CN109141402A - A kind of localization method and autonomous charging of robots method based on laser raster - Google Patents
A kind of localization method and autonomous charging of robots method based on laser raster Download PDFInfo
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- CN109141402A CN109141402A CN201811127273.7A CN201811127273A CN109141402A CN 109141402 A CN109141402 A CN 109141402A CN 201811127273 A CN201811127273 A CN 201811127273A CN 109141402 A CN109141402 A CN 109141402A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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Abstract
The invention discloses a kind of localization method based on laser raster and autonomous charging of robots methods, belong to intelligent robot technology field.The present invention includes establishing raster plane immediately ahead of room and in the specified altitude assignment of two sides metope；Laser raster is marked, that is, counts the laser quantity that each grid receives, the laser quantity that the grid receives is marked not less than the grid of threshold value；The geometrical characteristic for extracting laser raster extracts the sequence of the continuous marked grid of horizontal direction and vertical direction vertically that is, in the left and right sides of raster plane respectively；Key point is obtained, the key point is the inflection point in the sequence of extracted grid in step 3；The coordinate of robot is determined according to the relative position of key point and the machine human world.Using method of the invention, no matter whether charging house wall is smooth, very high navigation and positioning accuracy may have.
Description
Technical field
The invention belongs to intelligent robot technology fields, and in particular to a kind of localization method and machine based on laser raster
Device people's recharging method.
Background technique
Currently, the recharging of Intelligent Mobile Robot mostly uses contact recharging technology.Work as crusing robot
When needing to charge, specified charging zone can be driven towards automatically, the power supply contact of robot charging connection contact and recharging base is automatically quasi-
Really docks and implement to charge.Crusing robot is detached from automatically and is driven towards with crusing robot workspace or awaits orders after charging complete
Area.
How to realize that the location navigation of crusing robot is the key that robot realizes recharging.Currently used scheme
It is the navigation locating method based on magnetic orbital guidance.The premise that this method is implemented is to be laid with track, not only brings a large amount of base
Infrastructure construction work, and there are the inflexible defects of robot ambulation route.In consideration of it, laser navigation location technology is got over
Come in more navigator fix operation process for being applied to crusing robot.Laser navigation location technology gets rid of track limitation,
While saving cost, robot can neatly adjust walking route.
Chinese patent CN201610324865 discloses a kind of Intelligent Mobile Robot based on laser navigation and independently fills
Method for electrically first carries out straight line fitting to laser data, then chooses four satisfactory straight lines and is split to laser data,
Two corners finally are obtained using this four straight lines and correspond to inflection point, and robot is positioned.
Chinese patent CN2016112609096 discloses a kind of crusing robot localization method and automatic recharging method, first
The secondary set partitioning algorithm first passed through rapidly and efficiently is split continuous laser data collection, obtains robustness higher three
Then a edge feature is reconstructed charging house model, using the corresponding key point of reconstruct charging house model to robot into
Row positioning.While guaranteeing positioning accuracy, it is not directly dependent on charging house corner inflection point, charging house building technology is relied on
It is lower.
Above two method has the following problems:
If charging house or so wall out-of-flatness, will lead to fitting a straight line and deviation occur, charging house corner inflection point is influenced
The accuracy of position keeps the navigation and positioning accuracy of robot undesirable, to robot charging connection contact and charging base occur
The power supply contact of seat docks the phenomenon that failure.When carrying out the navigator fix and recharging of robot using above two method,
More demanding to the planarization of charging house wall, robot is poor to the adaptability of environment.
Summary of the invention
Object of the present invention is to: in view of the deficiencies of the prior art, provide a kind of localization method and base based on laser raster
In the autonomous charging of robots method of the localization method.Robot autonomous suitable for trackless navigator fix of this method is filled
Electricity realizes automation, the intelligence of entire charging process；No matter whether charging house wall is smooth, very high lead may have
Boat positioning accuracy.
Localization method provided by the invention based on laser raster the following steps are included:
The step of establishing raster plane: raster plane is established immediately ahead of room and in the specified altitude assignment of two sides metope；
The step of marking laser raster: the laser quantity that each grid receives, the laser number received the grid are counted
Amount is marked not less than the grid of threshold value；
The step of extracting the geometrical characteristic of laser raster: in the left and right sides of raster plane, horizontal direction is extracted respectively
The sequence of vertical continuous marked grid with vertical direction；
The step of obtaining key point: the sequence of the extracted grid in the step of extracting the geometrical characteristic of laser raster is obtained
The grid of inflection point in column, inflection point is key point in the sequence of the extracted grid；
The step of determining the coordinate of robot: the seat of robot is determined according to the relative position of key point and the machine human world
Mark.
Furthermore, the calculation formula of the threshold value is as follows:
Wherein, a is the side length of laser raster, and θ is the launch angle of laser equipment, and π is pi, and r arrives for laser equipment
The distance in corner, N are the total number of laser in a laser frame projecting of laser equipment.
It furthermore, further include the step for calculating confidence level before the step of geometrical characteristic for extracting laser raster
Suddenly, the step of calculating confidence level includes following procedure:
Step A-1: after the step of establishing raster plane, adjustment laser projection angle before the step of laser raster is marked
Degree；
Step A-2: the confidence level of marked grid is calculated after the step of marking laser raster；When confidence level satisfaction is set
When reliability requires, it is transferred to the step of marking laser raster；Return step A-1 when being unsatisfactory for requiring.
Furthermore, the formula of the confidence level for calculating marked grid are as follows:
Wherein, it is established in the step of ρ is confidence level, and N ' is the quantity of the grid marked, and M is label laser raster
Raster plane in all grids sum.
Furthermore, the confidence level requires to be 95% >=ρ >=60%.
Furthermore, further include the steps that calibration feature laser raster, it may be assumed that
To being located at horizontal direction in the sequence of two grids extracted in the step of from the geometrical characteristic for extracting laser raster
Each feature grid, judge whether it is in same horizontal line；If in same horizontal line, by these feature grid
Lattice are as standard feature grid；If be not in same horizontal line, next frame laser data is waited to extract laser grid again
The geometrical characteristic of lattice.
Furthermore, judge whether each feature grid is in the standard in same horizontal line as two grids
In sequence the grid of horizontal direction whether all in 3 rows within.
Furthermore, the key point is the inflection point of two standard feature grids.
Furthermore, the coordinate of the robot is coordinate of the robot in global coordinate system, is (- au-xmcosθ
+ymSin θ, av-xmsinθ-ymCos θ),
Wherein, a is grid side length, the grid quantity that u includes, v by the distance of the first key point to global coordinate system Y-axis
The grid quantity that distance by the first key point to global coordinate system X-axis includes, xmIt is the first key point in robot coordinate
X axis coordinate in system, ymFor Y axis coordinate of first key point in robot coordinate system；θ is the deflection angle of robot, i.e.,
Deflection angle of the coordinate system Y-axis relative to Y-axis in global coordinate system.
On the other hand, the present invention also provides a kind of methods for carrying out autonomous charging of robots based on laser raster, including with
Lower step:
1) localization method based on laser raster is utilized, the coordinate and deflection angle of robot are obtained；
2) robot adjusts the deflection angle of oneself to 0 °；
3) robot host computer sends instructions to robot, and the distance of calculating robot oneself to charging pile is simultaneously moved to pre-
Determine charge position, starts to charge.
Beneficial effects of the present invention are as follows: the localization method and autonomous charging of robots of the invention based on laser raster
Method, using the navigation locating method based on laser raster geometry and quantative attribute, metope, left side metope immediately ahead of charging house
Establish grid respectively with right side metope, on laser projection to grid after, by identifying the geometrical characteristic of laser raster, searching is filled
The location information of the corner electric room Liang Ge key point, the accurate positionin of robot is realized using two key points, and introduces confidence level
Concept, improve the positioning accuracy of robot, the planarization of charging house wall required lower.After tested, robot determines
Position precision greatly improves, and error is within the scope of ± 0.1cm, and in the case where wall out-of-flatness, robot can still complete with
The accurate positionin of charging pile.
Detailed description of the invention
Fig. 1 is the location algorithm flow chart of the embodiment of the present invention.
Fig. 2 is the laser raster schematic diagram of the embodiment of the present invention.
Fig. 3 is the feature laser raster schematic diagram of the embodiment of the present invention.
Fig. 4 is the robot localization schematic diagram of the embodiment of the present invention.
Fig. 5 is the autonomous charging of robots flow chart of the embodiment of the present invention.
Label in figure: 1- charging house model, 2- robot, 3- laser, 4- charging house right corner are fallen, 5- charging house left comer
It falls.
Specific embodiment
Below with reference to embodiment and referring to attached drawing, present invention is further described in detail.
Embodiment 1:
One embodiment of the present of invention, describe it is a kind of based on laser raster positioning Intelligent Mobile Robot independently fill
Method for electrically.
Technical term related to the present embodiment is defined as follows:
Grid: close adjacent grid array uniform in size.
Laser raster: there is the grid of laser irradiation.
Grey grid: meet the laser raster of confidence level requirement.
Raster plane: grid are established in some identical height of metope, left side metope and right side metope immediately ahead of the charging house
Lattice, a raster plane of formation.
Continuous grid: closely coupled grid.
Feature grid: the grid of at L-shaped grey raster series is organized.
Standard feature grid: the feature grid on the right angle of feature raster series, and water is on raster plane
Square to same straight line on.
The inflection point of standard feature grid: the point on the right angle of standard feature grid, referring to fig. 4.
Key point: it is located at two corners of raster plane in charging house on the metope of front, uses standard feature in the algorithm
The inflection point of grid indicates.
Key point coordinate: coordinate of the key point in the corresponding global coordinate system of charging house model.
Referring to Fig. 1, autonomous charging of robots scheme is described in detail below: premise: field personnel is by charging pile
In the industrial personal computer of position typing robot in charging house.When robot requires supplementation with electric power, pass through location and navigation technology
Automatically charging house is driven towards, robot host computer sends instructions to the electrical cabinet of charging house, and electrical cabinet receives charging house after instruction
Door is opened, and robot, which is fallen back, to be entered in charging house.Robot interior has electric power detection module, when total electricity is lower than certain value
When (such as 10%), judge that robot needs to charge.Into after charging house, using described in following steps based on laser raster
Localization method obtains the coordinate information and deflection angle information of robot.
The overall flow of localization method based on laser raster is as shown in Fig. 2, specific implementation step is as follows:
1, grid is established.
As shown in figure 3, establishing side in some identical height of metope, left side metope and right side metope immediately ahead of the charging house
The grid of a length of a, a raster plane of formation.The length of side length a meets a ∈ [1cm, 2cm].
2, laser raster is marked.The received laser quantity n of each grid is counted, when meeting the condition of formula (1), by this
Grid tag is grey, to distinguish with the grid that condition is not satisfied.Count the quantity N ' of grey grid.
n≥threshod (1)
Wherein, n is the quantity that single grid receives laser, and threshod is a threshold value, and calculation formula is referring to formula
(2)。
Wherein, a is the side length of laser raster, and θ is the launch angle of laser equipment, and π is pi, and r arrives for laser equipment
The distance in corner, N are laser total number in a laser frame projecting of laser equipment, are a fixed values, generally 1141
Left and right.
3, the geometrical characteristic of laser raster is extracted.
In the left and right sides of raster plane, horizontal direction and the orthogonal continuous grey colour grid of vertical direction are extracted respectively
Lattice represent two turnings of charging house (referring to 4,5 in Fig. 3).The grid met the requirements is as shown in figure 4, grey on raster plane
The high h (refer in vertical direction grid to the distance of global coordinate system origin) of colour grid lattice should not less than charging house depth two/
One, wide w (refer in horizontal direction grid to the distance of global coordinate system origin) should be not less than the difference of charging house width and gate-width degree
Half, i.e. h≤L/2, w≤W/2, wherein the depth of L charging house, W are the difference of charging house width and gate-width degree.
(optional) calculating confidence level.Introducing confidence calculations can be improved the reliability and precision of this algorithm, in charging house
In the case that the data configurations such as model are correct, laser excessive noise does not occur, confidence calculations can not also be introduced.
A-1 laser projection angle) is adjusted.Robot adjusts the steering of oneself, and then adjusts laser projection angle, adjusts model
Enclosing is ± 20 °, and each adjusting step is 1 °.
A-2 the confidence level ρ of laser raster) is calculated, calculation formula is referring to formula (3).When ρ is unsatisfactory for confidence level requirement, example
When such as lower than 60%, especially less than 85%, return step 2-1)；It is required when ρ meets confidence level, such as 95% >=ρ >=60%,
When especially ρ >=85%, return step 2.
Wherein, N ' is the quantity of grey grid, and M is all grid total quantitys established in step 1.
(optional) verification laser raster feature.(see in Fig. 3 in 2 extracted two L shape grey raster series of verification step
4 and 5) whether be in same horizontal line positioned at each feature grid of horizontal direction.I.e. when two L shape grey raster series
The grey grid of middle horizontal direction all in 3 rows within, especially in a line grid.It is judged as within specific several rows same
Size, that is, laser resolution ratio of grid is depended on horizontal line.Meet condition is standard feature grid.When being unsatisfactory for item
When part, next frame laser data and return step 2 are waited.
4, key point is obtained.
The inflection point (4 in Fig. 3 and 5) of two standard feature grids is two key points in charging house corner.It can lead to
Cross step 4-1) in method determine the coordinates of two key points, i.e. the statistics inflection point grid quantity that arrives x-axis and y-axis respectively,
Due to the side length of grid be it is known, grid quantity is multiplied with the side length of grid can be obtained inflection point in the seat of x-axis and y-axis
Mark.
5, positioning robot's (coordinate of robot is determined according to the relative position of key point and the machine human world).
The positioning principle of robot is as shown in Figure 5, wherein coordinate system XOY is world coordinates used by charging house model
System；Coordinate system X ' O ' Y ' is robot coordinate system, the position of the corresponding robot of O '.M, N corresponds to the key point (ginseng of step 4 acquisition
See Fig. 4).Positioning robot is exactly two relative positions between key point and robot obtained using step 4, determines robot
Coordinate in global coordinate system XOY.
5-1) in coordinate system XOY, the coordinate of two key points of M, N is obtained.Point M is counted to distance (the i.e. level side of Y-axis
To grid quantity u), M to the distance of X-axis, (i.e. the grid quantity v) of vertical direction, can the coordinate of invocation point M in coordinate system XOY
For M (- au, av).Since in global coordinate system, point M, point N are symmetrical with respect to Y-axis, so point N is in coordinate system XOY
In coordinate be N (au, av).
5-2) determine coordinate of the robot in global coordinate system XOY.In coordinate system X ' O ' Y ', the coordinate of M, N are distinguished
For M (xm, ym)、N(xn, yn).Cross the vertical line that O ' point is straight line MN, intersection point P；Cross the vertical line that M point does Y ' axis, intersection point Q；Directly
The intersection point of line MN and Y ' axis is R.So, need to only calculate | MP | and | O ' P | robot can be calculated in global coordinate system XOY
Coordinate.The following are calculating | MP | and | O ' P | detailed process:
If | MQ |=- Xm, | O ' Q |=ym.The parallel lines that point N makees X ' axis are crossed, intersect at point L with Y ', if ∠ MNL=θ, then
Therefore,∠ QMN=θ.
| MR |=- xm/ cos θ, | QR |=- xmtanθ
So | MP |=| MR |+| PR |=ymsinθ-xmCos θ, | O ' P |=| O ' R | cos θ=ymcosθ+xmsinθ.Cause
This, coordinate of the robot in global coordinate system is (- au-xmcosθ+ymSin θ, av-xmsinθ-ymCos θ), deflection angle is
θ。
After obtaining the coordinate and deflection angle of robot, robot adjusts the deflection angle of oneself, make robot two sides with
The middle line keeping parallelism of two key points in left and right, i.e., be adjusted to 0 ° for the deflection angle θ of robot.Then, robot host computer
Robot is sent instructions to, calculating robot oneself arrives the distance of charging pile.If not reaching the predetermined position (position under charged state
Set), robot slowly retreats, until reaching predetermined position.The position of charging pile is known.Robot host computer determines machine
After people is located at correct position, robot is sent instructions to, robot stretches out charging arm, is inserted into charging pile.Robot detection
When connecting good with charging pile to charging arm, start to charge；Otherwise, robot host computer sends instructions to robot, and withdrawal is filled
Electric arm adjusts position and the angle information of robot according to abovementioned steps again.
Intelligent Mobile Robot recharging method based on laser raster positioning of the invention, using based on laser grid
The navigation locating method of lattice geometry and quantative attribute, metope, left side metope and right side metope are established respectively immediately ahead of charging house
Grid, on laser projection to grid after, pass through the geometrical characteristic of identification laser raster, find two corner key points of charging house
Location information, the accurate positionin of robot is realized using two key points, and introduce the concept of confidence level, improves robot
Positioning accuracy, the planarization of charging house wall is required lower.After tested, the positioning accuracy of robot greatly improves, error
Within the scope of ± 0.1cm, and in the case where wall out-of-flatness, robot can still complete the accurate positionin with charging pile.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for the purpose of limiting the invention.Not
It is detached from the spirit and scope of the present invention, any equivalent change or retouch done also belongs to the protection scope of the present invention.Cause
This protection scope of the present invention should be based on the content defined in the claims of this application.
Claims (10)
1. a kind of localization method based on laser raster, which comprises the following steps:
The step of establishing raster plane: raster plane is established immediately ahead of room and in the specified altitude assignment of two sides metope；
The step of marking laser raster: counting the laser quantity that each grid receives, and the laser quantity received to the grid is not
Grid less than threshold value is marked；
The step of extracting the geometrical characteristic of laser raster: in the left and right sides of raster plane, horizontal direction is extracted respectively and is erected
Sequence of the histogram to vertical continuous marked grid；
The step of obtaining key point: it obtains in the step of extracting the geometrical characteristic of laser raster in the sequence of extracted grid
The grid of inflection point, inflection point is key point in the sequence of the extracted grid；
The step of determining the coordinate of robot: the coordinate of robot is determined according to the relative position of key point and the machine human world.
2. the localization method according to claim 1 based on laser raster, which is characterized in that the calculation formula of the threshold value
It is as follows:
Wherein, a is the side length of laser raster, and θ is the launch angle of laser equipment, and π is pi, and r is laser equipment to corner
Distance, N is the total number of laser in a laser frame projecting of laser equipment.
3. the localization method according to claim 1 based on laser raster, which is characterized in that the extraction laser raster
Further include the steps that calculating confidence level before the step of geometrical characteristic, the step of calculating confidence level includes following procedure:
Step A-1: after the step of establishing raster plane, adjustment laser projection angle before the step of laser raster is marked；
Step A-2: the confidence level of marked grid is calculated after the step of marking laser raster；When confidence level meets confidence level
It is required that when, it is transferred to the step of marking laser raster；Return step A-1 when being unsatisfactory for requiring.
4. the localization method according to claim 3 based on laser raster, which is characterized in that described to calculate marked grid
Confidence level formula are as follows:
Wherein, the grid established in the step of ρ is confidence level, and N ' is the quantity of the grid marked, and M is label laser raster
All grid sums in lattice plane.
5. the localization method according to claim 4 based on laser raster, which is characterized in that the confidence level require be
95% >=ρ >=60%.
6. the localization method according to claim 1 based on laser raster, which is characterized in that further include calibration feature laser
The step of grid, it may be assumed that
To being located at each of horizontal direction in the sequence of two grids extracted in the step of from the geometrical characteristic for extracting laser raster
A feature grid, judges whether it is in same horizontal line；If these feature grids made in same horizontal line
For standard feature grid；If be not in same horizontal line, next frame laser data is waited to extract laser raster again
Geometrical characteristic.
7. the localization method according to claim 6 based on laser raster, which is characterized in that judge each feature grid
Lattice whether be in the standard in same horizontal line be two grids sequence in horizontal direction grid whether all in 3 rows it
It is interior.
8. the localization method according to claim 6 based on laser raster, which is characterized in that the key point is two marks
The inflection point of quasi- feature grid.
9. the localization method according to claim 1 based on laser raster, which is characterized in that the coordinate of the robot is
Coordinate of the robot in global coordinate system is (- au-xmcosθ+ymSin θ, av-Xmsinθ-ymCos θ),
Wherein, a is grid side length, the grid quantity that u includes, v the by the distance of the first key point to global coordinate system Y-axis
The grid quantity that the distance of one key point to global coordinate system X-axis is included, xmIt is the first key point in robot coordinate system
X axis coordinate, ymFor Y axis coordinate of first key point in robot coordinate system；θ is the deflection angle of robot, i.e. coordinate
It is deflection angle of the Y-axis relative to Y-axis in global coordinate system.
10. a kind of method of the autonomous charging of robots based on laser raster, which comprises the following steps:
1) using any localization method based on laser raster of claim 1~9, coordinate and the deflection of robot are obtained
Angle；
2) robot adjusts the deflection angle of oneself to 0 °；
3) robot host computer sends instructions to robot, and the distance of calculating robot oneself to charging pile is simultaneously moved to predetermined fill
Electric position starts to charge.
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