CN109129468B - Mobile robot based on MYRIO platform - Google Patents

Mobile robot based on MYRIO platform Download PDF

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CN109129468B
CN109129468B CN201810845650.4A CN201810845650A CN109129468B CN 109129468 B CN109129468 B CN 109129468B CN 201810845650 A CN201810845650 A CN 201810845650A CN 109129468 B CN109129468 B CN 109129468B
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mobile robot
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robot
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environment
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CN109129468A (en
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章铃娜
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Guangdong University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

The invention discloses a mobile robot based on a MYRIO platform, which comprises a sensor system, a man-machine interaction system, a control system, a driving system, a mechanical structure platform and a mobile robot-environment interaction system. The mobile robot under the MYRIO platform establishes a real-time map, positions the robot and establishes and updates a global map by acquiring data scanned by a laser radar in real time and processing data scanning through improved statistical filtering, and draws a characteristic map of an environment.

Description

Mobile robot based on MYRIO platform
Technical Field
The invention relates to the field of mobile robots, in particular to a mobile robot based on a MYRIO platform.
Background
With the development of the robot technology, more and more intelligent robots penetrate into the daily production and life of people. Since the 90 s of the 20 th century, higher-level research on mobile robots has been carried out with the marks of development of high-level environmental information sensor technology, information processing technology, high-adaptability mobile robot control technology and planning technology in real environments.
In recent years, due to the leap progress of science and technology, an intelligent mobile robot with autonomous perception decision-making and execution functions is rapidly developed, the mobile robot has the greatest characteristic of being capable of moving freely, the robot is more adaptive to the environment due to the motion capability and can be competent for more work, and the mobile robot can be applied to the fields of nuclear power plants, mine clearance, battlefield searching, deep sea detection and other difficult and dangerous conditions.
Map creation is a basic and important problem in the field of mobile robots, and environmental maps are widely applied in navigation systems of mobile robots, and play an important role in navigation positioning and global path planning of the mobile robots. To realize autonomous navigation of a mobile robot, it is most important to know the accurate pose of the robot in the environment through positioning. The mobile robot positioning and autonomous navigation technology based on the prior map is widely researched, and a good application effect is achieved.
At present, grid maps are often adopted by mobile robots, and the probability value of each grid occupied is used for representing environment information, but the accuracy of the grid maps is not high. Compared with sensors such as infrared sensors and sonar sensors, the laser radar has the advantages of high data acquisition speed, accuracy and small interference. Thus, the map created using the lidar data has a high degree of accuracy.
Disclosure of Invention
The invention aims to solve one or more defects and designs a mobile robot real-time map creation system based on a MYRIO platform.
In order to realize the purpose, the technical scheme is as follows:
a mobile robot based on a MYRIO platform comprises a sensor system, a man-machine interaction system, a control system, a driving system, a mechanical structure platform and a mobile robot-environment interaction system;
the output end of the sensor system is connected with the input end of the human-computer interaction system, the output end of the human-computer interaction system is connected with the input end of the control system, the output end of the control system is connected with the input end of the driving system, the output end of the driving system is connected with the input end of the mechanical structure platform, the output end of the mechanical structure platform is connected with the input end of the mobile robot-environment interaction system, and meanwhile, the output end of the mechanical structure platform and the output end of the mobile robot-environment interaction system are both connected with the input end of the sensor system.
Preferably, the output end of the sensor system is connected with the input end of the human-computer interaction system through a USB interface.
Preferably, the sensor system comprises a lidar and a odometer, wherein the odometer is used for recording the movement track of the robot, and the lidar is used for acquiring measured data.
Preferably, the human-computer interaction system comprises an upper computer; the upper computer comprises a core processor of dual-core ARMCortex-A9.
Preferably, the upper computer further comprises a statistical filter; the statistical filter is used for filtering the scanned data.
Preferably, the mechanical structure platform comprises a motor drive.
Preferably, the man-machine interaction system is provided with a MYRIO-based environment construction software system, sensor data are obtained through LABVIEW software programming, the data are transmitted to the positioning and mapping module, positioning and mapping are carried out through map nodes, an upper computer program interface is visualized, and an environment map constructed in the moving process of the robot is displayed in real time.
Compared with the prior art, the invention has the beneficial effects that:
the mobile robot real-time map is created based on MYRIO platform development, good filtering effect of improved statistical filtering is utilized, singular points are filtered, meanwhile, information of remote obstacles and the ground wall surface is kept, laser radar data are processed and drawn on line in real time, development of students is facilitated by applying MYRIO, graphical programming is simple and clear, online map visualization is achieved, and the method has important significance for achieving autonomous movement and positioning.
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FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a laser scanning image of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
the invention is further illustrated below with reference to the figures and examples.
Example 1
A mobile robot based on a MYRIO platform, please refer to fig. 1, the mobile robot comprises a sensor system, a human-computer interaction system, a control system, a driving system, a mechanical structure platform and a mobile robot-environment interaction system;
the output end of the sensor system is connected with the input end of the human-computer interaction system, the output end of the human-computer interaction system is connected with the input end of the control system, the output end of the control system is connected with the input end of the driving system, the output end of the driving system is connected with the input end of the mechanical structure platform, the output end of the mechanical structure platform is connected with the input end of the mobile robot-environment interaction system, and meanwhile, the output end of the mechanical structure platform and the output end of the mobile robot-environment interaction system are both connected with the input end of the sensor system.
In this embodiment, the output end of the sensor system is connected to the input end of the human-computer interaction system through a USB interface. In order to ensure that the mobile robot can create and update map data in real time during the traveling process, a processor with enough running speed and matched peripheral equipment must be ensured. A MYRIO-based embedded system development platform is developed, a core processor of a dual-core ARM Cortex-A9 is adopted, when the mobile robot moves indoors, MYRIO collects data scanned by a laser radar in real time through a USB interface, and positioning of the robot and creation and updating of a global map are carried out according to a scanning matching algorithm.
In this embodiment, the sensor system includes a laser radar and a odometer, where the odometer is used to record the movement track of the robot, and the laser radar is used to obtain the measured data.
In this embodiment, the upper computer further includes a statistical filter; the statistical filter is used for filtering the scanned data.
In this embodiment, the mechanical structure platform includes a motor driver.
In this embodiment, the man-machine interaction system is provided with a software system for building an environment based on MYRIO, sensor data is obtained through programming of LABVIEW software, the data is transmitted to the positioning and mapping module, positioning and mapping are performed through map nodes, an upper computer program interface is visualized, an environment map built in the moving process of the robot is displayed in real time, and an imaging graph of laser scanning is shown in fig. 2.
The laser scanning matching technology is utilized to help the mobile robot to finish pose correction. In the laser scanning matching process, the position and the direction of the current scanning relative to the reference scanning are searched by adjusting the machine-in pose of the current scanning until the overlap with the reference scanning is maximum.
The sensor provides the relative distance and direction of the sensor relative to certain environmental features in the environment, and the laser radar scans and measures the surrounding environment on a scanning plane according to a certain angular resolution, so that the obtained raw data are discrete data points. According to the selected working parameters of the URG-04LX laser range finder, 682 data point information in the range of 240 degrees in front of the mobile robot can be obtained through each scanning of the laser range finder, the interval between every two adjacent data points is about 0.36 degrees, the data point information is expressed by a polar coordinate system taking the center of the laser range finder as a pole, and the data point information is a local sensor coordinate system relative to a global coordinate system. For the convenience of processing, the data information expressed by polar coordinates is converted into data information in Cartesian coordinates,
Figure BDA0001746559470000041
the position of the laser is taken as the origin in the previous data processing, the direction opposite to the laser is 90 degrees, and the local coordinate system takes the laser body as the origin of a reference system. To establish a complete global map, local maps obtained by multiple scans need to be fused, and firstly, local coordinates need to be converted into a global coordinate system of the environment where the machine is located.
According to the self pose (x, y, theta) of the robot obtained by self-positioning of the robot and the position (relative to the central point of the robot) of the laser installed on the robot, the conversion from the local coordinate to the global coordinate can be realized.
Before the scans match, the current scan and the reference scan must be preprocessed. Because the scan data is noisy, such as gaussian noise, salt and pepper noise, etc. The preprocessing can cluster the measured maximum and minimum values from the same object, eliminate the measurement error and improve the progress and the robustness of the matching algorithm. The URG-04LX detection range is 20mm to 5600mm, but the effective range is generally considered to be 20mm to 4000 mm.
Therefore, we can filter the scanned data using an improved statistical filter, which assumes that the distance between each point in the cloud of discrete points and the adjacent points obeys a certain statistical distribution, while the singular points are usually caused by external noise and are far away from other dense discrete point set regions, and these points may be system noise or environmental noise, and these points do not contain valid information around the environment and can be removed first. Suppose that the point P (x, y) in the map is closest to its k points P1,p2...pkD and the distribution of the distances d follows a mean value μdVariance is σdA gaussian distribution of (a), (b), wherein:
Figure BDA0001746559470000042
Figure BDA0001746559470000043
when d ∈ (μ)d-2σd,μd+2σd) When d is not within this range, the point P is considered as a singular point.
Laser scan matching can be local or global. When local scanning matching is realized, two scanning matching are that the initial estimated pose of the robot is given by a trip gauge, and adjacent scanning is matched and compared, so that the matching error between the two scanning is minimum; when the global scanning matching algorithm is realized, the initial pose of the robot is not required to be provided, and the currently scanned map or the scanning database is directly registered.
And matching the current scanning data with the reference scanning data by adopting an improved statistical filtering processing algorithm, correcting the accumulated errors on the displacement and the angle generated by the self-positioning of the robot, and establishing a relatively accurate large-range global map on the basis.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (3)

1. A mobile robot based on a MYRIO platform is characterized by comprising a sensor system, a man-machine interaction system, a control system, a driving system, a mechanical structure platform and a mobile robot-environment interaction system;
the output end of the sensor system is connected with the input end of the human-computer interaction system, the output end of the human-computer interaction system is connected with the input end of the control system, the output end of the control system is connected with the input end of the driving system, the output end of the driving system is connected with the input end of the mechanical structure platform, the output end of the mechanical structure platform is connected with the input end of the mobile robot-environment interaction system, and the output end of the mechanical structure platform and the output end of the mobile robot-environment interaction system are both connected with the input end of the sensor system;
the sensor system comprises a laser range finder and a speedometer, wherein the speedometer is used for recording the action track of the robot, and the laser range finder is used for acquiring measured data; the man-machine interaction system acquires data of the laser range finder and realizes robot positioning and map creation based on a laser scanning matching algorithm;
the man-machine interaction system is provided with a MYRIO environment construction software system, sensor data are obtained through LABVIEW software programming, the data are transmitted to a positioning and map construction module, positioning and map construction are carried out through map nodes, an upper computer program interface is visualized, and an environment map constructed in the moving process of the robot is displayed in real time;
the human-computer interaction system comprises an upper computer; the upper computer comprises a core processor of a dual-core ARM Cortex-A9; the upper computer also comprises a statistical filter; the statistical filter is used for filtering the scanned data;
the statistical filter is further to: suppose that the point P (x, y) in the map is closest to its k points P1,p2...pkD and the distribution of the distances d follows a mean value μdVariance is σdA gaussian distribution of (a), (b), wherein:
Figure FDA0002919133630000011
Figure FDA0002919133630000012
when d ∈ (μ)d-2σd,μd+2σd) If so, determining that the point P is not a singular point, otherwise, determining that the point P is a singular point if d is not in the range;
finishing pose correction of the mobile robot by using a laser scanning matching algorithm, and searching the position and the direction of the current scanning relative to the reference scanning by adjusting the pose of the machine of the current scanning in the laser scanning matching process until the position and the direction are maximally overlapped with the reference scanning;
the sensor system provides the relative distance and direction of the sensor system relative to certain environmental characteristics in the environment, and the laser range finder scans and measures the surrounding environment on a scanning plane according to certain angular resolution, so that the obtained original data are discrete data points;
the information of 682 data points in the range of 240 degrees in front of the mobile robot is obtained through each scanning of the laser range finder, the interval between two adjacent data points is about 0.36 degrees, the information of the data points is expressed by a polar coordinate system taking the center of the laser range finder as a pole, the data information is expressed by a local sensor coordinate system relative to a global coordinate system, for the convenience of processing, the data information expressed by the polar coordinates is converted into data information under Cartesian coordinates,
Figure FDA0002919133630000021
the position of the laser range finder is used as an original point in the previous data processing, the direction opposite to the laser range finder is at an angle of 90 degrees, and the local coordinate system is used as the original point of a reference system; fusing local maps obtained by scanning for many times, firstly converting local coordinates into a global coordinate system of an environment where a machine is arranged;
according to the self pose (x, y, theta) of the robot obtained by self-positioning of the robot and the position of the laser range finder arranged on the robot, the conversion from a local coordinate to a global coordinate is realized;
before the scans are matched, the current scan and the reference scan must be preprocessed, and the preprocessing is used for clustering measured maximum and minimum values from the same object to eliminate measurement errors.
2. The MYRIO platform-based mobile robot of claim 1, wherein an output end of the sensor system is connected with an input end of a human-computer interaction system through a USB interface.
3. The MYRIO platform-based mobile robot of claim 1, wherein the mechanical structure platform comprises a motor drive.
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Publication number Priority date Publication date Assignee Title
CN103631264A (en) * 2013-12-04 2014-03-12 苏州大学张家港工业技术研究院 Method and device for simultaneous localization and mapping
CN106525053A (en) * 2016-12-28 2017-03-22 清研华宇智能机器人（天津）有限责任公司 Indoor positioning method for mobile robot based on multi-sensor fusion
CN107741743A (en) * 2017-11-06 2018-02-27 深圳精智机器有限公司 Improved figure optimizes SLAM methods

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CN102799185A (en) * 2012-09-05 2012-11-28 浙江大学 Intelligent safety patrol system based on DaNI mobile robot platform
CN206644887U (en) * 2017-02-28 2017-11-17 中国矿业大学 Acoustic control intelligent car based on myRIO platforms
CN107757795A (en) * 2017-11-21 2018-03-06 南阳师范学院 A kind of self-balancing trolley control system and method based on myRIO platforms

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103631264A (en) * 2013-12-04 2014-03-12 苏州大学张家港工业技术研究院 Method and device for simultaneous localization and mapping
CN106525053A (en) * 2016-12-28 2017-03-22 清研华宇智能机器人（天津）有限责任公司 Indoor positioning method for mobile robot based on multi-sensor fusion
CN107741743A (en) * 2017-11-06 2018-02-27 深圳精智机器有限公司 Improved figure optimizes SLAM methods

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