CN108152829B - Two-dimensional laser radar mapping device with linear guide rail and mapping method thereof - Google Patents
Two-dimensional laser radar mapping device with linear guide rail and mapping method thereof Download PDFInfo
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- CN108152829B CN108152829B CN201711402050.2A CN201711402050A CN108152829B CN 108152829 B CN108152829 B CN 108152829B CN 201711402050 A CN201711402050 A CN 201711402050A CN 108152829 B CN108152829 B CN 108152829B
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- laser radar
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- guide rail
- dimensional laser
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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 invention belongs to the field of autonomous navigation and positioning of a mobile robot and discloses a two-dimensional laser radar mapping device additionally provided with a linear guide rail, which comprises a two-dimensional laser radar, the linear guide rail, a servo motor, a control cabinet, an AGV trolley main body and an upper computer, wherein the servo motor is connected with the two-dimensional laser radar through a ball screw mechanism; the two-dimensional laser radar is electrically connected with an upper computer; the upper computer can run a mapping algorithm according to signal data sent by the two-dimensional laser radar and establish an accurate subgraph, and then global matching optimization is carried out according to the sequence and the position established by the subgraph to establish a global map. According to the invention, a quite accurate insertion position is provided for the two-dimensional laser radar frame data through the linear guide rail, namely the position of the two-dimensional laser radar frame data in the subgraph can be directly determined in advance, so that complex calculation is not required, and the precision is extremely high. Therefore, the algorithm complexity and the efficiency of subgraph establishment are greatly improved.
Description
Technical Field
The invention belongs to the field of autonomous navigation and positioning of mobile robots, and particularly relates to a two-dimensional laser radar mapping device and a mapping method thereof.
Background
AGV (automated Guided vehicle) is the core equipment of modern factories, flexible manufacturing plants, intelligent logistics, unmanned warehouse and sorting centers.
The navigation modes of the AGV generally include a direct coordinate guidance mode for arranging a beacon, an electromagnetic guidance mode for arranging a metal wire on a path, a magnetic tape guidance mode for arranging a magnetic tape on a path, an optical guidance mode for arranging a color tape on a path, and a navigation mode for constructing a real-time map by a laser radar (or visual) SLAM algorithm. The navigation of the first 4 kinds of AGV carts belongs to a beacon preset type guiding mode with a path planned in advance, and the mode has the problems of complicated path changing and expanding, difficulty in beacon laying, high beacon maintenance cost and the like. The method for constructing the map and performing navigation and positioning by using the laser radar (or vision) SLAM algorithm is increasingly becoming the mainstream navigation method of the AGV.
The SLAM algorithm constructs a real-time map and positions by carrying out the result of fusion calculation on the data of the multiple sensors, and synchronously constructs the map and positions and matches. And an accurate occupying grid map is constructed in advance for the environment, so that the AGV trolley is navigated and positioned. In order to accurately navigate and position the vehicle, the accuracy of the map must meet certain requirements.
Maps constructed by different algorithms and different sensors have different accuracies and effects, and the traditional method for improving the map accuracy is the optimization of a unilateral algorithm or the improvement of the sensor quality. The back of these methods requires a great deal of time and effort to study or a significant increase in cost. In some sense, it is feasible, but for some engineering problems, the overall benefit needs to be considered, so that the methods are not applicable to practical application problems, and the practical benefit in engineering is poor. In addition, in the traditional way, because an external sensor is used for estimating the initial position in the traditional subgraph creating process, the created subgraphs have errors, and the errors among the subgraphs are accumulated more and more after more and more subgraphs are created over time.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a two-dimensional laser radar mapping device and a mapping method thereof, wherein mapping is carried out by intermittently moving an AGV. Therefore, in the process of establishing the subgraph, an initial position can be accurately provided for inserting new radar data, the accumulated error in the process of establishing the subgraph is effectively reduced, a more accurate and reliable subgraph is provided for later closed-loop optimization, and a more accurate map is established. And because the subgraph precision is higher, the optimization efficiency can be greatly improved during closed-loop optimization.
In order to achieve the above object, according to an aspect of the present invention, there is provided a two-dimensional lidar mapping apparatus with a linear guide rail, which is characterized by comprising a two-dimensional lidar, a linear guide rail, a servo motor, a control cabinet, an AGV cart main body and an upper computer, wherein:
the two-dimensional laser radar, the linear guide rail, the servo motor and the control cabinet are respectively arranged on the AGV trolley main body;
the control cabinet is connected with the servo motor and is used for controlling the operation of the servo motor and the movement of the AGV trolley main body;
the servo motor is connected with the two-dimensional laser radar through a ball screw mechanism and used for driving the two-dimensional laser radar to move on the linear guide rail;
the two-dimensional laser radar is electrically connected with the upper computer and used for measuring distance data of the environment and transmitting the distance data to the upper computer;
the upper computer is electrically connected with the control cabinet and is used for collecting and displaying state signals of the control cabinet;
the upper computer can run a mapping algorithm according to signal data sent by the two-dimensional laser radar and establish an accurate subgraph, and then global matching optimization is carried out according to the sequence and the position established by the subgraph, so that a global map is established.
Preferably, the two-dimensional laser radar comprises a laser transmitter, an optical receiver, a rotary table and an information processing system, wherein the laser transmitter is used for converting an electric pulse into an optical pulse and transmitting the optical pulse to a target, and the optical receiver is used for converting the optical pulse reflected from the target into an electric pulse signal so as to measure the position, the motion state and the shape of the target, so as to detect, identify, distinguish and track the target, wherein the position of the target refers to the distance and the angle from the target, and the motion state refers to the speed, the vibration and the posture of the target.
Preferably, the precision specification of the linear guide rail is in a P-class or SP-class.
According to another aspect of the invention, a method for mapping a two-dimensional laser radar mapping device additionally provided with a linear guide rail is further provided, and the method is characterized by comprising the following steps:
1) starting an AGV and controlling;
2) controlling the AGV trolley to do intermittent movement in the area where the map is required to be built, wherein the movement mode is as follows: at an initial point, the AGV is static, a servo motor controls a ball screw mechanism to drive a two-dimensional laser radar to move, the two-dimensional laser radar moves from an A end to a B end of a linear guide rail in an intermittent mode, target data are collected and data frames of the laser radar are sent to an upper computer system in the process, and a sub-graph is established;
3) after the first initial sub-graph is established, the AGV trolley stops moving after moving to the next position, the moving distance of the AGV trolley is the same as the stroke of the linear guide rail, then the servo motor drives the two-dimensional laser radar to intermittently move the end A from the end B of the linear guide rail, target data are collected and laser radar data frames are sent to an upper computer system in the moving process, and then a sub-graph is established;
4) matching the last frame of laser radar data frame collected at the B end in the step 2) with the last frame of laser radar data frame collected at the A end in the step 2) so as to perform local matching of subgraphs;
5) and repeating the step 2) to the step 4) until the whole map building area is scanned, completing the building of subgraphs of the whole map building area, and then performing closed-loop optimization on the built subgraphs by the upper computer system to build a global map.
Preferably, the sub-image is rendered in the form of occupying a grid, and the grid is rendered black or white depending on the size of the probability of whether there is an obstacle at the scanning position.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the position of the two-dimensional laser radar frame data in the subgraph can be directly determined in advance, and the linear guide rail provides a quite accurate value for the insertion position, so that complex calculation is not needed, and the accuracy is extremely high. Therefore, the algorithm complexity and the efficiency of subgraph establishment are greatly improved.
And after the front and back sub-graphs are established, due to timely local matching, the accumulated error of the sub-graphs provided for global optimization is very small, namely a better initial value is provided for an optimization algorithm, so that the optimization efficiency can be greatly improved.
Drawings
FIG. 1 is a flow chart of the improved algorithm of the present invention after data acquisition by the device;
FIG. 2 is a schematic diagram of a two-dimensional lidar acquiring environmental data and data information;
FIG. 3 is a schematic diagram of a process of updating a probability grid after data acquisition by a two-dimensional lidar;
FIG. 4 is a schematic diagram of the movement of the laser radar on the linear guide rail;
FIG. 5 is a schematic diagram of an exemplary AGV with a two-dimensional lidar mapping apparatus with linear guides.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1-5, a two-dimensional laser radar 1 map building device with a linear guide rail 2 comprises a two-dimensional laser radar 1, a linear guide rail 2, a servo motor 4, a control cabinet 5, an AGV trolley main body 3 and an upper computer 6, wherein,
the two-dimensional laser radar 1, the linear guide rail 2, the servo motor 4, the control cabinet 5 and the upper computer 6 are respectively arranged on the AGV trolley main body 3;
the control cabinet 5 is electrically connected with the servo motor 4 and is used for controlling the operation of the servo motor 4 and the movement of the AGV trolley main body; the servo motor 4 is connected with the two-dimensional laser radar 1 through a ball screw mechanism and used for driving the two-dimensional laser radar 1 to move on the linear guide rail 2;
the two-dimensional laser radar 1 is electrically connected with the upper computer 6 and used for measuring distance data of the environment and transmitting the distance data to the upper computer;
the upper computer 6 is electrically connected with the control cabinet 5 and is used for collecting and displaying state signals of the control cabinet 5 and carrying out corresponding starting and stopping control;
the upper computer 6 can run a mapping algorithm according to signal data sent by the two-dimensional laser radar 1 and establish accurate subgraphs, and then perform global matching optimization according to the sequence and the positions established by the subgraphs, so that a global map is established.
Further, the two-dimensional laser radar 1 comprises a laser transmitter, an optical receiver, a turntable and an information processing system, wherein the laser transmitter is used for converting electric pulses into optical pulses and transmitting the optical pulses to a target, and the optical receiver is used for reducing the optical pulses reflected from the target into electric pulse signals, so that the position, the motion state and the shape of the target are measured, and the target is detected, identified, distinguished and tracked, wherein the position of the target refers to the distance and the angle between the target and the target, and the motion state refers to the speed, the vibration and the posture of the target.
Further, the precision specification of the linear guide 2 is in a P-class or SP-class.
According to another aspect of the invention, a method for drawing a two-dimensional laser radar 1 drawing device additionally provided with a linear guide rail 2 is further provided, and the method is characterized by comprising the following steps:
1) starting the AGV trolley main body 3, sending a starting signal by the upper computer 6, and controlling the AGV trolley main body 3 to move in a certain mode through the control cabinet 5;
2) the AGV trolley does intermittent movement in an area where a map needs to be built, and the movement mode is as follows: at an initial point, the AGV is static, the servo motor 4 controls the ball screw mechanism to drive the two-dimensional laser radar 1 to move, the two-dimensional laser radar moves from the end A to the end B of the linear guide rail 2 intermittently, in the process, target data are collected and laser radar data frames are sent to the upper computer 6, and a sub-graph is established;
3) after the upper computer 6 completes the establishment of the first initial sub-graph, the AGV trolley stops moving after moving to the next position by sending a control signal to the control cabinet 5, the moving distance of the AGV trolley is the same as the stroke of the linear guide rail 2, then the servo motor 4 drives the two-dimensional laser radar 1 to intermittently move the end A from the end B of the linear guide rail 2, target data are collected and laser radar data frames are sent to the upper computer system 6 in the moving process, and then a sub-graph is established;
4) matching the last frame of laser radar data frame collected at the B end in the step 2) with the last frame of laser radar data frame collected at the A end in the step 2) so as to perform local matching of subgraphs;
5) and repeating the step 2) to the step 4) until the whole map building area is scanned, completing the building of subgraphs of the whole map building area, and then performing closed-loop optimization on the built subgraphs by the upper computer system to build a global map.
Further, the sub-image is presented in the form of occupying a grid, and the grid is presented with black or white depending on the size of the probability of whether there is an obstacle at the scanning position.
The invention adopts a mapping algorithm which can use a two-dimensional laser radar 1 to collect environmental data, and can collect a certain number of laser radar frames laserscan to construct sub-maps; after the front sub-graph and the rear sub-graph are established, optimizing in time; and after the subgraphs are completely established, performing global optimization to establish a global map. The specific principle and the flow are shown in fig. 1, and the algorithm can perform global optimization on a local subgraph and eliminate errors.
The basic units for closed-loop detection are subgraphs, one subgraph being made up of a certain number of lidar frames. When a lidar frame is inserted into a corresponding subgraph, the optimal position of the lidar frame in the subgraph is estimated based on the existing lidar frame and other sensor data of the subgraph, and then the insertion is carried out. Because the linear guide rail 2 moves very accurately, the error of the subgraph can be ignored, and great advantages are provided for matching the front subgraph and the rear subgraph in the later period.
The subgraph error established by the invention is very small, and the position matching between the subgraphs is carried out on the two connected precise subgraphs, so that the matching precision is higher, and the accumulative error of the established subgraph is greatly reduced.
After the two-dimensional laser radar 1 collects the laser radar frames, because the movement from the known point to the known point is carried out, each laser radar frame can accurately know which subgraph the laser radar frame belongs to, the insertion of the subgraphs is directly carried out, and the global scanning matching is not needed. And the precision of the linear guide rail 2 is extremely high, so that the laser radar frame can find a good matching pose more quickly in the insertion process and can be directly inserted. Therefore, the subgraph construction efficiency and precision can be greatly improved.
The specific method for establishing the global map comprises the following steps:
method for establishing subgraph
The stroke of the linear guide rail 2 is L, the two-dimensional laser radar 1 can do uniform linear motion back and forth on the linear guide rail 2, and the moving speed is v; as shown in fig. 2, a coordinate system is established at an initial point of the linear guide 2, the initial point position is taken as an origin, the longitudinal direction of the X axis coincides with the longitudinal direction of the linear guide, and the positive direction of the X axis is a direction from the a end to the B end of the linear guide, the positive direction of the Y axis is perpendicular to the linear guide and directed to the direction of the target, and the XY plane is on the horizontal plane.
And dividing the whole moving travel into m data acquisition points according to the travel L of the linear guide rail 2 and the frame number m of the laser radar frames forming each sub-graph, and acquiring data of one frame of laser radar frame at each point, wherein the distance between every two acquisitions is L/m.
If each frame of radar data comprises n data, the laser radar acquires one laser radar frame and n distances from the origin<d1,d2,d3,…,di,…，dn>N, as shown in fig. 3, each distance corresponds to a specific azimuth angle αiThen, the coordinates of each point of each frame of laser radar can be obtained:
xi＝di*cos αi
yi＝di*sin αi
in the method, each coordinate point is associated with a probability grid, after the position of each coordinate point is calculated, the probability of the occupied probability grid is calculated, the probability is added into an obstacle hit set or an obstacle-free miss set, and the probability grid closest to the coordinate point is added into the hit set; and the probability grids on the line segment from the origin to the hit point or the probability grids starting from the origin to the vicinity of the ray at miss are added into the miss set and then are presented as a sub-graph. Fig. 4 is a diagram of a corresponding updated grid probability subgraph.
And when the two-dimensional laser radar 1 collects the first frame of laser radar data at the origin, initializing a subgraph, and establishing an initial subgraph according to the steps. The initial subgraph only contains data of a first frame of laser radar frame, and specific coordinates of each coordinate point in the first frame of laser radar data are known:
namely, it is
Wherein the superscript designation represents the fourth coordinate point and the subscript designation represents the fourth frame of lidar data, such as wherein
And
the abscissa and ordinate of the jth coordinate point representing the first frame of lidar data.
Then, the ball screw mechanism is accurately controlled by the servo motor 4 to drive the two-dimensional laser radar 1 to move, a second collection point L/m from the original point is used for collecting second frame laser radar data, and a corresponding coordinate point is calculated as follows:
however, the calculation here has a large amount of accumulated error, so another algorithm is adopted:
at this time, since each moving distance of the laser radar is known as L/m, the position of the coordinate point of the second frame of laser radar frame data can be accurately calculated based on this, that is:
compared with the above formula, the second method has higher calculation accuracy. At this time, the data can be directly inserted into the subgraph based on the calculated coordinates.
The same principle is that: in the following subgraph establishing process, data of each frame can be accurately obtained, such as coordinate points of the laser radar scanning data of the k-th frame:
the error generated in the subgraph establishing process can be eliminated, wherein 1< k is less than or equal to m.
(II) real-time matching of two sub-graphs before and after newly-built sub-graph
And after the front and back first sub-graphs and the second sub-graph are established, local sub-graph matching is carried out.
When the front sub-image and the rear sub-image are established, the moving directions of the two-dimensional laser radar 1 on the linear guide rail 2 are opposite, and the moving distance of the trolley is consistent with the stroke of the linear guide rail 2, so that theoretically, the last frame of laser radar data of the front sub-image is basically consistent with the last frame of laser radar data of the rear sub-image. The existing basic matching algorithm is used, and matching can be performed in time after the front subgraph and the rear subgraph are established, for example, the existing least square method, iterative optimization and other methods are used for matching, so that the accumulated error can be reduced in real time, and a matching subgraph with higher precision is provided for the later global closed-loop optimization.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A two-dimensional laser radar mapping device with a linear guide rail is characterized by comprising a two-dimensional laser radar, the linear guide rail, a servo motor, a control cabinet, an AGV trolley main body and an upper computer, wherein,
the two-dimensional laser radar, the linear guide rail, the servo motor and the control cabinet are respectively arranged on the AGV trolley main body;
the control cabinet is connected with the servo motor and is used for controlling the operation of the servo motor and the movement of the AGV trolley main body;
the servo motor is connected with the two-dimensional laser radar through a ball screw mechanism and used for driving the two-dimensional laser radar to move on the linear guide rail;
the two-dimensional laser radar is electrically connected with the upper computer and used for measuring distance data of the environment and transmitting the distance data to the upper computer;
the upper computer is electrically connected with the control cabinet and is used for collecting and displaying state signals of the control cabinet;
the upper computer can run a mapping algorithm according to signal data sent by the two-dimensional laser radar and establish an accurate subgraph, and then global matching optimization is carried out according to the sequence and the position established by the subgraph, so that a global map is established;
the method for constructing the image by the image constructing device comprises the following steps:
1) starting an AGV and controlling;
2) controlling the AGV trolley to do intermittent movement in the area where the map is required to be built, wherein the movement mode is as follows: at an initial point, the AGV is static, a servo motor controls a ball screw mechanism to drive a two-dimensional laser radar to move, the two-dimensional laser radar moves from an A end to a B end of a linear guide rail in an intermittent mode, target data are collected and data frames of the laser radar are sent to an upper computer system in the process, and a sub-graph is established;
3) after the first initial sub-graph is established, the AGV trolley stops moving after moving to the next position, the moving distance of the AGV trolley is the same as the stroke of the linear guide rail, then the servo motor drives the two-dimensional laser radar to intermittently move from the end B to the end A of the linear guide rail, target data are collected and laser radar data frames are sent to an upper computer system in the moving process, and then a sub-graph is established;
4) matching the last frame of laser radar data frame collected at the B end in the step 2) with the last frame of laser radar data frame collected at the A end in the step 2) so as to perform local matching of subgraphs;
5) and repeating the step 2) to the step 4) until the whole map building area is scanned, completing the building of subgraphs of the whole map building area, and then performing closed-loop optimization on the built subgraphs by the upper computer system to build a global map.
2. The two-dimensional lidar mapping device provided with the linear guide rail as claimed in claim 1, wherein the two-dimensional lidar comprises a laser transmitter, an optical receiver, a turntable and an information processing system, the laser transmitter is used for converting an electric pulse into an optical pulse and transmitting the optical pulse to a target, the optical receiver is used for reducing the optical pulse reflected from the target into an electric pulse signal, and therefore the position, the motion state and the shape of the target are measured so as to detect, identify, distinguish and track the target, wherein the position of the target refers to the distance and the angle between the target and the target, and the motion state refers to the speed, the vibration and the posture of the target.
3. The two-dimensional lidar mapping device provided with the linear guide rail as claimed in claim 1, wherein the precision specification of the linear guide rail is in a P-class or SP-class.
4. The two-dimensional lidar mapping device with the linear guide rail as claimed in claim 1, wherein the subgraph is represented in the form of occupying grid, and the grid is represented in black or white according to the probability of whether there is an obstacle at the scanning position.
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| CN110288708B (en) * | 2019-05-05 | 2023-06-16 | 深圳大学 | Map construction method and device and terminal equipment |
| CN110281838B (en) * | 2019-06-28 | 2022-11-18 | 上海理工大学 | Automatic automobile headlamp conversion method based on two-dimensional laser radar |
| CN110285822A (en) * | 2019-07-01 | 2019-09-27 | 东莞理工学院 | Unmanned plane builds the fusion application system and method for nomography Yu unmanned vehicle navigation algorithm |
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