CN107817509A - Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar - Google Patents
Crusing robot navigation system and method based on the RTK Big Dippeves and laser radar Download PDFInfo
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- CN107817509A CN107817509A CN201710801741.3A CN201710801741A CN107817509A CN 107817509 A CN107817509 A CN 107817509A CN 201710801741 A CN201710801741 A CN 201710801741A CN 107817509 A CN107817509 A CN 107817509A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of crusing robot navigation system and method based on the RTK Big Dippeves and laser radar, including robot movement station and back-stage management server, the robot movement station, which includes machine human organism and the control module, positioning navigation module, wireless communication module and the power management module that are arranged on machine human organism, the positioning navigation module, includes laser radar and RTK/SINS units；Navigation map uses the design that global map is combined with local map, global map structure is drawn using robot records track-wise, navigation mode uses and takes aim at pid algorithm in advance, local map structure is using laser radar record barrier discrete data point, the step reduction disorder thing marginal information such as clustered, curve matching, using Artificial Potential Field path planning avoidance mode.Compared with prior art, the present invention have the advantages that navigation and positioning accuracy it is high, without Pavement Improvement, environmental suitability by force, good operating stability.
Description
Technical field
The present invention relates to a kind of navigation system, more particularly, to a kind of inspection machine based on the RTK Big Dippeves and laser radar
People's navigation system.
Background technology
Mobile crusing robot can save a large amount of manpowers, can especially be used in the dangerous field for being not suitable for manual inspection
Close, such as super-pressure crusing robot and petroleum pipeline crusing robot.The mobile crusing robot of development is mutually tied with manual inspection
The mode of conjunction certainly will be a kind of trend of future development.
Traditional mobile robot is more positioned using magnetic orbital, radio RF recognition technology RFID or fixed guide rails and
Navigation.In the 1990s, Japan researches and develops a rail crusing robot, applied to 500kV transformer stations.In January, 2014, Zhejiang
State puts into operation from the Intelligent Mobile Robot that Robotics Technology Co., Ltd. develops in Ruian transformer station, using multiple
The navigation mode of sonar and laser range sensor.A campus crusing robot of Changshu Institute of Technology research in 2015 uses
Positioning, navigation mode are the schemes that common GPS and camera are combined.Believe that heavy industry opens really intelligence and equips limited public affairs in 2016
Department produce a rail mounted crusing robot, mainly described in document rail mounted crusing robot track hardware composition,
Data collecting system scheme and power management scheme.Chinese patent CN103064416B discloses a kind of crusing robot indoor and outdoor certainly
Principle navigation system, including travelling control unit, walking decision package and functional task unit, are safeguarded relatively simple.Most of ginsengs
Examine document and be not directed to the avoidance mode that burst obstacle situation is run on the structure and inspection route of system.It is although moreover, each
Ground research and development mobile robot can substantially meet conventional inspection demand, but exist environmental disturbances are big, antijamming capability is weak, positioning
Precision is low and the shortcomings of robot dexterity is poor.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on the RTK Big Dippeves and
The crusing robot navigation system and method for laser radar.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of crusing robot navigation system based on the RTK Big Dippeves and laser radar, including led to using wireless routing networking
The robot movement station and back-stage management server of letter, the robot movement station include machine human organism and are arranged at machine
Control module, positioning navigation module, wireless communication module and power management module, the control module on human organism connect respectively
Positioning navigation module, wireless communication module and power management module are connect, the positioning navigation module includes laser radar and RTK/
SINS units.
Further, the control module includes nuclear control in industrial computer and Cortex-M3 by serial communication connection
Chip, the industrial computer connect laser radar and RTK/SINS units respectively, and the Cortex-M3 kernels control chip connects nothing
Line communication module.
Further, the wireless communication module is 2.4G wireless remote control modules.
Further, the RTK/SINS units include positioning antenna and direction-finder antenna, the positioning antenna and direction finding day
Distance between line is more than 1m.
Further, the laser radar is installed on machine human organism forefront, and height is 20cm~30cm from the ground.
Further, in addition to for robot movement station Digiplex, be connected with the wireless communication module.
Further, the positioning navigation module also includes ultrasound unit.
The crusing robot navigation system that the present invention is also provided described in a kind of utilization realizes global and local navigation
Method, this method realize navigation with the navigation map that local map is combined by the global map of structure, are specially：
The output data of RTK/SINS units is obtained, carries out Kalman filtering, fusion exports the robot movement station
State parameter, based on the state parameter and global map using taking aim at PID control strategy realizes global Navigation Control in advance；According to RTK/
The inertial guidance data of SINS units output, the data and local map of laser radar collection, are realized local using Artificial Potential Field Method
Avoidance obstacle, and real-time update local map.
Further, the structure of the global map is specially：
Robot movement station receives telecommand, is run along track designation to be inspected, and RTK/SINS units record road in real time
Footpath location data, form global map.
Further, the structure of the local map is specially：
Obtain laser radar data, to the laser radar data carry out medium filtering, acquired disturbance thing discrete data point, if
Threshold distance of the fixed beeline as cluster, is clustered according to the threshold distance to the barrier discrete data point,
Multiple clusters are obtained, each cluster is carried out curve fitting, obtain barrier edge discrete point, form local map；
When being clustered, deleted data points number is less than the cluster of the clusters number threshold value of setting.
Compared with prior art, the invention has the advantages that：
1st, the present invention is navigated using RTK/SINS units, employs high-precision difference Big Dipper locating module, solves
Use the market limitation of other location equipments such as GPS and potential safety hazard.
2nd, RTK Big Dippeves location equipment of the present invention integrates High Accuracy Inertial module, and output is merged after Kalman filtering, both
Cooperate, realize and have complementary advantages, solve because signal blocks and caused by position failure problem, ensure reliability of positioning and appearance
The accuracy value at state angle, realize that pinpoint orients patrol task.
3rd, the navigation map that invention is combined using RTK/SINS units and laser radar structure global and local, navigation ground
Figure precision is high.
4th, the present invention uses the avoidance mode of laser radar, and control strategy uses Artificial Potential Field Method, and real-time update is partly
Figure, realizes local paths planning and intelligent barrier avoiding under complex environment.
5th, it is clustered, bent to the barrier discrete data point of laser radar record when the present invention carries out local map structure
The step reduction disorder thing marginal informations such as line fitting, obstacle information accurately and reliably, facilitate robot to identify road information.
6th, the inspection demand that can be achieved is rectified and improved in planning of the present invention for polling path without road pavement, and environment adapts to
Property is strong.
7th, the distance positioned in RTK/SINS units of the present invention between antenna and direction-finder antenna is more than 1m, accuracy of data acquisition
It is high.
8th, laser radar of the present invention is arranged on robot automobile body forefront, and height is between 20cm~30cm from the ground, number
According to acquisition precision height.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that differential steering crusing robot moves physics model schematic；
Fig. 3 is the mounting design schematic diagram of laser radar and RTK/SINS units；
Fig. 4 sends data workflow figure for remote control；
Fig. 5 is remote control reception data workflow figure；
Fig. 6 is global and local Navigation Control strategy block diagram；
Fig. 7 is comparison diagram before and after cluster, wherein, (7a) is cluster leading edge discrete laser point schematic diagram, and (7b) is cluster
Back edge discrete laser point schematic diagram；
Fig. 8 is different clustering distance threshold value deltad, cluster numbers strong point threshold value Ncluster, fit approach discrete laser point
Curve matching comparison diagram, wherein, (8a) is deltad=10, Ncluster=3, fitting result during overall fit, (8b) are
Deltad=10, Ncluster=3, fitting result during piecewise fitting, (8c) are deltad=10, Ncluster=10, overall fit
When fitting result, (8d) is deltad=10, Ncluster=10, fitting result during piecewise fitting, (8e) are deltad=
15、Ncluster=10, fitting result during overall fit, (8f) are deltad=15, Ncluster=10, plan during piecewise fitting
Close result；
Fig. 9 is to take aim at pid control algorithm theory diagram in advance；
Figure 10 is avoidance trajectory diagram under robot difference road conditions, wherein, (10a) is the robot path rule in linear road
Draw, (10b) is the robot path planning in more ward, and (10c) is the robot path rule in Road turnings section
Draw.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
First, system architecture
As shown in figure 1, the present embodiment provides a kind of crusing robot navigation system based on the RTK Big Dippeves and laser radar,
For intelligent patrol detection, including robot movement station 100 and back-stage management server 200 using wireless routing group-net communication, lead to
Letter agreement uses ICP/IP protocol, and robot movement station 100 includes machine human organism and the control being arranged on machine human organism
Molding block, positioning navigation module 101, wireless communication module 102 and power management module 103, control module connect positioning respectively
Navigation module 101, wireless communication module 102 and power management module 103, positioning navigation module 101 include laser radar and
RTK/SINS (resolving Differential positioning equipment/Methods of Strapdown Inertial Navigation System, Real-time kinematic/SINS) unit.
Control module includes the industrial computer 104 and Cortex-M3 kernels control chip 105 connected by serial communication, work
Control machine 104 connects laser radar and RTK/SINS units respectively, and Cortex-M3 kernels control chip 105 connects radio communication mold
Block.In the present embodiment, Cortex-M3 kernels control chip 105 uses STM32F103ARM.In certain embodiments, industrial computer
104 are responsible for collection RTK/INS, laser radar, image, the data such as thermal imaging system in real time, by ICP/IP protocol by disconnecting link, instrument
Deng the information transfer such as relevant device information and robot real-time running state to back-stage management server 200, enter for related personnel
Row monitoring.In certain embodiments, positioning navigation module 101 also includes ultrasound unit.Cortex-M3 kernel control chips
105 are used to realize the functions such as wireless remote control decoding, motor driving, battery management, avoiding obstacles by supersonic wave, police instruction.
Wireless communication module 102 is 2.4G wireless remote control modules, has NRF24L01 wireless communication interfaces.In some implementations
In example, the navigation also includes the Digiplex for robot movement station, connection corresponding with wireless communication module.
Digiplex is order sending module, using industry, science and the free frequency ranges of medical ISM, NRF24L012.4G
Wireless communication module designs, and controller uses STM32F407 ARM Cortex-M3 kernel control chips, and controller uses
STM32F407 ARM Cortex-M3 kernel control chips, for functions such as short range manipulation crusing robot advance and steerings.
Build under map command pattern, can be run by teleoperated vehicle along track designation to be inspected, real-time record path is determined
Position data build global map.Order sending module is provided with the orders such as advance, retrogressing, preceding left-hand rotation, preceding right-hand rotation and emergency brake
Frame, and other command function interfaces are reserved in software.5 bytes are set to per frame data width, NRF24L01 carries data check,
If bust this can set and resend number, it is contemplated that use occasion and high-transmission baud rate, therefore designed in frame format
In need not carry out the associated check algorithm such as CRC.Specific frame format design is as shown in table 1.
Table 1
The first two byte is frame head, behind three bytes be command frame, data frame length and data frame.Such as Fig. 4 and Fig. 5 institutes
Show, respectively remote control transmitting-receiving workflow.Guidance command is packaged into whole frame lattice by order sending module according to the key assignments pressed
Formula, then send packet is byte-by-byte.The wireless receiving module carried on crusing robot fuselage receives decoding for order
Module, after the order for receiving sending module transmission, preamble detecting and decoding are carried out to guidance command, finally performed corresponding dynamic
Make.
The RTK/SINS units of the present embodiment are positioned using the double antenna of R60 series, orthotype high-precision receiver, including
Antenna and direction-finder antenna are positioned, as shown in figure 3, the distance between positioning antenna and direction-finder antenna is more than 1m, Static positioning accuracy reaches
± (2.5+1 × 10-6 × D) mm, has preferable effect.When RTK/SINS units realize positioning, using carrier phase difference
The carrier phase collected is sent to movement station by technology, base station, and accurate Difference Solution is obtained through resolving.Base station and movement station it
Between communication use high power station equipment.Base station is arranged on spacious roof or other higher void spaces, movement station installation
Positioning, direction finding in real time are carried out to robot on the airborne body of robot and is tested the speed.
The present embodiment uses DE01 laser radars, and measurement outermost radius distance can up to 15m for normal inspection road surface
Meet that local map builds demand.The radar meets object reflection by launching near infrared light, sensor by light transmitting and
Receive the time difference or phase difference is resolved to obtain the distance between robot and barrier.Before being installed on machine human organism most
Side, and height is 20cm~30cm from the ground, effect is preferable.
2nd, crusing robot motion physical model
Because the road surface of more inspection occasion is relatively flat and regular, WGS-84 coordinate systems crusing robot can be positioned and sat
Mark is changed to two-dimensional plane coordinate system with Gaussian transformation algorithm, and motion model foundation is carried out to robot.Using robot center of gravity as
The carrier origin of coordinates, body y direction are robot y-axis direction, with robot direction of advance right side for x-axis positive direction.Machine
People's posture passes through the friction speed of two wheels of coordination by the wheel independent control of both sides, it is possible to achieve robot original place rotates, edge
Straight-line travelling, steering or the motion of other tracks.
As shown in Fig. 2 move physics model schematic for differential steering crusing robot.According to geometry principle, easily
Obtain the equation of motion of differential steering robot.R represents the instantaneous curvature radius of robot motion track, and W represents robot
Width, ψ represent the angle between Two coordinate system.According to this model schematic, corresponding robot body movement model is established.Carry
Changed between body coordinate system and geographic coordinate system using spin matrix, by body movement model conversion under geographic coordinate system
Discretization motion model.
3rd, Navigation Control
Above-mentioned crusing robot navigation system changes the navigation mode such as traditional magnetic track rail, using the RTK Big Dippeves with inertial navigation
Position Design is positioned and navigated, and is carried out avoidance using laser radar, is led based on global map with what local map was combined
Boat map, PID overall situations navigation algorithm and global-local integrated navigation of Artificial Potential Field resolving Algorithm realization are taken aim in advance, realize that advantage is mutual
Mend, enhancing environmental robustness, such as Fig. 6.Inertial navigation module with odometer and RTK equipment are entered by line number using EKF
According to fusion, solve because of signal blocks and caused by position failure problem.There are long-time cumulative errors in inertial navigation, need RTK again
Equipment is accurately positioned, orients adjustment, and both have complementary advantages.
The structure of global map is specially：Robot movement station receives telecommand, is run along track designation to be inspected,
The real-time record path location data of RTK/SINS units, form global map.
High-precision global context map is created, it is necessary to which global map section and nodal information are deposited using RTK/INS equipment
Store up database.RTK output datas frame format is NMEA-0183 forms, and it is decoded to obtain latitude and longitude information.NMEA-
The 0183 main data frame such as including GPGGA, GPRMC and PPNAV.Wherein GPRMC, which is included, recommends location information, and PPNAV is inertial navigation
Output data.When building global map, robot localization and robot navigation, it is necessary to GPRMC and PPNAV data frame solutions
Code.Global map calls SQL statement operation Access databases by RTK by the way of road topology structural separation point is stored
Location data is stored in database.Latitude and longitude information corresponding to each node stored in road node table is WGS-84 the earth
Coordinate system, and the structure generally use of global digital maps is plane coordinate system.Nodal information is read and shows in host computer
When, WGS-84 geodetic coordinates (L, B) is converted into the corresponding Gauss plane coordinate system of spheroid from Gauss transfer algorithm, so
Afterwards by Gauss plane coordinate system by mutually being changed between rotation and translation matrix and body axis system.
The structure of local map is specially：Laser radar data is obtained, medium filtering is carried out to the laser radar data, obtained
Barrier discrete data point, setting one beeline as cluster threshold distance, according to the threshold distance to barrier from
Scattered data point is clustered, and obtains multiple clusters, and each cluster is carried out curve fitting, and obtains barrier edge discrete point, formation office
Portion's map；And when being clustered, deleted data points number is less than the cluster of the clusters number threshold value of setting.
Local map structure uses the distance between laser radar read machine people and barrier and angle information, in real time,
Dynamic is drawn and formed.What laser radar was read is resolution ratio is 1 °, scope is 360 ° discrete data point, it is necessary to number to return
Barrier profile information can be just given expression to according to being handled.
To give expression to barrier marginal information, first have to carry out medium filtering to laser radar data, filter out because of robot
The influence brought is shaken in traveling process.Then threshold distance of the beeline as cluster is set, according to the threshold value to each number
The simple clustering algorithm using distance as foundation is carried out according to frame, and removes cluster of the data point less than N.Laser Radar Scanning angle point
Resolution is 1 ° of steady state value, and distance is more remote, then the information point that same barrier is scanned is fewer, or even in hypertelorism, it is single
Circle scans and produces the blind area in resolution ratio, so N values size need to successively decrease according to actual set distance.Due to crusing robot car
Speed is relatively low, rule of thumb chooses N values with theoretical calculation.As shown in fig. 7, it is comparison diagram before and after discrete data point cluster.
It is the curb and barrier discrete point without cluster to scheme (7a), though general profile can be found out, machine None- identified
Road information, optimal path can not be cooked up by easily causing robot without cluster.Figure (7b) is to be handled by clustering algorithm
Curb and barrier discrete point, barrier profile information can be found out substantially, for ease of observation, the discrete point of same cluster is straight
Line is connected.
If allow robot cognitive disorders thing and safe avoidance, it is also necessary to each cluster is carried out curve fitting, obtained
More intensive barrier edge discrete point.Fit approach, clusters number threshold value Ncluster, cluster threshold distance deltad choosing
The different expression degree to barrier edge taken are also different.By in Fig. 8 fitting result two-by-two it can be seen from contrast it is whole
Body curve fitting gained barrier edge is more round and smooth, and the barrier edge that sectional linear fitting obtains is more true, more can be convex
The true form of aobvious barrier.Obstacle when distance threshold coefficient is too small remotely can be seen that by (8d) in Fig. 8 and (8f)
There is loss situation in thing edge, so clustering distance threshold coefficient should be adjusted suitably；(8b) and (8d) is as can be seen that cluster data
Obstacle information can be described more fully when smaller in point number, meeting lost part obstacle information when cluster numbers strong point number is excessive,
There is also considerable influence to barrier recovery for different cluster numbers strong points threshold value.The present embodiment selects deltad=10, Ncluster=
3rd, the barrier edge and road section information that the condition of sectional linear fitting fits, more reliable result is obtained.
RTK equipment is subject to disturb in strong magnetic environment, using EKF by the inertial navigation mould with odometer
Block and RTK equipment carry out data fusion, solve because signal blocks and caused by position failure problem.Inertial navigation exists tired for a long time
Error is counted, needs RTK equipment to be accurately positioned again, orient adjustment, both have complementary advantages.
As shown in figure 9, to take aim at pid control algorithm theory diagram in advance.It is pre- take aim at pid control algorithm strategy thought be：It will adopt
The foundation that the global high-precision map path obtained by the use of RTK equipment is taken aim in advance as robot, from the database of industrial computer in real time
Road is obtained through coordinate and course angle information, is taken aim in advance through manual imitation and the plan of position, angle PID adjustment along expected polling path walking
Slightly.
Mobile crusing robot walking is on having the inspection route of uncertain barrier, if simple take aim at PID controls using pre-
Algorithm processed, it is likely that can collide and cause to shut down or even damage.Artificial Potential Field Method is be performance in local paths planning compared with
A kind of method good, robustness is stronger, the laser radar avoidance method of path planning is carried out using Artificial Potential Field algorithm, is kept away more merely
The defects of barrier system can avoid shutting down because of deviation route.Target point is set to take aim at a little with barrier remotely pre-, machine
After people is planned for reaching target point through path, will enter it is next it is pre- take aim at a little to continue executing with pre- take aim at PID control strategy.Therefore, using people
Work potential field method carries out local map path planning and realizes avoidance.
Artificial Potential Field Method this assumes that robot moves under a kind of virtual field of force.Its field of force has two kinds：Gravitation
Field and repulsion field.The coordinate points that wherein robot needs to go to are referred to as target point, produce gravitation effect.The obstacle occurred in environment
Thing produces repulsion field, and the effect of virtual repulsion is produced to robot.Gravitational field and repulsion field and distance dependent, when robot with
When barrier moves closer to, the algorithm will produce huge repulsion field rapidly, so as to prevent robot from being collided with barrier；
When robot and target point farther out when, gravitational field caused by algorithm will produce huge graviational interaction to robot, so as to guide
Robot goes to target point with shortest path.Robot on polling path every bit by make a concerted effort for robot suffered by the point
The repulsion and gravitation sum arrived.Gravitation and repulsion can be obtained by the derivative calculations that gravitational field and repulsion field are adjusted the distance.
Experiment gathers multigroup experimental data by mobile lidar, and experimental data is clustered, is fitted, rasterizing
Afterwards, analog simulation path planning avoidance is tested, and it is 5cm to take grid stepping length.As shown in Figure 10, for robot in various differences
Obstacle-avoiding route planning figure under road conditions, wherein " square frame " is robot starting point, " plus sige " is robot target point.
It is linear road to scheme (10a), and there is place's barrier in front, and the pre- point coordinates of taking aim at barrier rear is set into target point,
Robot smoothly arrives at target point according to peripheral obstacle distribution situation, into clear space, then proceedes to the execution overall situation and takes aim in advance
Pid algorithm, emulation walking path length is 1461.02cm.
It is more spacious place to scheme (10b), and a few place's barrier points are provided with environment, and target point is set to after barrier point
Side, it can be seen that robot energy cut-through, reach target point, emulation walking path length is 1952.70cm.
It is Road turnings section to scheme (10c), robot cut-through is can be seen that from robot movement locus, into turnover
Section, emulation walking path length is 237.70cm.
It can be seen that the system design can meet robot navigation's demand, it is excellent to have that environmental robustness is strong, real-time is high etc.
Point.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (6)
1. a kind of crusing robot navigation system based on the RTK Big Dippeves and laser radar, it is characterised in that including using without circuit
By the robot movement station and back-stage management server of group-net communication, the robot movement station includes machine human organism and set
Control module, positioning navigation module, wireless communication module and the power management module being placed on machine human organism, the control mould
Block connects positioning navigation module, wireless communication module and power management module respectively, and the positioning navigation module includes laser thunder
Up to RTK/SINS units.
2. the crusing robot navigation system according to claim 1 based on the RTK Big Dippeves and laser radar, its feature exist
In the control module includes the industrial computer and Cortex-M3 kernel control chips connected by serial communication, the industrial computer
Laser radar and RTK/SINS units are connected respectively, and the Cortex-M3 kernels control chip connects wireless communication module.
3. the crusing robot navigation system according to claim 1 based on the RTK Big Dippeves and laser radar, its feature exist
In the RTK/SINS units include positioning antenna and direction-finder antenna, and the distance between the positioning antenna and direction-finder antenna is more than
1m。
A kind of 4. side that global and local navigation is realized using crusing robot navigation system as claimed in claim 1
Method, it is characterised in that this method realizes navigation by the global map of structure with the navigation map that local map is combined, specifically
For：
The output data of RTK/SINS units is obtained, carries out Kalman filtering, fusion exports the state of the robot movement station
Parameter, based on the state parameter and global map using taking aim at PID control strategy realizes global Navigation Control in advance；According to RTK/SINS
The inertial guidance data of unit output, the data and local map of laser radar collection, local avoidance is realized using Artificial Potential Field Method
Control, and real-time update local map.
5. according to the method for claim 4, it is characterised in that the structure of the global map is specially：
Robot movement station receives telecommand, is run along track designation to be inspected, and the real-time record path of RTK/SINS units is determined
Position data, form global map.
6. according to the method for claim 4, it is characterised in that the structure of the local map is specially：
Laser radar data is obtained, medium filtering, acquired disturbance thing discrete data point, setting one are carried out to the laser radar data
Threshold distance of the beeline as cluster, is clustered according to the threshold distance to the barrier discrete data point, is obtained
Multiple clusters, each cluster is carried out curve fitting, obtain barrier edge discrete point, form local map；
When being clustered, deleted data points number is less than the cluster of the clusters number threshold value of setting.
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Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108510734A (en) * | 2018-03-30 | 2018-09-07 | 深圳市金溢科技股份有限公司 | A kind of information of vehicles matching process of roadside unit and a kind of roadside unit |
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| CN115439949A (en) * | 2022-08-30 | 2022-12-06 | 中建三局智能技术有限公司 | Automatic robot inspection method, device, equipment and storage medium |
| CN115617053A (en) * | 2022-12-19 | 2023-01-17 | 松灵机器人(深圳)有限公司 | Obstacle traversing method and device, mowing robot and storage medium |
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| WO2022005825A1 (en) * | 2020-07-02 | 2022-01-06 | Saudi Arabian Oil Company | Automation in a robotic pipe coating system |
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