CN108267133B - Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system - Google Patents
Laser type reflecting plate coordinate system redundancy calibration method and laser navigation system Download PDFInfo
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- CN108267133B CN108267133B CN201711392298.5A CN201711392298A CN108267133B CN 108267133 B CN108267133 B CN 108267133B CN 201711392298 A CN201711392298 A CN 201711392298A CN 108267133 B CN108267133 B CN 108267133B
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Abstract
The invention provides a laser type reflector plate coordinate system redundancy calibration method, which comprises the following steps: the reflecting plate is provided with four non-equidistant reflecting points, wherein the two points are distributed in an area of a circle with the diameter of a line segment where the two points with the farthest distance are located; the laser scanning sensor scans the reflection points twice at random, three reflection points are scanned each time, a coordinate system A and a fixed coordinate system B are established, and then a coordinate system containing two reflection points with the farthest distance in the four reflection points in the coordinate system A or B is selected as a calibration coordinate system; and if the coordinate system A and the coordinate system B both comprise two points with the farthest distance, one of the two points is randomly selected. By setting four reflection points and carrying out redundancy processing after two times of scanning, the accuracy and precision of the laser radar sensor in the process of calibrating the coordinate system are improved, the success rate of robot positioning is ensured, and the navigation accuracy of the robot is improved.
Description
Technical Field
The invention relates to the technical field of robot navigation, in particular to a laser type reflecting plate coordinate system redundancy calibration method and a laser navigation system.
Background
With the rapid development of industrial technology, the technology of robots is continuously advanced, so that the application of motion equipment is also continuously expanded. In the operation process of most sports equipment, navigation is used as a core technology of autonomous driving, and has important significance for the safe driving of the sports equipment. The coordinate system calibration of the existing robot navigation equipment is generally realized by adopting mechanical constraint points. However, the calibration precision and accuracy of the coordinate system by adopting the method are not high enough, and the robot is easy to be unsuccessfully positioned in the navigation process.
Disclosure of Invention
The invention aims to solve the problem that the existing navigation technology has low accuracy and precision and unsuccessful positioning in the coordinate system calibration process.
Therefore, the invention provides a laser type reflector plate coordinate system redundancy calibration method and a laser navigation system, which can be suitable for performing redundancy processing on the calibration of an angular coordinate system in the laser autonomous navigation of a robot so as to improve the calibration accuracy and precision of the coordinate system and ensure the success of positioning.
In order to achieve the above object, the present invention provides a laser type reflection plate coordinate system redundancy calibration method, which is characterized by comprising the following steps: four reflecting points which are distributed at different intervals are arranged in the reflecting area of the reflecting plate, wherein the two points are distributed in an area of a circle with the diameter of a line segment where the two points with the farthest distance are located; the laser scanning sensor scans the four reflecting points twice, and the two scans all scan three random and different reflecting points in the four reflecting points which are not distributed at equal intervals; after the first scanning, taking a straight line where two points with the largest distance among the three scanned reflection points are located as an X axis of a rectangular coordinate system, if the three reflection points are collinear, selecting a point farthest from a middle point as an origin of the rectangular coordinate system, and if the three reflection points are not collinear, selecting a point farthest from a third point among the two points with the largest distance as the origin of the rectangular coordinate system; finally, determining the Y-axis direction of the rectangular coordinate system according to a right-hand rule, and establishing a coordinate system A; after the second scanning, determining a coordinate system B according to the principle; then selecting a coordinate system containing two reflection points with the farthest distance in the four reflection points in the coordinate system A or the coordinate system B as a calibration coordinate system; and if the coordinate system A and the coordinate system B both comprise two points with the farthest distance, randomly selecting one point as a calibration coordinate system.
The present invention also provides a laser navigation system, comprising: the device comprises a laser radar sensor, a laser emitting device and a laser reflecting component; the laser radar sensor and the laser emitting device are both arranged on the moving equipment; the laser reflection component is a laser reflection plate; the reflecting points of the reflecting area of the laser reflecting plate are four and the points are distributed in an unequal distance.
Further, the laser navigation system is characterized in that the laser emitting device is a laser.
Further, the laser navigation system is characterized in that at least three of the reflection points are arranged in a collinear manner.
Further, the laser navigation system is characterized in that the reflection points form a quadrangle.
Furthermore, the laser navigation system is characterized in that the laser reflecting plate is made of glass fiber.
Further, the laser navigation system is characterized in that the laser reflector is rectangular, square or circular.
Further, the laser navigation system is characterized in that a double-sided adhesive tape is arranged on the back of the laser reflecting plate, and the laser reflecting plate is fixed on a preset route through the double-sided adhesive tape. Or the laser reflecting plate is provided with a screw hole, and the laser reflecting plate is fixed on a preset route through the screw hole.
The laser type reflector coordinate system redundancy calibration method described by the invention is used for performing redundancy calibration on a calibration angular coordinate system in the robot navigation process, and the four reflection points are set and subjected to redundancy processing after twice scanning, so that the accuracy of a laser radar sensor in the coordinate system calibration process is increased, the success rate of robot positioning is ensured, and the navigation accuracy of the robot is improved. The invention also provides a laser navigation system, which determines the uniqueness of the coordinate system calibration by setting the positions and the number of the laser radar sensors and the reflecting plates, thereby improving the accuracy of robot navigation and the success rate of positioning.
Drawings
FIG. 1 is a flowchart of a method for calibrating the coordinate system redundancy of a laser-type reflection plate according to the present invention;
FIG. 2 is a block diagram of a laser navigation system according to the present invention;
FIG. 3 is a schematic diagram of the calibration of a rectangular coordinate system when three reflection points are collinear during the scanning process according to the present invention;
FIG. 4 is a schematic diagram of the calibration of a rectangular coordinate system when three reflection points are not collinear in the scanning process according to the method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of protection of the present invention.
In view of the fact that the laser scanning sensor cannot scan the reflection point of the reflection area of each laser reflection plate every time due to factors such as an observation angle, a distance, the shielding of an obstacle, a scanning angle and the like in the navigation process of the AGV trolley; then we assume that the probability of each reflection point being scanned is: p, then the probability of not being scanned is: 1-P.
When only three reflection points are provided, the positioning can be successfully carried out when two or three points are scanned. The probability that all three reflection points are scanned is: p × P, the probability of scanning to two points is: P.times.P (1-P). times.3. When three scanning points are set, the probability that the AGV can be successfully positioned in the navigation process is as follows: p × (1-P) × (3-2P) [ (formula 1) ].
When four reflection points are provided, two or three or four scans can be successfully located. The probability that all four reflection points are scanned is: p × P, the probability of randomly scanning three points is: p × (1-P) × 4, the probability of randomly scanning two points is: P.times.P (1-P). times.1-P.times.6. When four scanning points are set, the probability that the AGV can be successfully positioned in the navigation process is as follows: p × P + P × (1-P) × (4 + P × (1-P) × (6-8P +3 × P) ("formula 2").
Comparing the sizes of the equation 1 and the equation 2, and subtracting the equation 1 from the equation 2 to obtain: 3 (1-P) x (1-P). Obviously, the result is greater than zero, that is, the result is greater than the result of the formula 2, that is, the AGV navigation positioning success rate after setting four reflection points for redundancy processing is greater than the AGV navigation positioning success rate when setting three points, so that the successful positioning in the AGV navigation process is ensured.
According to the probability calculation of successful positioning, the probability of successful positioning is the largest when the laser scanning sensor scans four reflecting points once, the probability of successful positioning is the smallest when the laser scanning sensor scans two reflecting points, and the positioning success rate is centered when the laser scanning sensor scans three reflecting points.
Therefore, the invention provides a method for calibrating the coordinate system redundancy of a laser type reflecting plate, which comprises the following steps as shown in a flow chart shown in fig. 1:
s101: the reflecting area of the reflecting plate is provided with four reflecting points which are distributed in unequal intervals, wherein the two points are distributed in an area of a circle with the diameter of a line segment where the two points with the farthest distance are located; the laser scanning sensor scans the four reflecting points twice, and the two scans all scan three random and different reflecting points in the four reflecting points which are not distributed equidistantly.
Specifically, four reflection points are provided in each reflection area of the reflection plate, and the four reflection points are distributed at different intervals, wherein the two points are distributed in an area of a circle having a line segment farthest from the two points as a diameter. When the laser scanning sensor scans the reflecting plate, three points of the reflecting plate are scanned randomly and are different, and the laser scanning sensor needs to scan the reflecting point of the reflecting plate twice randomly.
S102: after the first scanning, a straight line where two points with the largest distance among the three scanned reflection points are located is used as an X axis of the rectangular coordinate system, if the three reflection points are collinear, a point farthest from the middle point is selected as an origin of the rectangular coordinate system, if the three reflection points are not collinear, a point farthest from the third point among the two points with the largest distance is selected as the origin of the rectangular coordinate system, and finally, the Y axis direction of the rectangular coordinate system is determined according to the right-hand rule, so that a coordinate system A is established.
Specifically, the laser radar sensor starts to perform first scanning on reflection points of a reflection area of a reflection plate, when the laser radar sensor scans three reflection plates which are not equidistant and are positioned on a straight line, firstly two points with the largest distance are identified, the straight line where the two points with the largest distance are positioned is used as an X axis of a rectangular coordinate system, a point which is farthest from a middle point is used as an origin of the rectangular coordinate system, and then a Y axis coordinate system is determined according to a right-hand rule, so that the calibration method of the rectangular coordinate system A when the three reflection points on the reflection plates which are scanned randomly are positioned on the straight line is determined. As shown in fig. 3: the schematic diagram of the calibrated rectangular coordinate system is obtained when the laser radar sensor scans the collinear three non-equidistant reflecting plates.
If the laser radar sensor scans randomly that the reflection points on the three non-equidistant reflection plates are not on the same straight line, the three non-equidistant reflection points form a non-isosceles triangle, the laser radar sensor firstly identifies two points at the farthest distance between the three points, takes the straight line where the two points are located as an X axis, takes the vertex of the intersection point of the longest side and the other two sides as the origin of a rectangular coordinate system, and determines the Y-axis direction of the rectangular coordinate system according to the right-hand rule, thereby calibrating the rectangular coordinate system A when the three reflection plates are not collinear. As shown in fig. 4: when the laser radar sensor scans three non-equidistant reflecting plates which are not collinear, the calibrated rectangular coordinate system schematic diagram is shown.
S103: after the second scan, coordinate system B is determined according to the principles described above.
Specifically, after the laser sensor scans the reflection point of the reflection area of the reflection plate for the second time, the calibration of the coordinate system B is performed according to the principle involved in step S102.
S104: selecting a coordinate system containing two reflection points with the farthest distance from the four reflection points in the coordinate system A or the coordinate system B as a calibration coordinate system; and if the coordinate system A and the coordinate system B both comprise two points with the farthest distance, randomly selecting the coordinate system A or the coordinate system B as a calibration coordinate system.
Specifically, before a calibration coordinate system is selected, the coordinate system A is compared with the coordinate system B, the positions of four reflecting points are determined according to the comparison, the mutual relation among the four reflecting points is further determined, and two points which are farthest away in the four reflecting points are determined; and comparing the coordinate system A with the coordinate system B, selecting the coordinate system comprising two reflection points with the farthest distance from the four reflection points as a calibration coordinate system, and randomly selecting one coordinate system as the calibration coordinate system if the coordinate system A and the coordinate system B both comprise two points with the farthest distance.
FIG. 2 shows a schematic structural diagram 200 of a laser navigation system, which includes: laser radar sensor 201, laser emitting device 202, laser reflecting component 203.
The laser radar sensor 201 and the laser emitting device 202 are both arranged on the moving equipment.
The laser emitting device 202 may be a laser.
The laser reflection part 203 is a laser reflection plate made of a glass fiber material, and the shape of the laser reflection plate can be rectangular, square or circular. Preferably, the back of the laser reflecting plate is provided with a double-sided adhesive tape, and the laser reflecting plate is fixed on the preset route through the double-sided adhesive tape. Preferably, the laser reflecting plate is provided with a screw hole, and the laser reflecting plate is fixed on the preset route through the screw hole, so that the stability of fixing the laser reflecting plate is enhanced.
The number of reflection points of the reflection area of the laser reflection plate is four, and the reflection points are distributed in an unequal distance.
The laser reflecting plates may be preferably provided at respective working points in the traveling path of the sporting apparatus.
The laser emitting device 202 is used for emitting laser, when the laser irradiates the laser reflecting component 203, the laser reflecting plate reflects the laser to the laser radar sensor 201, the laser radar sensor 201 can identify the reflecting points of the reflecting areas of the three laser reflecting plates, and the reflecting points of the reflecting areas of the three laser reflecting plates can be arranged in a collinear manner or not in a collinear manner.
When three or four of the four reflection points are arranged collinearly, the lidar sensor 201 is calibrated by using the above-mentioned method for calibrating the redundancy of the coordinate system of the laser-type reflection plate.
When the four reflection points are arranged in a quadrilateral shape, the lidar sensor 201 is calibrated by using the above-mentioned method for calibrating the redundancy of the coordinate system of the laser type reflection plate.
After the coordinate system is calibrated, the position of the motion equipment can be judged according to the calibrated coordinate system, so that the successful positioning of the motion equipment is ensured, and the navigation accuracy of the motion equipment is ensured.
The motion equipment can be a robot, an AGV trolley, a forklift and other articles with motion functions.
Four reflection points are arranged in the reflection area of the reflector, and the rectangular coordinate system is calibrated by using a redundancy method, so that the calibration accuracy of the reflector coordinate system in the AGV navigation process is improved, the success rate of navigation and positioning is improved, and the navigation error of the robot is reduced.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. A laser type reflecting plate coordinate system redundancy calibration method is characterized by comprising the following steps:
four reflecting points which are distributed at different intervals are arranged in the reflecting area of the reflecting plate, wherein the two points are distributed in an area of a circle with the diameter of a line segment where the two points with the farthest distance are located; the laser scanning sensor scans the four reflecting points twice, and the two scans all scan three random and different reflecting points in the four reflecting points which are not distributed at equal intervals;
after the first scanning, taking a straight line where two points with the largest distance among the three scanned reflection points are located as an X axis of a rectangular coordinate system, if the three reflection points are collinear, selecting a point farthest from a middle point as an origin of the rectangular coordinate system, and if the three reflection points are not collinear, selecting a point farthest from a third point among the two points with the largest distance as the origin of the rectangular coordinate system; finally, determining the Y-axis direction of the rectangular coordinate system according to a right-hand rule, and establishing a coordinate system A;
after the second scanning, determining a coordinate system B according to the principle;
then selecting a coordinate system containing two reflection points with the farthest distance in the four reflection points in the coordinate system A or the coordinate system B as a calibration coordinate system;
and if the coordinate system A and the coordinate system B both comprise two points with the farthest distance, randomly selecting one point as a calibration coordinate system.
2. A laser navigation system, comprising: the device comprises a laser radar sensor, a laser emitting device and a laser reflecting component;
the laser radar sensor and the laser emitting device are both arranged on the moving equipment, and the laser radar sensor is a laser scanning sensor;
the laser reflection component is a laser reflection plate;
the number of reflection points of the reflection area of the laser reflection plate is four, and each point is distributed in an unequal distance;
the working flow of the laser navigation system is as follows:
four reflecting points which are distributed at different intervals are arranged in the reflecting area of the reflecting plate, wherein the two points are distributed in an area of a circle with the diameter of a line segment where the two points with the farthest distance are located; the laser scanning sensor scans the four reflecting points twice, and the two scans all scan three random and different reflecting points in the four reflecting points which are not distributed at equal intervals;
after the first scanning, taking a straight line where two points with the largest distance among the three scanned reflection points are located as an X axis of a rectangular coordinate system, if the three reflection points are collinear, selecting a point farthest from a middle point as an origin of the rectangular coordinate system, and if the three reflection points are not collinear, selecting a point farthest from a third point among the two points with the largest distance as the origin of the rectangular coordinate system; finally, determining the Y-axis direction of the rectangular coordinate system according to a right-hand rule, and establishing a coordinate system A;
after the second scanning, determining a coordinate system B according to the principle;
then selecting a coordinate system containing two reflection points with the farthest distance in the four reflection points in the coordinate system A or the coordinate system B as a calibration coordinate system;
and if the coordinate system A and the coordinate system B both comprise two points with the farthest distance, randomly selecting one point as a calibration coordinate system.
3. The laser navigation system of claim 2, wherein the laser emitting device is a laser.
4. A laser navigation system as claimed in claim 2, wherein at least three of the reflection points are arranged collinearly.
5. A laser navigation system as claimed in claim 2, wherein the reflection points form a quadrilateral.
6. The laser navigation system of claim 2, wherein the laser reflector is made of fiberglass.
7. The laser navigation system of claim 2, wherein the laser reflector is rectangular, square, or circular.
8. The laser navigation system of claim 2, wherein a double-sided adhesive tape is disposed on a back surface of the laser reflector, and the laser reflector is fixed on the predetermined route by the double-sided adhesive tape; or the laser reflecting plate is provided with a screw hole, and the laser reflecting plate is fixed on a preset route through the screw hole.
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| CN109143206B (en) * | 2018-08-27 | 2021-06-01 | 森思泰克河北科技有限公司 | Laser radar calibration device and calibration method |
| CN109712190A (en) * | 2018-11-10 | 2019-05-03 | 浙江大学 | The outer ginseng scaling method of three-dimensional laser scanner and three-dimensional laser radar |
| CN111624577B (en) * | 2019-02-28 | 2023-08-15 | 深圳市速腾聚创科技有限公司 | Reflection intensity calibration method, device, system and computer equipment |
| CN109959937B (en) * | 2019-03-12 | 2021-07-27 | 广州高新兴机器人有限公司 | Laser radar-based positioning method for corridor environment, storage medium and electronic equipment |
| CN110133593B (en) * | 2019-05-23 | 2021-07-27 | 浙江厚达智能科技股份有限公司 | Unmanned cab vehicle |
| CN111580073B (en) * | 2020-04-10 | 2022-08-19 | 昆山同日智能技术有限公司 | Detection method for measuring distribution quality of AGV laser navigation reflecting plate |
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