately positioned and entirely for robot is completed by calculating the relation between related line segment
The renewal of local figure.
2.1 line segment scopes
During local map line segment related to global map is found, in order to reduce the line segment quantity of inspection, propose
The method of " line segment scope ".LG is a line segment in global map, is fixed using LG two end points and laser radar center
Point one scope R of delineation, for given scope R, the line segment in local map can be divided into following four situation：1. the two of line segment
Individual end points is all outside R and with R without friendship；2. two end points of line segment are all inside R；3. an end points of line segment inside R,
One end points is outside R；4. two end points of line segment have two intersection points all outside R and with R.When finding related line segment,
Only consider these line segments in the range of Zone R domain, " line segment scope ", which shortens, finds the time that related line segment expends.
2.2 find related line segment
The line segment parameter that local map creates to obtain is need to look for the normative reference of related line segment, can be divided into following four step
Suddenly：
1. a line segment LG of global map is taken out, according to the method for " line segment scope ",
Qualified line segment in local map is drawn, if it does not exist, then the line segment of next global map is taken out, then
Secondary calculating, until finding all qualified line segment LC
Untill.
2. judge whether the line segment in local map is related to the line segment in global map,
There are two conditions to be used to test：
1) Δ θ=∣ θ L- θ G ∣<(θ L are local map middle conductor and the angle of X-axis to β, θ G
It is global map middle conductor LG and the angle of X-axis).If two lines section is related,
It must is fulfilled for this condition.
2) line segment LC center of gravity is less than a threshold value δ L to line segment LG vertical range DL.
If meeting two above condition, this two lines section is related.
3. for eligible LC 1., the step of repetition 2., then choose eligible 2 and there is highest confidence level,
Namely related line segments of the minimum line segment LC of (Δ θ, DL) value as line segment LG.
4. repeat step 1. -3., find out all related line segments pair and be calculated every a pair of relation lines section (Δ θ,
DL)。
2.3 robot localization
It is exactly to obtain the accurate pose of robot in next step after searching out all related line segments.Comprise the following steps that：
1. choose a pair of related line segments, it is assumed that (X, Y, θ) is the position of the robot obtained by robot its own system
Appearance.The angle of calculating robot first, the parameter of related line segment LC in local map is then recalculated, obtains new center of gravity.Newly
Center of gravity to line segment LG distance be Dl.
2. choose other three pairs of related line segments, repeat step 1., be so always obtained four groups of robots pose (Xi, Yi,
θ i), wherein i=1,2,3,4.Using least squares method so that the quadratic sum of each group pose to the error of new pose is minimum.
2.4 global maps update
The local map for updating to obtain by pose has higher confidence level, and the line segment for merging local map can be with complete
Into the renewal of global map, it is divided into following two steps：
1. the renewal of related line segment, related line segment can be divided into 3 kinds of situations, 1) line segment of local map is in global map
A part for line segment；2) line segment in the line segment and global map of local map is completely superposed；3) line segment of local map and complete
Line segment in local figure partially overlaps；
If first and second kinds of situations, then leave out this line segment from local map, if the third situation, then with
This reconfigures a line segment based on initial data to related line segment, and its parameter is added in global map.
2. also exist after the renewal for completing related line segment, in local map and global map
Incoherent line segment, just this line segment is directly inserted into global map.So far, global map is completed more
Newly.
It should be noted that the laser radar used in the embodiment of the present application, encoder, central processor core, letter
Number antenna, robotically-driven module, main control computer, course referrer module, power module, robot control module, partly
The components such as figure generation module, map memory module, wireless transport module are component commonly used in the prior art.
The technological thought of above content only to illustrate the invention, it is impossible to protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme, claims of the present invention is each fallen within
Protection domain within.
Claims (10)
1. a kind of laser scan type indoor map generation and updating device, it is characterised in that：Including kinematic robot and installation
Laser radar on kinematic robot, the laser radar is in the top of kinematic robot, the kinematic robot
Encoder and central processor core are installed, laser radar is connected with central processor core, on the kinematic robot
Be also equipped with signal antenna, kinematic robot is communicated to connect by signal antenna and main control computer, the laser radar to
Indoor environment is scanned and obtained discrete points data information transfer will be scanned to central processor core, the encoder
For measuring the movable information of kinematic robot and being transmitted to central processor core, the central processor core is to swashing
The discrete data point information of optical radar collection and the kinematic robot movable information of encoder measurement are transported after being handled
Local map under mobile robot relevant position, the signal antenna are used for the communication link of kinematic robot and main control computer
Connect, central processor core will handle obtained local map by signal antenna and be transferred to main control computer and receive master control meter
The control instruction that calculation machine is sent, the local map of main control computer reception central processor core transmission are simultaneously each to kinematic robot
Local map under individual position is handled to obtain indoor global map and original map is updated.
2. a kind of laser scan type indoor map generation according to claim 1 and updating device, it is characterised in that：It is described
The power module being powered for laser radar, encoder and central processor core is also equipped with kinematic robot.
3. a kind of laser scan type indoor map generation according to claim 1 and updating device, it is characterised in that：It is described
The robotically-driven module for powered motion robot motion, robotically-driven module and machine are additionally provided with kinematic robot
Device people's control module is connected, and robot control module is connected to central processor core.
4. a kind of laser scan type indoor map generation according to claim 1 and updating device, it is characterised in that：It is described
Central processor core is also connected with course referrer module, and course referrer module coordinates with encoder to obtain the fortune of kinematic robot
Dynamic information.
5. a kind of laser scan type indoor map generation according to claim 1 and updating device, it is characterised in that：It is described
Central processor core is also connected with local map generation module, after local map generation module is handled according to central processor core
Laser radar collection discrete data point information and encoder measurement kinematic robot movable information generation local map,
It is transferred to after local map generation module generation local map in connected map memory module, wireless transport module connection
Local map in map memory module is simultaneously transferred in main control computer by map memory module.
6. a kind of laser scan type indoor map generation according to claim 3 and updating device, it is characterised in that：It is described
The bottom of kinematic robot is provided with the walking mechanism being connected with robotically-driven module.
7. a kind of laser scan type indoor map generation according to claim 6 and updating device, it is characterised in that：It is described
The walking mechanism of kinematic robot is the wheel type traveling mechanism or stable mobile crawler type walking mechanism quickly moved.
8. a kind of laser scan type indoor map generation and update method, it is characterised in that including step in detail below：
The data of 361 environment points are obtained by laser radar, scope 180 degree, 0.5 degree are spaced, these with polar coordinate representation
Data be converted into Descartes system under world coordinates；
The processing data information for the discrete point that laser radar is collected passes through region point into for representing the line segment of environmental information
Block, line segment segmentation and line segment represent three steps to generate local map；
Kinematic robot is moved indoors, obtains multiple local maps, and global map is generated by merging multiple local maps；
Local map line segment related to global map is found, robot is completed by calculating the relation between related line segment
It is accurately positioned the renewal with global map.
9. a kind of laser scan type indoor map generation according to claim 8 and update method, it is characterised in that described
Generate local map the step of be：
By Coordinate Conversion, the cartesian coordinate of 361 discrete points is obtained, it is a region first to assume this 361 points, and starting point is
First point, terminal are the 361st points, carry out area dividing according to the distance of continuous point-to-point transmission, comprise the following steps that：
Calculate the distance between continuous two points Dj；
Judge that if Dj is more than threshold value δ set in advance, then it is assumed that the two points are discontinuous, are that cut-point will with this point
Region is divided into two pieces, and because the distance of barrier to laser radar is different, the distance between continuous adjacent scanning element is also different,
In order to obtain more accurate piecemeal effect, using the method for dynamic threshold come piecemeal, such as scanning element to laser radar center
Distance is less than D, and the threshold value of selection is δ, if distance is more than D and is less than 2D, the threshold value of selection is 2 δ；
Judge the number of the scanning element in each region, if the number that each region includes point is less than 3, the region is considered as making an uproar
Sound area domain, give up these noise spots；
By area dividing, obtained using the region Bi (i=1,2 ... N) that line segment represents, these regions can by one or
Person a plurality of line segment represents, carries out linear partition to these regions, step is as follows：
In region unit Bi, straight line L is made with first point Ps (Xs, Ys) and last point PE (Xe, Ye), calculates remaining
Each point selects a maximum point of distance, if this distance is more than threshold alpha, this block region is divided into the distance of this straight line
Two parts, the same method using dynamic threshold carry out linear partition, and threshold alpha elects the 1/10 of straight line L length as；
Repeat the above steps, the range of linearity Li (i=1,2 ... M) that a line segment represents can be used by obtaining M；Generation is partly
Figure.
10. a kind of laser scan type indoor map generation according to claim 8 and update method, it is characterised in that institute
The step of renewal for stating global map is：
The line segment parameter that generation local map obtains is need to look for the normative reference of related line segment, can be divided into following four step：
1. taking out a line segment LG of global map, according to the method for " line segment scope ", draw qualified in local map
Line segment, if it does not exist, then taking out the line segment of next global map, calculate again, until finding all qualified lines
Untill section LC；
2. judging whether the line segment in local map is related to the line segment in global map, there are two conditions to be used to test：
1) Δ θ=∣ θ L- θ G ∣<β, θ L are local map middle conductor and the angle of X-axis, and θ G are global map middle conductor LG and X-axis
Angle, β is threshold value, if two lines section is related,
This condition must is fulfilled for,
2) line segment LC center of gravity is less than a threshold value δ L to line segment LG vertical range DL,
If meeting two above condition, this two lines section is related；
3. for eligible LC 1., the step of repetition 2., then choose eligible 2 and there is highest confidence level, also
It is related line segments of the minimum line segment LC of (Δ θ, DL) value as line segment LG；
4. repeat step 1. -3., find out all related line segments pair and (the Δ θ, DL) of every a pair of relation lines section be calculated；
After searching out all related line segments, it is exactly to obtain the accurate pose of robot in next step, comprises the following steps that：
Choose a pair of related line segments, it is assumed that (X, Y, θ) is the pose of the robot obtained by robot its own system, first
The angle of calculating robot, the parameter of related line segment LC in local map is then recalculated, obtain new center of gravity, new center of gravity to line
Section LG distance is Dl；
Other three pairs of related line segments are chosen, are repeated the above steps, the pose (Xi, Yi, θ i) of four groups of robots is so always obtained,
Wherein i=1,2,3,4, using least squares method so that the quadratic sum of each group pose to the error of new pose is minimum；
The local map for updating to obtain by pose has higher confidence level, and the line segment for merging local map can be complete to complete
The renewal of local figure, it is divided into following two steps：
The renewal of related line segment, related line segment can be divided into 3 kinds of situations, 1) line segment of local map is the line segment in global map
A part；2) line segment in the line segment and global map of local map is completely superposed；3) line segment and global map of local map
In line segment partially overlap；
If first and second kinds of situations, then leave out this line segment from local map, if the third situation, then right with this
A line segment is reconfigured based on the initial data of related line segment, and its parameter is added in global map；
After the renewal for completing related line segment, in local map also exist and the incoherent line segment of global map, just this line segment
It is directly inserted into global map, so far, completes the renewal of global map；
The line segment range method is specially：
LG is a line segment in global map, and a scope R is drawn a circle to approve as fixed point using LG two end points and laser radar center,
For given scope R, the line segment in local map can be divided into following four situation：Two end points of line segment all outside R and
And with R without friendship；Two end points of line segment are all inside R；One end points of line segment is inside R, and an end points is outside R；Line segment
Two end points have two intersection points all outside R and with R, when finding related line segment, only consider these in the range of Zone R domain
Line segment.
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